CN112045497A

CN112045497A - Full-automatic cutter focusing on-machine detection system and method based on machine vision

Info

Publication number: CN112045497A
Application number: CN202010838646.2A
Authority: CN
Inventors: 李长河; 李昊罡; 罗亮; 吉卫喜; 万斌辉; 尹硕; 曹华军; 卢秉恒; 唐立志; 崔歆; 刘明政; 张彦彬; 徐杰; 罗慧明; 徐海州; 杨敏; 洪华平; 高腾; 杨玉莹; 马五星
Original assignee: Qingdao University of Technology; Ningbo Sanhan Alloy Material Co Ltd
Current assignee: Qingdao University of Technology; Ningbo Sanhan Alloy Material Co Ltd
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2020-12-08
Anticipated expiration: 2040-08-19
Also published as: CN112045497B

Abstract

The invention discloses a full-automatic cutter focusing on-machine detection system and method based on machine vision, and the technical scheme is as follows: the device comprises a driving device, a connecting plate and an image acquisition device, wherein the image acquisition device is connected with the driving device through the connecting plate; the driving device comprises a lifting mechanism and a rotating mechanism, and the rotating mechanism is detachably connected with the lifting mechanism and is connected with the connecting plate; the image acquisition device comprises a cutter side edge and diameter image acquisition mechanism, a cutter end face image acquisition mechanism and a focal length adjustment mechanism, wherein the cutter side edge and diameter image acquisition mechanism is fixed above the focal length adjustment mechanism, and the cutter end face image acquisition mechanism is arranged at the central position of the focal length adjustment mechanism. According to the invention, the tool image is collected in the machining gap, the production efficiency of the machining center is not influenced in the detection process, and the tool abrasion in the machining process can be detected in time; the images of the rear cutter face and the attached rear cutter face of each cutting edge of the cutter can be collected and detected simultaneously, and the detection efficiency is improved.

Description

Full-automatic cutter focusing on-machine detection system and method based on machine vision

Technical Field

The invention relates to the field of on-machine detection of a machining center cutter, in particular to a full-automatic cutter focusing on-machine detection system and method based on machine vision.

Background

The manufacturing industry is the pillar industry of the national economy at present, and the development of the manufacturing industry is an important index for measuring the comprehensive strength of a country. China is a large country in manufacturing industry, the field of machinery manufacturing of China mainly depends on machine tool machining at the present stage, and the demand for cutters is large every year. The parameters and quality of the cutter are directly determined, and the processing quality and the qualification rate are determined. With the continuous increase of labor cost and automation degree, the current machine manufacturing industry mostly adopts unmanned and automated production, and in order to ensure the processing quality of a machine tool in the automated processing process, the cutter must be measured during the processing and use of the cutter so as to ensure the processing quality of parts, improve the production efficiency and reduce the production cost. In the metal cutting process, it is difficult for an operator to visually recognize the state of a tool on a machine tool, particularly a large-sized machine tool. Laboratory studies on tool wear detection and various tool life management model studies based on theory or experience have been long elusive, demonstrating on the one hand the well-recognized necessity of solving this problem, and on the other hand the difficulties and complexities of the problem.

The commonly used tool wear detection methods at the present stage can be roughly classified into two types: direct and indirect processes. The indirect method is to obtain the evaluation of the tool wear degree by measuring an intermediate parameter related to the tool wear state; indirect methods can detect the tool state on line, but because of the complexity of tool material, geometric conditions and working environment, the attempted indirect estimation methods based on cutting force or machine tool spindle power are difficult to reliably characterize the actual tool state in the production environment. Directly identifying the surface quality and appearance of the cutting edge and the change of the geometric dimension of the cutter by a direct method, and obtaining quantitative description of the abrasion condition of the cutter according to the change of the geometric dimension of the cutter; the direct method directly identifies the surface quality and appearance of the cutting edge and the change of the geometric dimension of the cutter, so that the quantitative description of the abrasion condition of the cutter is obtained, and the detection of the cutter by using the direct method detection device can obtain an accurate detection result, but the detection can only be carried out by stopping the machine and carrying out the off-line detection, thereby influencing the machining efficiency and the economic benefit. While the advanced manufacturing technology is rapidly developed, the machine vision technology is increasingly widely applied to the industry as a new hot spot of industrial control and automation industry. The machine vision technology is used, the cutter state is detected on the machine, and the detection precision is high by directly detecting the cutter state based on the characteristics of high reliability, automation, non-contact, high precision and the like of the machine vision on an industrial field. Machine vision is considered to be an emerging intuitive and effective way to detect tool wear. In machine vision detection, an image acquisition device plays a vital role as the front end of the machine vision detection, but at present, few enterprises use machine vision to automatically detect the cutter, mainly due to the following factors;

(1) machine vision is big at present in inspection system occupation space, is difficult to install in the finite space of lathe in actual production, so most cutter detection device all separate with the lathe at present, need dismantle the cutter from the lathe when detecting and detect, and it is troublesome to detect the process, and detection efficiency is low.

(2) Currently, a few tool detection systems can be installed in a limited space of a machine tool for on-machine detection, but the workpiece or some machine tool components are often required to be disassembled for installation, and the applicability and the universality of the device are not high.

(3) The current cutter does not have the focusing function or does not have the automatic focusing function in the on-machine detection system, and when the specification of the cutter to be detected changes, the image acquisition device cannot automatically adjust the focal length to acquire clear cutter images.

(4) The current cutter detection system can only detect a single surface on the cutter once, and cannot acquire a cross-scale image of the cutter in a limited machine tool space, so that incomplete detection efficiency of machine vision detection is low.

In the prior art, the lisi article in the study on the wear zone of the rear cutter face of the small-diameter end mill (7 pages 06 of 2000 in tool technology) proposes that the width of the wear zone of the rear cutter face and the area of the wear zone of the rear cutter face are used as evaluation indexes for measuring the wear degree of a cutter, and introduces a method for calculating the width of the wear zone and the area of the wear zone by approximating the wear zone of the cutter to a triangular zone and a trapezoidal zone. However, in fact, due to the difference in machining conditions, the shape of the worn region of the tool is irregular, and therefore the calculation error of this method is large. Linlin proposed a scheme for detecting rake face wear in the article "image detection of rake face wear" (43 pages 05 year 2000, university of Harbin's college of sciences), which scheme can effectively detect crater wear on the rake face, but has no effect on thin layer wear on the flank face. Delayed brightness in application of image processing technology to cutter wear detection (page 100 in 08 th year of tool technology) designs a set of cutter wear detection system based on computer vision technology, the detection system is a one-way vision detection structure consisting of a CCD camera and an amplifying lens, and because the wear of the end mill occurs on a main flank and a secondary flank, the system can only measure the wear amount of the main flank of the end mill, so that the detection of the wear state of the end mill is not perfect.

The device comprises a collection box, an industrial personal computer and a display, wherein an industrial camera, a double telecentric lens, an annular light source and a triangular prism are arranged in the collection box, and the industrial camera, the double telecentric lens, the industrial personal computer and the display are sequentially connected. The detection method of the device comprises the following steps: (1) the whole device moves along the X axial direction and the Y axial direction of the machine tool; (2) the whole device is driven to the lower part of the cutter; enabling the cutter to descend and penetrate through the collection box, and stopping above the triangular prism; (4) after calibration is finished, fixing the industrial camera to enable the prism to be flush with the industrial camera; (5) collecting all bottom edge images at one time; (6) adjusting the height of the triple prism, and rotating at a low speed to acquire a side edge image; (7) and the industrial personal computer performs data processing on the acquired blade image. The invention is integrated in a camera, and visual non-contact on-line detection is realized, so that secondary clamping is avoided, and the precision and the efficiency are improved; the installation is convenient, the operation is simple.

Although the invention can collect and process the image of the blade part of the cutter, the image collection of the bottom blade and the measuring blade is carried out in two steps, the image collection efficiency is lower, the collection box is directly placed on an X-axis workbench of a machine tool during the image collection, the occupied machine tool space is overlarge, the machine tool hand wheel and the lead screw adjusting knob need to be manually adjusted to finish coarse adjustment and fine adjustment during the image collection, and the focusing efficiency is low.

The Xibiao et al of the American scientific and technological limited company of Meisi science of Shenzhen city invented a novel tool edge angle CCD detection system and method, this novel tool edge angle CCD detection system, the detection function is integrated, realize that the cutter week tooth first relief angle, week edge front angle short-term test, the detection time is 3s-5s, can directly read data, realize human-computer interaction, reread test, save manual operation, fill up cutter week tooth first relief angle, the inaccurate detection blank of week edge front angle value, there is higher accuracy, realize high-efficient, intelligent maneuverability, and the real-time detection of cutter, solve the basic problem of detecting the cutter edge angle.

The invention has high operability, short detection time and high man-machine interaction, but various cutters need to be taken out of a machine tool and then put in corresponding X-axis three-jaw pneumatic fingers for clamping, so that the on-machine detection of the cutters cannot be realized, and the on-machine detection in the machining process of the cutters cannot be realized.

In conclusion, the related devices in the prior art are not developed perfectly, and the defects of incapability of on-machine detection, incapability of automatic focusing, low single-time detection efficiency, incomplete detection and the like generally exist.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a full-automatic cutter focusing on-machine detection system and method based on machine vision, which can acquire cutter images in a machining gap to realize on-machine detection, does not influence the production efficiency of a machining center in the detection process, and can detect the cutter abrasion in the machining process in time; the machining center does not need to be modified during installation, and the working space of the machining center is not occupied; the images of the rear cutter face and the attached rear cutter face of each cutting edge of the drilling and milling cutter can be collected and detected at the same time, so that the detection efficiency is improved, and the detection reliability is also ensured.

In order to achieve the purpose, the invention is realized by the following technical scheme:

in a first aspect, an embodiment of the present invention provides a machine vision-based full-automatic tool focusing on-machine detection system, including a driving device, a connecting plate, and an image acquisition device, where the image acquisition device and the driving device are connected by the connecting plate; the cross-scale image of the tool can be simultaneously acquired in the limited machine tool space;

the driving device comprises a lifting mechanism and a rotating mechanism, and the rotating mechanism is detachably connected with the lifting mechanism and is connected with the connecting plate; the image acquisition device comprises a cutter side edge and diameter image acquisition mechanism, a cutter end face image acquisition mechanism and a focal length adjustment mechanism, wherein the cutter side edge and diameter image acquisition mechanism is fixed above the focal length adjustment mechanism, and the cutter end face image acquisition mechanism is arranged at the central position of the focal length adjustment mechanism.

As a further implementation manner, the focal length adjusting mechanism comprises a guide disc, a boss gear, an external tooth slewing bearing, a circular fixing plate and a bottom support frame, wherein the external tooth slewing bearing is arranged above the circular fixing plate, the guide disc is arranged above the external tooth slewing bearing, and the bottom support frame is arranged below the circular fixing plate;

a boss gear is meshed with one side of the external tooth slewing bearing and is connected with a speed regulating motor; the cutter side edge and diameter image acquisition mechanism is connected with the guide disc through a slider-crank mechanism, and the cutter end surface image acquisition mechanism is arranged in the bottom support frame.

As a further implementation mode, the crank-slider mechanism comprises an arc-shaped connecting rod, a double-shaft slider and a supporting plate, wherein one end of the arc-shaped connecting rod is connected with an inner ring of the external tooth slewing bearing through a shaft shoulder screw, and the arc-shaped connecting rod can rotate around the shaft shoulder screw; the other end of the arc-shaped connecting rod is connected with the double-shaft sliding block through a shaft shoulder screw, and the double-shaft sliding block can rotate around the shaft shoulder screw on the upper surface of the arc-shaped connecting rod.

A plurality of groups of guide grooves are formed in the circumferential direction of the guide disc, and each group of guide grooves is provided with two guide grooves; the double-shaft sliding block is provided with two positioning shafts, and the guide groove is matched with the positioning shafts; the cutter side edge and diameter image acquisition mechanism is connected with the positioning shaft through a supporting plate; the boss gear drives the outer ring of the external tooth rotary bearing gear to rotate within a fixed angle range under the action of the speed regulating motor, so that the double-shaft sliding block drives the supporting plate, the cutter side edge and the diameter image acquisition mechanism to move along the radial direction of the guide disc, and the rough adjustment of focal lengths when the cutter side edge and the diameter image acquisition mechanism acquire the cutter side edges and the cutter diameter images of different specifications is realized.

As a further implementation manner, the tool side edge and diameter image acquisition mechanism comprises an annular light source with adjustable brightness, an industrial camera and a motor screw module, wherein the industrial camera is connected with the motor screw module in a sliding manner, and the annular light source with adjustable brightness is arranged at the front end of the industrial camera; the motor lead screw module can drive the industrial camera to move, and the fine adjustment of the focal length is realized when the images of the side edges and the diameters of the cutters of different specifications are acquired.

As a further implementation mode, the cutter end face image acquisition mechanism comprises a thin finger cylinder, a connecting rod sliding block mechanism, an industrial camera and an annular light source with adjustable brightness, wherein the thin finger cylinder is connected with a camera holder through the connecting rod sliding block mechanism; an industrial camera is installed on one side of the camera holder, and the annular light source with adjustable brightness is arranged at the front end of the industrial camera.

As a further implementation mode, the connecting rod mechanism comprises a pin boss and a connecting rod which is rotatably connected with the pin boss, and the pin boss is fixedly connected with a sliding table of the thin finger cylinder; the connecting rod is connected with the camera holder through the supporting platform; the adjustable-brightness annular light source and the industrial camera are driven to move up and down through opening and closing of the thin finger cylinder, and fine adjustment of focal lengths of the cutter end face image acquisition mechanisms during acquisition of end face images of cutters of different specifications is achieved.

As a further implementation manner, the lifting mechanism comprises a stepping motor and a lead screw nut mechanism connected with the stepping motor, the stepping motor is fixed with the mounting plate, and the lead screw nut mechanism is connected with the lifting platform; a plurality of telescopic rods are connected between the lifting platform and the mounting plate; when the tool is positioned in the processing gap, the lifting table and the connecting plate can lift the image acquisition device to a preset detection height, so that coarse adjustment of the tool end face image acquisition is realized.

As a further implementation mode, an annular slide rail is fixed below the lifting platform and is connected with the sliding platform in a sliding manner; the sliding table is fixedly connected with the connecting plate.

As a further implementation manner, the rotating mechanism comprises a speed regulating motor, a motor retainer and a bearing seat, wherein the speed regulating motor is fixed above the motor retainer; the speed regulating motor is connected with the connecting plate through a rotating shaft; the bearing seat is fixed above the lifting platform.

In a second aspect, an embodiment of the present invention provides a working method of a machine vision-based full-automatic tool focusing on an on-machine detection system, including:

installing the on-machine detection system in a machining center, and waiting for the on-machine detection system at a safe position when the machining center is machining; when the machining center is positioned in the machining gap, the computer controls the main shaft of the machining center to lift the cutter to a preset detection height and drive the cutter to rotate; the computer identifies the current cutter model, and controls the lifting mechanism to drive the image acquisition device to a preset height, so that coarse adjustment of the cutter end face image acquisition is realized;

the rotating mechanism conveys the image acquisition device to a preset shooting position for shooting through a connecting plate fixedly connected with the rotating mechanism; when image acquisition is carried out, a computer executes a focusing program;

the speed regulating motor drives the outer ring of the outer tooth rotary bearing gear to rotate within a fixed angle range through the boss gear, so that the double-shaft sliding block drives the supporting plate and the cutter side edge and diameter image acquisition mechanism to move along the radial direction of the guide disc, and the rough adjustment of the focal length of the cutter side edge and diameter image acquisition mechanism when acquiring the side edge and diameter images of the cutters of different specifications is realized; in the cutter side edge and diameter image acquisition mechanism, a motor lead screw module drives an industrial camera to move, so that the fine adjustment of focal lengths when the cutter side edges and the cutter diameter images of different specifications are acquired is realized;

when the images of the side edge and the diameter of the cutter are acquired, an industrial camera lens of the cutter end face image acquisition mechanism shoots the image of the end face of the cutter upwards; the adjustable-brightness annular light source and the industrial camera are driven to move up and down through opening and closing of the thin finger cylinder, so that fine adjustment of focal lengths of the cutter end face image acquisition mechanisms during acquisition of end face images of cutters of different specifications is realized;

automatically focusing and dynamically acquiring a series of images of the side edge, the diameter and the end face of the cutter by an on-machine detection system, then selecting the clearest images of the side edge, the end face and the diameter of the cutter by a computer for analysis, quantitatively measuring the abrasion of the rear cutter face of the cutter and the rear cutter face of a cutter pair, and simultaneously detecting the diameter of the cutter;

after the detection is finished, the driving device drives the connecting plate and the image acquisition device to return to the safe position.

The beneficial effects of the above-mentioned embodiment of the present invention are as follows:

(1) the on-machine detection system is integrally arranged in an L shape, so that the internal space of a machining center can be greatly saved, and the cross-scale image of the cutter can be acquired in the limited machine tool space; the on-machine detection system can be automatically withdrawn after the detection is finished, and the processing of the processing center is not influenced;

(2) the on-machine detection system collects the cutter image in the machining gap so as to realize on-machine detection, does not influence the production efficiency of a machining center in the detection process, and can detect the cutter abrasion in the machining process in time; the automatic withdrawing is carried out after the work is finished, and the next processing of the processing center is not influenced.

(3) According to the driving device, the mounting plate and the lifting platform are connected through the telescopic rods, and the telescopic rods are uniformly distributed along the circumference of the mounting plate and the circumference of the lifting platform, so that the use of the telescopic rods can improve the stability of the lifting platform in the lifting process, the structure of the whole driving device is more compact, and the internal space of a machining center is saved; the screw bearing seat at the bottom end of the screw is directly arranged on the L-shaped fixing plate in the driving device, but not directly arranged at a certain position on the machining center, so that the space can be saved, and the machining center does not need to be modified; the universality and the applicability of the on-machine detection system are greatly improved; meanwhile, a lead screw bearing seat at the upper end of the lead screw and a lead screw bearing seat at the bottom end of the lead screw are matched with each other to ensure the rotation precision and stability of the lead screw during working;

(4) the main function of the rotating mechanism is to drive the connecting plate and the image acquisition device to rotate to a shooting position for shooting; because a rotating shaft in the transmission mechanism is connected with the speed regulating motor through a coupler, the transmission mechanism cannot bear overlarge axial force, an annular guide rail and a sliding table are also assembled at the bottom of the lifting table, and the connecting plate is connected with the rotating shaft and the sliding table through the hexagon socket head cap head screws at the same time, so that the image acquisition device can be safely and stably conveyed to a detection position for shooting; the on-machine detection system can simultaneously acquire and detect images of the rear cutter face and the attached rear cutter face of each cutting edge of the drilling and milling cutter, so that the detection efficiency is improved, and the detection reliability is also ensured.

(5) The focusing module has compact structure and light weight, can greatly save the space of a processing center and realize the full-automatic focusing function in the limited space; the focusing mode is divided into coarse adjustment and fine adjustment, meanwhile, the light source of the image acquisition mechanism adopts an annular light source with adjustable brightness, the illumination intensity can be changed along with the change of the focal length, through the combination of the coarse adjustment, the fine adjustment and the appropriate brightness, clear images of cutters of different models can be acquired by the on-machine detection system, and the detection result is accurate and reliable.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a side view of a central processing axis with an on-machine inspection system of the present invention installed;

FIG. 1(a) is a schematic diagram of an on-machine inspection system for inspecting a machining center tool according to the present invention;

FIG. 1(b) is a schematic illustration of the present invention retracted to a safe position within a machining center when the machine detection system is not operating;

FIG. 2 is an isometric view of the present invention;

FIG. 2(a) is an exploded view of the present invention;

FIG. 3 is an isometric view of the drive of the present invention;

FIG. 3(a) is an exploded view of the driving device of the present invention;

FIG. 3(b) is a schematic view of the telescopic rod of the present invention;

FIG. 3(c) is a cross-sectional view of the telescoping pole A-A of the present invention;

FIG. 3(d) is an isometric view of the lift table of the present invention;

FIG. 3(e) is an isometric view of a lead screw nut of the present invention;

FIG. 3(f) is an isometric view of the ramp of the present invention;

FIG. 3(g) is an isometric view of the annular slide of the present invention;

FIG. 3(h) is a top view of an assembly of the lead screw nut, the lifting platform and the annular slide rail of the present invention;

FIG. 3(i) is a sectional view taken along the line A-A of the screw nut, the lifting platform and the annular slide rail of the present invention;

FIG. 3(j) is a sectional view of the cross section B-B of the screw nut, the lifting platform and the annular slide rail assembly of the present invention;

FIG. 4 is an isometric view of the rotating mechanism of the present invention;

FIG. 4(a) is an exploded view of the rotating mechanism of the present invention;

FIG. 4(b) is a schematic structural diagram of a rotating mechanism according to the present invention;

FIG. 4(c) is a cross-sectional view of a rotating mechanism A-A of the present invention;

FIG. 4(d) is a partial cross-sectional view of the rotating mechanism and the elevator platform assembly of the present invention;

FIG. 4(e) is an isometric view of the spindle of the present invention;

FIG. 4(f) is a partial cross-sectional view of the attachment plate of the present invention assembled with a drive assembly;

FIG. 4(g) is a partial enlarged view of A in FIG. 4 (f);

FIG. 4(h) is a partial enlarged view at B in FIG. 4 (f);

FIG. 5 is an isometric view of a connection plate of the present invention;

FIG. 6 is an isometric view of an image capture device of the present invention;

FIG. 6(a) is an exploded view of an image capture device according to the present invention;

FIG. 6(b) is an isometric view of the connection plate of the present invention assembled with an image capture device;

FIG. 6(c) is a top view of the connection plate and image capture device assembly of the present invention;

FIG. 6(d) is a cross-sectional view taken along line A-A of the connection plate and image capture device assembly of the present invention;

FIG. 6(e) is an isometric view of an externally toothed slew bearing of the present invention;

FIG. 6(f) is a perspective view of the motor shaft of the speed gear of the present invention;

FIG. 6(g) is an isometric view of the bottom surface of the pallet of the present invention;

FIG. 6(h) is an isometric view of the upper surface of the pallet of the present invention;

FIG. 6(i) is an isometric view of the assembly of the shoulder screw, the arc link and the dual axis slide of the present invention;

FIG. 6(j) is an exploded view of the assembly of the shoulder screw, the arc link and the dual-axis slide of the present invention;

FIG. 6(k) is a schematic cross-sectional view of the assembly of the shoulder screw, the arc-shaped connecting rod, the biaxial slipper block and the inner race of the external-tooth slewing bearing according to the present invention;

FIG. 6(l) is an isometric view of a guide disk of the present invention;

FIG. 6(m) is an isometric view of a biaxial slipper of the present invention;

FIG. 6(n) is a schematic view of the dual-axis slider moving along the radial direction of the guiding disk by the guiding disk of the present invention 1;

FIG. 6(o) is a schematic view of the dual-axis slider moving along the radial direction of the guiding disk according to the present invention shown in FIG. 2;

FIG. 7 is an isometric view of the cutter side edge and diameter image acquisition mechanism of the present invention;

FIG. 7(a) is an exploded view of the tool side edge and diameter image capture mechanism of the present invention;

FIG. 7(b) is an isometric view of a motor screw module of the present invention;

FIG. 7(c) is an isometric view of a brightness adjustable ring light source of the present invention;

FIG. 7(d) is an isometric view of an industrial camera of the present invention;

FIG. 7(e) is an isometric view of an industrial camera of the present invention assembled with a brightness adjustable ring light source;

FIG. 7(f) is a partial cross-sectional view of the tool side edge and diameter image capture mechanism of the present invention;

FIG. 8 is an isometric view of a tool end face image acquisition mechanism of the present invention;

FIG. 8(a) is an exploded view of the tool end image capturing mechanism of the present invention;

FIG. 8(b) is an isometric view of a thin finger cylinder of the present invention;

FIG. 8(c) is an isometric view of a camera holder of the present invention;

FIG. 8(d) is a partial cross-sectional view of the mounting table, camera holder, industrial camera and light source assembly of the present invention;

wherein, A is a processing center, and B is an on-machine detection system;

i is drive arrangement, and II is the connecting plate, and III is hexagon socket head cap screw, and IV is hexagon socket head cap screw, and V is hexagon socket head cap screw, and VI is image acquisition device, and VII is the cutter.

I-01 is an inner hexagonal socket head screw, I-02 is a coupler, I-03 is a screw bearing seat, I-04 is an inner hexagonal socket head screw, I-05 is an inner hexagonal socket head screw, I-06 is a screw rod, I-07 is an inner hexagonal socket head screw, I-08 is a lifting table, I-09 is a screw rod nut, I-10 is an inner hexagonal socket head screw, I-11 is an L-shaped fixing plate, I-12 is a screw bearing seat, I-13 is an inner hexagonal socket head screw, I-14 is an inner hexagonal socket head screw, I-15 is a sliding table, I-16 is an inner hexagonal socket head screw, I-17 is an annular slide rail, I-18 is an inner hexagonal socket head screw, I-19 is a rotating mechanism, I-20 is a telescopic rod, I-21 is an inner hexagonal socket head screw, i-22 is a mounting plate, and I-23 is a stepping motor.

VI-01 is a cutter side edge and diameter image acquisition mechanism, VI-02 is an inner hexagonal cylindrical head screw, VI-03 is a guide disc, VI-0301 is a guide groove, VI-0302 is a guide groove, VI-04 is a shaft shoulder screw, VI-05 is a boss gear, VI-06 is an outer tooth slewing bearing, VI-07 is a circular fixing plate, VI-08 is a speed regulating motor, VI-09 is a cutter end face image acquisition mechanism, VI-10 is an inner hexagonal cylindrical head screw, VI-11 is a bottom support frame, VI-12 is an inner hexagonal cylindrical head screw, VI-13 is an arc connecting rod, VI-14 is a double-shaft sliding block, VI-1401 is a positioning shaft, VI-1402 is a positioning shaft VI-15 is an inner cylindrical head screw, VI-16 is a shaft shoulder screw, and VI-17 is a supporting plate, VI-1701 is a mounting hole, VI-1702 is a mounting hole, and VI-18 is an inner hexagonal socket head cap screw.

I-19-01 is a speed regulating motor, I-19-02 is an inner hexagonal socket head screw, I-19-03 is a coupling, I-19-04 is a motor retainer, I-19-05 is a bearing retainer ring, I-19-06 is an elastic retainer ring, I-19-07 is a deep groove ball bearing, I-19-08 is a bearing seat, I-19-09 is a deep groove ball bearing, I-19-10 is an elastic retainer ring, and I-19-11 is a rotating shaft.

VI-01-01 is a brightness adjustable annular light source, VI-01-02 is an upper arc positioning plate, VI-01-03 is an inner hexagonal socket head screw, VI-01-04 is an industrial camera, VI-01-05 is an inner hexagonal socket head screw, VI-01-06 is a hexagonal flange self-tapping screw, VI-01-07 is a side mounting plate, VI-01-08 is a hexagonal flange self-tapping screw, VI-01-09 is a motor screw module, VI-01-10 is an inner hexagonal socket head screw, VI-01-11 is an L-shaped supporting plate, VI-01-12 is an inner hexagonal socket head screw, VI-01-13 is a lower arc fixing plate, VI-01-14 is an inner hexagonal socket head screw, and VI-01-15 is a supporting block.

VI-06-01 is an outer ring of an external tooth slewing bearing gear, and VI-06-02 is an inner ring of an external tooth slewing bearing.

VI-09-01 is a brightness-adjustable annular light source, VI-09-02 is a hexagonal flange self-tapping screw, VI-09-03 is an industrial camera, VI-09-04 is a B-shaped pin, VI-09-05 is a gasket, VI-09-06 is a connecting rod, VI-09-07 is a B-shaped pin, VI-09-08 is a gasket, VI-09-09 is an inner hexagonal cylinder head screw, VI-09-10 is a thin finger cylinder, VI-09-11 is a pin base, VI-09-12 is a pin shaft, VI-09-13 is a connecting rod, and VI-09-14 is a pin shaft. VI-09-15 is a supporting table, VI-09-16 is an inner hexagonal socket head screw, VI-09-17 is an inner hexagonal socket head screw, and VI-09-18 is a camera retainer.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected directly or indirectly through an intermediate medium, or the two components can be connected internally or in an interaction relationship, and the terms can be understood by those skilled in the art according to specific situations.

The first embodiment is as follows:

the embodiment provides a full-automatic cutter focusing on-machine detection system based on machine vision, and referring to the attached drawings 2 and 2(a), the on-machine detection system mainly comprises a driving device I, a connecting plate II, an inner hexagonal socket head cap screw III, an inner hexagonal socket head cap screw IV, an inner hexagonal socket head cap screw V and an image acquisition device VI. One end of the connecting plate II is connected with the driving device I through an inner hexagonal socket head cap screw III and an inner hexagonal socket head cap screw IV. After installation, the connecting plate II and the driving device I are integrally and vertically distributed, and the driving device I can drive the connecting plate II to rotate and can also drive the connecting plate II to move up and down. The image acquisition device VI is arranged at the other end of the connecting plate II, is sleeved into the mounting hole of the connecting plate II from the upper part, and is erected by the connecting plate II and connected and positioned through a cylindrical head screw V.

Referring to the attached drawings 3, 3(a) -3 (h) and 4(c), the driving device I comprises a coupler I-02, a screw bearing seat I-03, a screw I-06, a lifting table I-08, a screw nut I-09, an L-shaped fixing plate I-11, a screw bearing seat I-12, a sliding table I-15, an annular sliding rail I-17, a rotating mechanism I-19, a telescopic rod I-20, a mounting plate I-22, a stepping motor I-23, a screw I-06, a lifting table I-08, an L-shaped fixing plate I-11, a screw bearing seat I-12, a telescopic rod I-20, a mounting plate I-22, a stepping motor I-23 and the like to form a lifting mechanism. The stepping motor I-23 is fixed above the mounting plate I-22 through an inner hexagonal cylindrical head screw I-01, and the screw bearing seat I-03 is fixed below the mounting plate I-22 through an inner hexagonal cylindrical head screw I-04. The upper end of the screw I-06 penetrates through a screw bearing seat I-03 to be connected with one end of a coupler I-02, and the other end of the coupler I-02 is connected with a stepping motor I-23. The upper end of the L-shaped fixing plate I-11 is fixed on the rear end face of the mounting plate I-22 through an inner hexagonal socket head cap screw I-05, and the lower end of the L-shaped fixing plate I-11 is provided with a screw rod bearing seat I-12 through an inner hexagonal socket head cap screw I-13. The screw I-06 is limited and positioned at the upper position and the lower position through the screw bearing seat I-03 and the screw bearing seat I-12, so that the rotation precision and the stability of the screw I-06 during working are ensured.

The telescopic rods I-20 are provided with a plurality of rods and are connected between the mounting plate I-22 and the lifting platform I-08. In the present embodiment, four telescopic rods I-20 are provided. It is understood that in other embodiments, the number of telescoping rods I-20 can be other. The upper end of a telescopic rod I-20 is arranged below the mounting plate I-22 through an inner hexagonal socket head cap screw I-21, the lower end of the telescopic rod I-20 is arranged above the lifting platform I-08 through an inner hexagonal socket head cap screw I-18, and the four telescopic rods I-20 are uniformly arranged around the mounting plate I-22 and the lifting platform I-08. A screw nut I-09 is fixed below the lifting platform I-08 through a hexagon socket cap head screw I-10, and the screw nut I-09 is axially arranged along the screw I-06. When the screw I-06 rotates, the lifting platform I-08 is driven to move up and down through the screw nut I-09, and meanwhile, when the lifting platform I-08 moves up and down, the telescopic rod I-20 can play a role in guiding and righting.

The rotating mechanism I-19 is fixed above the lifting platform I-08 through an inner hexagonal socket head cap screw I-07, and an annular sliding rail I-17 is arranged below the lifting platform I-08 through an inner hexagonal socket head cap screw I-16. The axes of the annular slide rail I-17 and the rotating mechanism I-19 are superposed with each other, and one side of the annular slide rail I-17 is provided with a sliding table I-15. Referring to attached drawings 4, 4(a) -4 (h) and 5, the rotating mechanism I-19 comprises a speed regulating motor I-19-01, a coupler I-19-03, a motor retainer I-19-04, a bearing fixing ring I-19-05, an elastic retainer ring I-19-06, a deep groove ball bearing I-19-07, a bearing seat I-19-08, a deep groove ball bearing I-19-09, an elastic retainer ring I-19-10 and a rotating shaft I-19-11, wherein the speed regulating motor I-19-01 is fixed above the motor retainer I-19-04 through an inner hexagonal cylindrical head screw I-19-02.

The motor retainer I-19-04 is internally provided with a cavity, and the coupler I-19-03 is arranged in the cavity inside the motor retainer I-19-04. The upper end of the coupling I-19-03 is connected with the speed regulating motor I-19-01, and the lower end is connected with the rotating shaft I-19-11, so that the torque of the speed regulating motor I-19-01 is transmitted to the rotating shaft I-19-11. A boss is processed inside the bearing seat I-19-08, and the bearing seat I-19-07 is provided with a deep groove ball bearing I-19-07 and a deep groove ball bearing I-19-09, and the two deep groove ball bearings are in transition fit with the rotating shaft I-19-11. An elastic retainer ring I-19-06 and an elastic retainer ring I-19-10 are also arranged in the bearing seat I-19-08, and a bearing fixing ring I-19-05 is arranged above the bearing seat I-19-08. The connecting plate II is connected with a rotating shaft I-19-11 in the rotating mechanism I-19 through a hexagon socket head cap screw III.

Referring to the attached drawings 6 and 6(a) -6 (n), the image acquisition device VI comprises a cutter side edge and diameter image acquisition mechanism VI-01, a guide disc VI-03, a boss gear VI-05, an external tooth rotary bearing VI-06, a circular fixing plate VI-07, a speed regulating motor VI-08, a cutter end face image acquisition mechanism VI-09, a bottom support frame VI-11, an arc-shaped connecting rod VI-13, a double-shaft sliding block VI-14 and a supporting plate VI-17, the guide disc VI-03, the boss gear VI-05, the external tooth rotary bearing VI-06, the circular fixing plate VI-07, the speed regulating motor VI-08, the bottom support frame VI-11, the arc connecting rod VI-13, the double-shaft slide block VI-14 and the supporting plate VI-17 form a focal length adjusting mechanism. The cutter end face image acquisition mechanism VI-09 is fixed inside the bottom support frame VI-11 through an inner hexagonal socket head cap screw VI-10. The circular fixing plate VI-07 is installed right above the bottom supporting frame VI-11 through an inner hexagonal cylindrical head screw VI-12, a speed regulating motor VI-08 is arranged below the circular fixing plate VI-07, a boss gear VI-05 is installed at one end of the speed regulating motor VI-08, and the boss gear VI-05 is meshed with one side of an outer tooth rotary bearing VI-06.

The external tooth slewing bearing VI-06 is provided with an external tooth slewing bearing gear outer ring VI-06-01 and an external tooth slewing bearing inner ring VI-06-02, and the external tooth slewing bearing inner ring VI-06-02 is fixed right above the circular fixing plate VI-07 through an inner hexagonal socket head cap screw VI-15. The end part of the arc-shaped connecting rod VI-13 is provided with a positioning hole, and a shaft shoulder screw VI-04 penetrates through the positioning hole of the arc-shaped connecting rod VI-13 to be screwed with a threaded hole in the inner ring VI-06-02 of the external tooth rotating bearing. It should be noted that the polished rod of the shoulder screw VI-04 is in clearance fit with the positioning hole of the arc-shaped connecting rod VI-13, and the arc-shaped connecting rod VI-13 can rotate around the shoulder screw VI-04 after the installation is finished. The double-shaft sliding block VI-14 comprises a sliding block body, a positioning shaft VI-1401 and a positioning shaft VI-1402, wherein the positioning shaft VI-1401 and the positioning shaft VI-1402 are vertically fixed above the sliding block body; the slider body is provided with a positioning hole. And the shaft shoulder screw VI-16 passes through the positioning hole of the double-shaft sliding block VI-14 to be screwed with the threaded hole of the arc-shaped connecting rod VI-13. Furthermore, a polished rod of the shoulder screw VI-16 is in clearance fit with a positioning hole of the double-shaft sliding block VI-14, and the double-shaft sliding block VI-14 can rotate around the shoulder screw VI-16 on the upper surface of the arc-shaped connecting rod VI-13 after installation.

The guide disc VI-03 is arranged right above an outer ring VI-06-01 of the external tooth slewing bearing gear through an inner hexagonal socket head cap screw VI-02. The guide disc VI-03 comprises two rings which are concentrically arranged, and the two rings are connected through a plurality of guide pieces with uniform intervals. Each guide piece is provided with two guide grooves along the length direction, namely a guide groove VI-0301 and a guide groove VI-0302. The positioning shaft VI-1401 and the positioning shaft VI-1402 of the double-shaft sliding block VI-14 respectively penetrate through the guide groove VI-0301 and the guide disc VI-0302 in the guide disc VI-03, and the height of the shoulder screw VI-04 and the shoulder screw VI-16 after installation is based on the principle that no interference is generated when the guide disc VI-03 and the outer tooth rotary bearing inner ring VI-06-02 relatively rotate.

The supporting plate VI-17 is arranged on the upper surface of the guide disc VI-03, and the supporting plate VI-17 is provided with a mounting hole VI-1701 and a mounting hole VI-1702. The supporting plate VI-17 realizes the connection and positioning between the double-shaft sliding block VI-14 and the supporting plate VI-17 through the transition fit between the positioning shafts VI-1401 and VI-1402 and the mounting holes VI-1702 and VI-1701. A cutter side edge and a diameter image acquisition mechanism VI-01 are arranged above the supporting plate VI-17 through an inner hexagonal socket head cap screw VI-18. It should be noted that. After the installation, the axes of the guide disc VI-03, the external tooth rotary bearing VI-06, the circular fixing plate VI-07, the bottom support frame VI-11 and the cutter VII are in the same straight line.

Referring to the attached drawings 7 and 7(a) -7 (f), the cutter side edge and diameter image acquisition mechanism VI-01 comprises a brightness adjustable annular light source VI-01-01, an upper arc positioning plate VI-01-02, an industrial camera VI-01-04, a side mounting plate VI-01-07, a motor lead screw module VI-01-09, an L-shaped support plate VI-01-11, a lower arc fixing plate VI-01-13 and a support block VI-01-15, wherein the lower arc fixing plate VI-01-13 is mounted on a sliding table of the motor lead screw module VI-01-09 through an inner hexagonal socket head screw VI-01-12 and is vertically arranged. The lower arc fixing plate VI-01-13 is connected with the upper arc fixing plate VI-01-02 through a hexagon socket head cap screw VI-01-03. Arc-shaped grooves are respectively formed in one corresponding side of the lower arc fixing plate VI-01-13 and one corresponding side of the upper arc fixing plate VI-01-02, an arc-shaped cavity is formed between the lower arc fixing plate VI-01-13 and the upper arc fixing plate VI-01-02 after installation is completed, and the front end of the industrial camera VI-01-04 is clamped and positioned through the arc-shaped cavity.

One end of the L-shaped supporting plate VI-01-11 is fixed at the inner side of the lower arc fixing plate VI-01-13 through an inner hexagonal cylindrical head screw VI-01-14, and the two are vertically arranged; the other end of the L-shaped supporting plate VI-01-11 is fixed with a supporting block VI-01-15 through an inner hexagonal socket head cap screw VI-01-05, and the rear end of the industrial camera VI-01-04 is fixed above the supporting block VI-01-15 through an inner hexagonal socket head cap screw VI-01-10. The side mounting piece VI-01-07 is fixed on two sides of the industrial camera VI-01-04 through a hexagonal flange self-tapping screw VI-01-06, and the annular light source VI-01-01 with adjustable brightness is fixed at the front end of the side mounting piece VI-01-07 through a hexagonal flange self-tapping screw VI-01-08. It should be noted that after the installation is finished, the axes of the brightness adjustable annular light source VI-01-01 and the industrial camera VI-01-04 lens are in the same straight line and are perpendicular to the axes of the guide disc VI-03, the external tooth rotating bearing VI-06, the circular fixing plate VI-07, the bottom support frame VI-11 and the cutter VII.

Referring to the attached drawings 8 and 8(a) -8 (d), the cutter end face image acquisition mechanism VI-09 comprises a brightness-adjustable annular light source VI-09-01, an industrial camera VI-09-03, a connecting rod VI-09-06, a gasket VI-09-08, a thin finger cylinder VI-09-10, a connecting rod VI-09-13, a pin seat VI-09-11, a supporting table VI-09-15 and a camera holder VI-09-18, wherein the pin seat VI-09-11 is installed on a sliding table of the thin finger cylinder VI-09-10 through a hexagon socket head cap screw VI-09-09. The lower ends of the connecting rod VI-09-13 and the connecting rod VI-09-06 are respectively provided with a pin shaft positioning hole, and the pin shaft VI-09-12 passes through the pin shaft positioning hole at the lower end of the connecting rod VI-09-13, a pin shaft hole on the pin base VI-09-11, a pin shaft positioning hole at the lower end of the connecting rod VI-09-06 and the gasket VI-09-08 to realize the positioning by the B-shaped pin VI-09-07, so that the connection and the positioning among the connecting rod VI-09-13, the connecting rod VI-09-06 and the pin base VI-09-11 are realized. The upper ends of the connecting rod VI-09-13 and the connecting rod VI-09-06 are also provided with pin shaft positioning holes, and the pin shaft VI-09-14 is positioned by the B-shaped pin VI-09-04 after passing through the pin shaft positioning hole at the upper end of the connecting rod VI-09-13, the pin shaft hole of the supporting platform VI-09-15, the pin shaft positioning hole at the upper end of the connecting rod VI-09-06 and the gasket VI-09-05, so that the connection and the positioning among the connecting rod VI-09-13, the connecting rod VI-09-06 and the supporting platform VI-09-15 are realized.

The camera retainer VI-09-18 is fixed above the supporting platform VI-09-15 through an inner hexagonal socket head cap screw VI-09-16, and the camera retainer VI-09-18 and the supporting platform VI-09-15 are vertically distributed after being installed. The industrial camera VI-09-03 is fixed on the camera holder VI-09-18 through the hexagon socket head cap screws VI-09-17, and the annular light source VI-09-01 with adjustable brightness is fixed at the front end of the camera holder VI-09-18 through the hexagon flange self-tapping screws VI-09-02. It should be noted that after the installation, the axes of the industrial camera VI-09-03, the brightness adjustable annular light source VI-09-01, the guide disc VI-03, the external tooth rotating bearing VI-06, the circular fixing plate VI-07, the bottom support frame VI-11 and the cutter VII are the same straight line.

In the image acquisition device of the embodiment, the diameter images of the cutter are acquired and analyzed while the side edge images of the cutter with different types are acquired, the acquisition and analysis of the diameter images of the cutter can ensure that the type of the cutter installed on a machine tool is correct, the phenomenon that the cutter is mistakenly installed due to negligence of workers is avoided, and the measured current actual diameter of the cutter can be used as a basis for dynamically modifying parameters of a numerical control machining program by a user. When the images of the side edges and the diameters of the cutters of different types are acquired, a crank slide block mechanism consisting of a guide disc VI-03, an arc-shaped connecting rod VI-13, a shaft shoulder screw and a double-shaft slide block VI-14 drives a supporting plate VI-17, the side edges and the diameter image acquisition mechanism VI-01 to move radially along the guide disc VI-03 so as to realize coarse adjustment when the images of the side edges and the diameters of the cutters of different specifications are acquired. The adoption of the crank block mechanism to realize coarse adjustment can greatly simplify the device, reduce the weight of the device and realize the focusing function in a limited space. Simultaneously, in order to prevent the crank block mechanism from generating dead point positions, the following measures are taken: adopting an arc connecting rod VI-13 with a certain radian for connection; after being installed, the arc connecting rod VI-13 can freely rotate around the shaft shoulder screw; the double-shaft sliding block VI-14 can freely rotate around the shaft shoulder screw on the upper surface of the arc-shaped connecting rod VI-13; in order to reduce the friction between the guide disc VI-03 and the double-shaft sliding block VI-14, antifriction metal materials can be adopted, or the rollers are arranged below the supporting plate VI-17, and the rails are arranged outside the guide groove VI-0301, which is not limited in the description; and controlling the rotation range of the speed regulating motor.

In the cutter side edge and diameter image acquisition mechanism VI-01, a motor lead screw module drives an industrial camera to realize the fine adjustment of the focal length when acquiring the cutter side edge and diameter images of different specifications. The annular light source with adjustable brightness can provide enough illumination intensity for an industrial camera under different focal lengths, ensures the illumination intensity and definition of image acquisition, is formed by designing a white LED lamp bead, and has the advantages of small energy consumption of the light source, long service life, uniform illumination, adjustable brightness and the like. In the process of carrying out image acquisition on the side edges and the diameters of the cutters of different models, clear images of the side edges and the diameters of the cutters of different models can be acquired by combination of rough adjustment, fine adjustment and appropriate brightness, and image analysis software in a computer processes and analyzes the images, so that the states of the rear cutter faces and the diameters of the cutters of the side edge pairs of the cutters are detected.

The end face image acquisition mechanism VI-09 in the image acquisition device can acquire the end face image of the cutter, and when the model and the cutter length of the cutter to be detected change. Through thin finger cylinder, round pin axle, connecting rod, brace table mutually support and convert finger cylinder opening and shutting motion into brace table elevating movement and then drive industry camera and the adjustable annular light source up-and-down motion of luminance and realize "the fine setting" of focus when different specification cutter terminal surface image gathers. The whole image acquisition device is driven to move up and down by a stepping motor and a lead screw in the driving device, so that the coarse adjustment of the focal length when the end face images of the cutters with different specifications are acquired is realized. The annular light source with adjustable brightness can provide sufficient illumination intensity under different focal lengths, ensures the illumination intensity and definition of image acquisition, is designed by the white LED lamp beads, and has the advantages of low energy consumption of the light source, long service life, uniform illumination, adjustable brightness and the like. In the process of collecting images of the cutter end faces of different models, the combination of rough adjustment, fine adjustment and proper brightness can collect clear images of the cutter end faces of different models. And image analysis software in the computer processes and analyzes the shot clear image of the end face of the cutter. Thereby judging the abrasion state of the minor flank of the tool.

Example two:

the embodiment provides a working method of a machine detection system for full-automatic tool focusing based on machine vision, most tools in the existing machining center are drilling and milling tools, for example, milling tools are special in wear mode, and besides wear of a flank face, the wear of the flank face of a milling tool pair is also severe, so when a dull grinding standard is established, the wear of the flank face of the tool pair should be considered. Therefore, the images of the measuring edge and the end face of the drilling and milling cutter are required to be acquired during image acquisition, and the diameter of the on-machine cutter is also required to be measured. The method aims to ensure that the type of the cutter installed on the machine tool is correct, avoid the condition that the cutter is wrongly installed due to negligence of workers, and dynamically modify the numerical control machining program parameters according to the measured current actual diameter of the cutter. However, because the types of tools in the machining center are various, and the diameters and the lengths of the tools of different models are different, in order to acquire the images of the tools of different specifications, the related image acquisition mechanism should have a flexible focusing function. Meanwhile, the illumination system directly influences the on-machine detection quality of the cutter state, is suitable for the illumination system of a shooting environment, and is a key condition for the whole visual detection system to work efficiently and stably. The good illumination system can ensure that the interested area of the image has obvious difference in gray scale with other areas while ensuring the integral brightness of the image, namely the image has obvious information level and high contrast, and the slight change of the position of the object can not have obvious influence on the imaging quality, thereby ensuring that the cutter image acquired on machine can meet the subsequent processing requirement.

Based on the above principle, referring to fig. 1, 1(a) and 1(B), the on-machine detection system B of the present embodiment is suspended on the top of the housing of the machining center a by a bolt connection, and waits at a safe position while the machining center a is machining. And in the machining gap, the machine tool spindle drives the cutter to be lifted to the detection position and controls the cutter to rotate, and the on-machine detection system B leaves the safety position and automatically adjusts the focus to dynamically acquire a series of images of the side edge, the diameter and the end face of the cutter. And then, the computer selects the clearest cutter side edge, cutter end surface and cutter diameter image for analysis and processing, and the abrasion of the cutter rear cutter surface and the cutter auxiliary rear cutter surface is quantitatively measured and the detection of the cutter diameter is completed at the same time. If the abrasion amount of the cutter back face or the auxiliary back face is detected to exceed a preset threshold value or the diameter of the cutter is wrong, the computer can immediately suspend the control of the machining center and inform workers of replacing the cutter with excessive abrasion or the wrong cutter. And if the detected abrasion loss of the cutter does not reach the cutter changing standard and the diameter of the cutter is correct, the computer controls the machining center to continuously execute the next procedure.

Specifically, the whole on-machine detection system B adopts an L-shaped layout, is hung at the top of the machining center A through a bolt, and when the machining center A is in a machining gap, the computer can simultaneously execute two programs: the computer controls the main shaft of the machining center to drive the cutter to lift to a preset detection height and controls the cutter to rotate; the computer identifies the current cutter model through the cutter number in the cutter library, controls the stepping motor I-23 to drive the screw I-06 to rotate through the coupling I-02, and further drives the lifting table I-08 and the rotating mechanism I-19 to ascend and descend to a preset height through the screw nut I-03 (the position height of the industrial camera VI-01-04 when shooting the side edge of the cutter is used for realizing coarse adjustment when acquiring the end face image of the cutter). And when the two actions are completed, the computer controls the on-machine detection system to collect and detect the tool image.

In order to save the internal space of the machine tool and ensure the stability of the lifting platform I-08 in the lifting process, the mounting plate I-22 and the lifting platform I-08 are connected through a telescopic rod I-20, and the telescopic rods I-20 are uniformly distributed along the periphery of the mounting plate I-22 and the lifting platform I-08. Meanwhile, in the process of rotating the lead screw I-06, the lead screw I-06 is limited and positioned at the upper position and the lower position through the lead screw bearing seat I-03 and the lead screw bearing seat I-12, so that the rotation precision and the stability of the lead screw I-06 during working are ensured. And the screw bearing seat I-12 is directly arranged on the L-shaped fixing plate I-11 instead of being directly arranged at a certain position on the machining center, so that the whole on-machine detection system can be isolated from the machining center, the space can be saved, the machining center does not need to be modified, and the universality and the applicability of the on-machine detection system are greatly improved.

After the computer executes the two programs, the speed regulating motor I-19-01 drives the rotating shaft I-19-11 to rotate through the coupling I-19-03, and the rotating shaft I-19-11 conveys the image acquisition device VI to a preset shooting position for shooting through the connecting plate II fixedly connected with the rotating shaft I-19-11. The rotating shaft I-19-11 is connected with the speed regulating motor I-19-01 through the coupling I-19-03, so that the large axial force cannot be borne. Therefore, the connecting plate II is also fixedly connected with the sliding table I-15. Through the connection and matching relation among the connecting plate II, the sliding table I-15 and the annular sliding rail I-17, the functions of supporting, guiding and friction reducing can be achieved in the rotation process of the connecting plate II. The adopted speed regulating motor I-19-01 has the advantages of large starting moment, smooth and stable starting, easy control and the like. Transition fit is adopted between the deep groove ball bearings I-19-07 and I-19-09 in the bearing seat I-19-08 and the rotating shaft I-19-11. In order to prevent the two bearings from axially moving during operation, an elastic retainer ring is further arranged inside the rotating mechanism I-09.

The image acquisition device VI needs to be capable of acquiring images of the side edges, end faces and diameters of the drilling and milling cutters with different diameters and different cutter lengths. In order to realize the functions, the image acquisition device VI comprises a cutter side edge and diameter image acquisition mechanism VI-01, a guide disc VI-03, a shaft shoulder screw VI-04, a boss gear VI-05, an external tooth rotary bearing VI-06, an arc-shaped connecting rod VI-13, a circular fixing plate VI-07, a double-shaft sliding block VI-14, a shaft shoulder screw VI-16, a supporting plate VI-17 and a cutter end face image acquisition mechanism VI-09. Before image acquisition, a computer executes a focusing program; the computer controls a speed regulating motor VI-08 to drive an outer ring VI-06-01 of the external tooth slewing bearing gear to rotate in a fixed angle range through a boss gear VI-05, at the moment, an inner ring VI-06-02 of the external tooth slewing bearing gear is fixed right above a circular fixed plate VI-07, the outer ring VI-06-01 of the external tooth slewing bearing gear and the inner ring VI-06-02 of the external tooth slewing bearing gear rotate relatively, and meanwhile, a guide disc VI-03 arranged on the outer ring VI-06-01 of the external tooth slewing bearing gear and the inner ring VI-06-02 of the external tooth slewing bearing gear rotate relatively.

The relative rotation of the guide disc VI-03 and the inner ring VI-06-02 of the external tooth rotary bearing gear can enable the positioning shaft VI-1401 and the positioning shaft VI-1402 to slide in the guide groove VI-0301 and the guide groove VI-0302 (the guide disc VI-03, the arc-shaped connecting rod VI-03-09, the shoulder screw VI-03-02, the shoulder screw VI-03-11 and the double-shaft slider VI-14 form a crank slider mechanism), so that the double-shaft slider VI-14 drives the supporting plate VI-17, the cutter side edge and the diameter image acquisition mechanism VI-01 to move along the radial direction of the guide disc VI-03, and the coarse adjustment of the focal distance of the cutter side edge and the diameter image acquisition mechanism VI-01 during the acquisition of the cutter side edge and the cutter diameter images of different specifications is realized. In the cutter side edge and diameter image acquisition mechanism VI-01, a motor lead screw module VI-01-09 drives a brightness adjustable annular light source VI-01-01 and an industrial camera VI-01-04 to move, so that the 'fine adjustment' of focal lengths is realized when the images of the cutter side edges and the diameters of the cutters of different specifications are acquired.

In the cutter side edge and diameter image acquisition mechanism VI-01, a lens at the front end of an industrial camera VI-01-04 is positioned by an upper arc positioning plate VI-01-02 and a lower arc fixing plate VI-01-13, so that the lens of the camera can be effectively placed to be dislocated in work. Meanwhile, if only the front lens of the industrial camera VI-01-04 is positioned, the moment born by the whole camera is possibly too large, the service life of the camera is influenced, and therefore the rear end of the industrial camera VI-01-04 is supported by the L-shaped supporting plate VI-01-11 and the supporting block VI-01-15. The brightness adjustable annular light source VI-01-01 can change the illumination brightness along with different shooting focal lengths, so that the illumination intensity and the definition of image acquisition are ensured. In the process of carrying out image acquisition on the side edges and the diameters of the cutters of different models, the combination of rough adjustment, fine adjustment and proper brightness can ensure that the cutter side edge and diameter image acquisition mechanism VI-01 can acquire clear images of the side edges and the diameters of the cutters of different models. During shooting, the main shaft of the machining center drives the cutter VII to rotate at a low speed, so that the industrial camera VI-01-04 continuously shoots a series of images for the cutter after focusing to a proper position. And image analysis software in the computer processes and analyzes the image, so that the states of the rear cutter face and the diameter of each side cutting edge pair of the cutter are detected, and the condition that the failed cutting edge is missed to be detected is avoided.

In order to acquire clear images of the end faces of the cutters of different models, the image acquisition device VI also comprises a cutter end face image acquisition mechanism VI-09, and a camera lens of the cutter end face image acquisition mechanism VI-09 shoots the cutter end face image upwards. In the cutter end face image acquisition mechanism VI-09, the opening and closing movement of the thin finger cylinder VI-09-10 can be converted into the lifting movement of the supporting table VI-09-15 through the mutual matching of the thin finger cylinder VI-09-10, the connecting rod VI-09-06, the pin seat VI-09-11, the pin shaft VI-09-12, the pin shaft VI-09-14, the connecting rod VI-09-13 and the supporting table VI-09-15 after being installed, so that the annular light source VI-09-01 with adjustable brightness and the industrial camera VI-09-03 are driven to move up and down, and the 'fine adjustment' of the focal length when the cutter end face images with different specifications are acquired by the end face image acquisition mechanism VI-09 is realized.

The annular light source VI-09-01 with adjustable brightness can provide sufficient illumination intensity for the industrial camera VI-09-03 to acquire images of the end faces of the cutter at different focal lengths, so that the illumination intensity and the definition of the acquired images are ensured. In the previous step, the computer drives the rotating mechanism I-19 to be lifted to a preset height (the height of the position of the industrial camera VI-01-04 when shooting the side edge of the cutter) through the lifting platform I-08, so that the rough adjustment of the acquisition of the end surface image of the cutter is realized. Therefore, in the process of carrying out image acquisition on the cutter end faces of different models, the combination of rough adjustment, fine adjustment and proper brightness is realized, and the cutter end face image acquisition mechanism VI-01 can acquire clear images of the cutter end faces of different models.

And image analysis software in the computer processes and analyzes the shot clear image of the end face of the cutter so as to judge the wear state of the minor flank of the cutter. After the detection is finished, the computer controls the driving device I to drive the connecting plate II and the image acquisition device IV to recover to the original safe position, so that the normal work of a machining center is not influenced when the on-machine detection system does not work.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The full-automatic cutter focusing on-machine detection system based on machine vision is characterized by comprising a driving device, a connecting plate and an image acquisition device, wherein the image acquisition device is connected with the driving device through the connecting plate; the cross-scale image of the tool can be simultaneously acquired in the limited machine tool space;

2. The machine vision-based full-automatic cutter focusing on-machine detection system as claimed in claim 1, wherein the focal length adjustment mechanism comprises a guide disc, a boss gear, an external tooth slewing bearing, a circular fixing plate and a bottom support frame, the external tooth slewing bearing is mounted above the circular fixing plate, the guide disc is mounted above the external tooth slewing bearing, and the bottom support frame is arranged below the circular fixing plate;

3. The machine vision-based full-automatic cutter focusing on-machine detection system as claimed in claim 2, wherein the slider-crank mechanism comprises an arc-shaped connecting rod, a double-shaft slider and a supporting plate, one end of the arc-shaped connecting rod is connected with an inner ring of the external-tooth slewing bearing through a shoulder screw, and the arc-shaped connecting rod can rotate around the shoulder screw; the other end of the arc-shaped connecting rod is connected with the double-shaft sliding block through a shaft shoulder screw, and the double-shaft sliding block can rotate around the shaft shoulder screw on the upper surface of the arc-shaped connecting rod.

A plurality of groups of guide grooves are formed in the circumferential direction of the guide disc, and each group of guide grooves is provided with two guide grooves; the double-shaft sliding block is provided with two positioning shafts, and the guide groove is matched with the positioning shafts; the cutter side edge and diameter image acquisition mechanism is connected with the positioning shaft through a supporting plate; the boss gear drives the outer ring of the outer tooth rotary bearing gear to rotate within a fixed angle range under the action of the speed regulating motor, so that the double-shaft sliding block drives the supporting plate, the cutter side edge and the diameter image acquisition mechanism to move along the radial direction of the guide disc, and the rough adjustment of focal lengths when the cutter side edge and the diameter image acquisition mechanism acquire the cutter side edge and the cutter diameter images of different specifications is realized.

4. The machine vision-based full-automatic tool focusing and detecting system as claimed in claim 1, 2 or 3, wherein the tool side edge and diameter image collecting mechanism comprises an annular light source with adjustable brightness, an industrial camera and a motor screw module, the industrial camera is connected with the motor screw module in a sliding manner, and the annular light source with adjustable brightness is arranged at the front end of the industrial camera; the motor lead screw module can drive the industrial camera to move, and the fine adjustment of the focal length is realized when the images of the side edges and the diameters of the cutters of different specifications are acquired.

5. The machine vision-based full-automatic tool focusing on machine detection system is characterized in that the tool end face image acquisition mechanism comprises a thin finger cylinder, a connecting rod sliding block mechanism, an industrial camera and an annular light source with adjustable brightness, wherein the thin finger cylinder is connected with a camera holder through the connecting rod sliding block mechanism; an industrial camera is installed on one side of the camera holder, and the annular light source with adjustable brightness is arranged at the front end of the industrial camera.

6. The machine vision-based full-automatic cutter focusing on machine detection system as claimed in claim 5, wherein the link mechanism comprises a pin seat and a connecting rod rotatably connected with the pin seat, and the pin seat is fixedly connected with a sliding table of the thin finger cylinder; the connecting rod is connected with the camera holder through the supporting platform; the adjustable-brightness annular light source and the industrial camera are driven to move up and down through opening and closing of the thin finger cylinder, and fine adjustment of focal lengths of the cutter end face image acquisition mechanism during acquisition of end face images of cutters of different specifications is achieved.

7. The machine vision-based full-automatic tool focusing on machine detection system as claimed in claim 1, wherein the lifting mechanism comprises a stepping motor and a lead screw and nut mechanism connected with the stepping motor, the stepping motor is fixed with the mounting plate, and the lead screw and nut mechanism is connected with the lifting table; a plurality of telescopic rods are connected between the lifting platform and the mounting plate; when the tool is positioned in the machining gap, the lifting table and the connecting plate can lift the image acquisition device to a preset detection height, so that coarse adjustment of the tool end face image acquisition is realized.

8. The machine vision-based full-automatic cutter focusing on machine detection system as claimed in claim 7, wherein an annular slide rail is fixed below the lifting table and is slidably connected with the sliding table; the sliding table is fixedly connected with the connecting plate.

9. The machine vision-based full-automatic cutter focusing on-machine detection system as claimed in claim 7, wherein the rotating mechanism comprises a speed regulating motor, a motor holder and a bearing seat, and the speed regulating motor is fixed above the motor holder; the speed regulating motor is connected with the connecting plate through a rotating shaft; the bearing seat is fixed above the lifting platform.

10. The method for operating a machine vision based tool full-automatic focusing on-machine detection system according to any one of claims 1-9, comprising:

installing the on-machine detection system in a machining center, and waiting for the on-machine detection system at a safe position when the machining center is machining; when the machining center is positioned in the machining gap, the computer controls the main shaft of the machining center to lift the cutter to a preset detection height and drive the cutter to rotate; the computer identifies the current cutter model, and controls the lifting mechanism to drive the image acquisition device to a preset height, so that the procedure also realizes coarse adjustment when the images of the end surface of the cutter are acquired;

the rotating mechanism conveys the image acquisition device to a preset shooting position for shooting through a connecting plate fixedly connected with the rotating mechanism; when the image is collected, the computer executes a focusing program;

the speed regulating motor drives the outer ring of the outer tooth rotary bearing gear to rotate within a fixed angle range through the boss gear, so that the double-shaft sliding block drives the supporting plate, the cutter side edge and diameter image acquisition mechanism to move along the radial direction of the guide disc, and the rough adjustment of the focal length of the cutter side edge and diameter image acquisition mechanism to the cutter side edge and the cutter diameter image acquisition of different specifications is realized; in the cutter side edge and diameter image acquisition mechanism, a motor lead screw module drives an industrial camera to move, so that the fine adjustment of focal lengths when the cutter side edges and the cutter diameter images of different specifications are acquired is realized;

when the images of the side edge and the diameter of the cutter are acquired, an industrial camera lens of the cutter end face image acquisition mechanism shoots the images of the end face of the cutter upwards; the adjustable-brightness annular light source and the industrial camera are driven to move up and down through the opening and closing of the thin finger cylinder, so that the fine adjustment of the focal length of the cutter end face image acquisition mechanism during the acquisition of the cutter end face images of different specifications is realized;