CN112484645B - Multi-station image detection machine for processing shaft workpieces - Google Patents

Multi-station image detection machine for processing shaft workpieces Download PDF

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Publication number
CN112484645B
CN112484645B CN202011178455.4A CN202011178455A CN112484645B CN 112484645 B CN112484645 B CN 112484645B CN 202011178455 A CN202011178455 A CN 202011178455A CN 112484645 B CN112484645 B CN 112484645B
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Prior art keywords
shaft
jig
workpiece
linear driver
driver
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CN202011178455.4A
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CN112484645A (en
Inventor
刘西波
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Ningbo Kesheng Axle Industry Co.,Ltd.
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Fenghua Kesheng Micro Shaft Co ltd
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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
    • 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
    • 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
    • G01B11/12—Measuring arrangements characterised by the use of optical techniques for measuring diameters internal diameters
    • 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
    • G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
    • 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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/18—Measuring arrangements characterised by the use of mechanical techniques for measuring depth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B5/25—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G01B5/252—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes for measuring eccentricity, i.e. lateral shift between two parallel axes

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the field of shaft part processing equipment, in particular to a multi-station image detection machine for processing shaft workpieces, which comprises: the automatic feeding device, the detection table, the detection device, the automatic discharging device and the material moving device are arranged on the detection table; the detection table comprises a table top, a first jig, a second jig and a third jig; the detection device comprises a distance sensor, a visual detector and a hole detector, wherein the sensing end of the distance sensor is horizontally arranged and coaxially faces one end of the shaft-type workpiece on the first jig, the detection end of the visual detector is vertically arranged and radially faces two ends of the shaft-type workpiece on the second jig, and the sensing end of the hole detector is horizontally arranged and coaxially faces a concentric hole of the shaft-type workpiece on the second jig; the full-automatic shaft part feeding device can fully automatically detect the length and the diameter of each step of a shaft part and the inner diameter, the concentricity and the depth of a blind hole at one end of the shaft part, and realizes the functions of automatic feeding, automatic detection, automatic material moving, automatic blanking and automatic classification.

Description

Multi-station image detection machine for processing shaft workpieces
Technical Field
The invention relates to the field of shaft part machining equipment, in particular to a multi-station image detection machine for machining shaft workpieces.
Background
At present, after the shaft workpieces are machined, in order to detect the shaft workpieces, a worker needs to place the shaft workpieces on a special detection table and detect the shaft workpieces through visual detection or plug gauges and gauge gauges.
At present, automatic detection equipment generally puts shaft parts with wrong directions under the condition that the directions of the fed shaft parts are wrong, waits for workers to adjust and then feeds the shaft parts again, and has low detection efficiency due to the need of manual intervention.
Therefore, an apparatus capable of detecting shaft parts automatically without manual intervention is needed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-station image detection machine for processing shaft workpieces, which is used for fully automatically detecting the length and the diameter of each step of a shaft part and the inner diameter, the concentricity and the depth of a blind hole at one end of the shaft part, and realizes the functions of automatic feeding, automatic detection, automatic material moving, automatic discharging and automatic classification.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides an axle type is multistation image detection machine for work piece processing, is provided with the concentric hole including the automated inspection equipment that is used for detecting axle type work piece, the one end of axle type work piece, and the concentric hole is the blind hole, and the automated inspection equipment includes the frame and sets up in the frame:
the automatic feeding device is used for outputting the feeding shaft type workpieces;
the detection table is used for receiving the shaft workpieces output by the automatic feeding device;
the detection device is used for detecting the shaft workpieces on the detection table;
the automatic blanking device is used for automatically classifying the detected shaft workpieces;
the material moving device is used for grabbing and moving the shaft workpiece;
the detection table comprises a table top, and a first jig, a second jig and a third jig which are arranged on the table top side by side, wherein grooves for horizontally placing the shaft workpieces are formed in the first jig, the second jig and the third jig;
the detection device comprises a distance sensor, a visual detector and a hole detector, wherein the sensing end of the distance sensor is horizontally arranged and coaxially faces one end of the shaft-type workpiece on the first jig, the detection end of the visual detector is vertically arranged and radially faces two ends of the shaft-type workpiece on the second jig, and the sensing end of the hole detector is horizontally arranged and coaxially faces a concentric hole of the shaft-type workpiece on the second jig;
the material moving device grabs the shaft workpiece to enable the shaft workpiece to sequentially pass through the first jig, the second jig and the third jig from the output end of the automatic feeding device to the input end of the automatic discharging device.
Preferably, the material moving device comprises:
the first linear driver is arranged on the rack, and the driving direction of the first linear driver is horizontally arranged;
the second linear driver is fixedly arranged at the output end of the first linear driver, and the driving direction of the second linear driver is vertically arranged;
the first manipulator, the second manipulator and the third manipulator are arranged side by side and fixedly installed at the output end of the second linear driver, and the first manipulator, the second manipulator and the third manipulator are respectively positioned right above the first jig, the second jig and the third jig in a non-working state.
Preferably, the first robot includes:
the first rotary driver is fixedly arranged at the output end of the second linear driver, and a driving shaft of the first rotary driver is vertically arranged;
the clamping driver is fixedly arranged at the output end of the first rotary driver;
the clamping jaws are provided with two clamping jaws which are respectively and fixedly arranged at the output end of the clamping driver, the clamping jaws are convenient to clamp the shape of the shaft workpiece, and the two clamping jaws are centrosymmetric and the symmetric centers of the two clamping jaws coincide with the axis of the driving shaft of the first rotary driver.
Preferably, the vision detector includes:
the first camera is fixedly arranged on the rack, the photographing end of the first camera is vertically arranged downwards, and the photographing end of the first camera is right opposite to the shaft workpiece on the second jig;
the third camera is arranged on the rack, the photographing end of the first camera is horizontally arranged and is coaxial with the shaft workpiece on the second jig, and one end, provided with the concentric hole, of the shaft workpiece faces the third camera;
the light source is arranged on the rack, and the shaft workpiece of the light source arranged on the second jig is far away from the direction of the first camera or the third camera.
Preferably, the detection platform still includes the first guiding mechanism who is used for rectifying the axle type work piece position on the second tool, and first guiding mechanism includes:
the first baffle is arranged beside one end of the shaft workpiece on the second jig and is positioned between the second jig and the visual detector;
the third linear driver is arranged on the rack, the output end of the third linear driver is fixedly connected with the first baffle, the third linear driver is used for driving the first baffle to move, and the moving track of the first baffle is perpendicular to the axis of the shaft workpiece on the second jig;
the first push block is arranged beside the other end of the shaft workpiece on the second jig;
the fourth linear driver is arranged on the rack, the output end of the fourth linear driver is fixedly connected with the first push block, the fourth linear driver is used for driving the fourth linear driver to move, and the moving track of the fourth linear driver is coaxial with the axis of the second jig upper shaft workpiece.
Preferably, the detection platform further comprises a second correction mechanism for correcting the position of the shaft workpiece on the third jig, and the second correction mechanism comprises:
the second baffle is arranged beside one end of the shaft workpiece on the third jig, the second baffle is positioned between the third jig and the hole detector, and the second baffle is provided with an avoidance through hole for avoiding the sensing end of the hole detector;
the second push block is arranged beside the other end of the shaft workpiece on the third jig;
and the fifth linear driver is arranged on the rack, the output end of the fifth linear driver is fixedly connected with the second push block, the fifth linear driver is used for driving the fifth linear driver to move, and the moving track of the fifth linear driver is coaxial with the axis of the upper shaft workpiece of the third jig.
Preferably, the aperture detector comprises:
the sixth linear driver is fixedly arranged on the rack, and the driving direction of the sixth linear driver is parallel to the axis of the shaft workpiece on the third jig;
resilience formula electronic ruler, fixed mounting is at the output of sixth linear actuator, and resilience formula electronic ruler's response end is towards the axle type work piece on the third tool and coaxial rather than.
Preferably, the hole detector further comprises a plug gauge fixedly installed at the sensing end of the rebound type electronic ruler.
Preferably, the automatic feeding device comprises a stocker and a feeder which are arranged on the frame;
the stocker comprises a storage box and a storage track arranged on one side of the storage box, the storage box is used for storing a large number of stacked shaft-type workpieces, the storage track is used for storing a large number of tiled shaft-type workpieces, the bottom surfaces of the storage box and the storage track are obliquely arranged, the highest end of the storage track is connected with the lowest end of the storage box, and a first material distributor used for ejecting one shaft-type workpiece from the interior of the storage box to the interior of the storage track is arranged between the storage box and the storage track;
the feeding device comprises a second distributor and a material placing platform, the material placing platform is arranged beside the first jig, and the second distributor is arranged between the lowest end of the material storing track and the material placing platform.
Preferably, automatic unloader moves the silo and divides the workbin including setting up the activity in the frame, divide the workbin setting to keep away from one side of automatic feeding device examining the platform, the activity moves the silo setting and is examining the platform and divide between the workbin, divide workbin inside at least two each other not communicating spaces of keeping apart, the activity moves the silo and includes spout and second rotary actuator, the spout slope sets up, the low side orientation of spout divides the workbin setting, second rotary actuator fixed mounting is in the frame, the vertical setting of output shaft of second rotary actuator, the spout and second rotary actuator's output shaft fixed connection.
Compared with the prior art, the invention has the beneficial effects that:
the full-automatic shaft part step length and diameter detection device is used for full-automatic detection of the length and diameter of each step of a shaft part and the inner diameter, concentricity and depth of a blind hole at one end of the shaft part, can realize the functions of automatic feeding, automatic detection, automatic material moving, automatic blanking and automatic classification, and has the advantage of high detection efficiency compared with the prior art, and the specific realization method is as follows: when the first distributor works each time, one shaft workpiece enters the storage track from the inside of the storage box, and when the second distributor works each time, one shaft workpiece enters the material placing platform from the inside of the storage track; the material moving device completes the material moving process of three shaft workpieces at one time, so that the shaft workpieces on the material placing table, the first jig, the second jig and the third jig are respectively moved to the first jig, the second jig, the third jig and the chute, the distance sensor detects whether one end of the shaft workpiece with the concentric hole faces to the first jig or not, if the shaft workpiece faces to the first jig, the first manipulator rotates the shaft workpiece by 180 degrees and then places the shaft workpiece on the second jig, and if the shaft workpiece does not face to the second jig, the first manipulator clamps the shaft workpiece on the first jig and places the shaft workpiece on the second jig; the visual detector is used for analyzing and judging the length and the diameter of each part of the shaft workpiece and whether the diameter of one end of the shaft workpiece with the concentric hole and the concentricity of the diameter are qualified or not after processing an image signal by photographing the shaft workpiece; the sixth linear driver is used for driving the rebound type electronic ruler to drive the plug gauge to move, so that the plug gauge is inserted into the concentric hole, and whether the inner diameter, concentricity and depth of the concentric hole are qualified or not is detected; the second rotary driver drives the sliding groove to rotate according to the detection result, so that the lower end of the sliding groove faces to a specific direction, and the shaft workpieces with the same detection result slide into the same space in the material distribution box along the sliding groove.
Drawings
FIG. 1 is a perspective view of a shaft-like workpiece;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a perspective view of the inspection table and the material transferring device of the present invention;
FIG. 5 is a perspective view of the inspection station of the present invention;
FIG. 6 is a perspective view of the inspection station and inspection apparatus of the present invention;
FIG. 7 is a partial enlarged view of FIG. 6 at B;
FIG. 8 is a perspective view of the automatic feeding device of the present invention;
FIG. 9 is a cross-sectional view of the automatic feeding device of the present invention in a middle section;
FIG. 10 is a middle sectional view of the movable transfer chute of the present invention;
the reference numbers in the figures are:
1-a shaft workpiece; 1 a-concentric bore; 2-a stocker; 2 a-a material storage box; 2 b-a storage track; 2 c-a first distributor; 3-feeding device; 3 a-a second distributor; 3 b-a material placing table; 4-detecting the platform; 4 a-a table top; 4 b-a first jig; 4 c-a second jig; 4 d-a third jig; 4 e-a first corrective mechanism; 4e1 — first baffle; 4e2 — third linear drive; 4e3 — first push block; 4e4 — fourth linear drive; 4 f-a second corrective mechanism; 4f1 — second baffle; 4f 2-second pusher; 4f 3-fifth linear drive; 5-a detection device; 5 a-a distance sensor; 5 b-a vision detector; 5b1 — first camera; 5b 2-third camera; 5b 3-light source; 5 c-a pore detector; 5c 1-sixth linear drive; 5c 2-resilient electronic ruler; 5c 3-plug gauge; 6-movable material moving groove; 6 a-a chute; 6 b-a second rotary drive; 7-separating the material box; 8-a material moving device; 8 a-a first linear driver; 8 b-a second linear drive; 8 c-a first manipulator; 8c1 — first rotary drive; 8c 2-clamp drive; 8c 3-jaws; 8 d-a second manipulator; 8 e-third robot.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1, 2, 3, 6, an axle type is multistation image detection machine for work piece processing, including the automatic check out test set that is used for detecting axle type work piece 1, the one end of axle type work piece 1 is provided with concentric hole 1a, and concentric hole 1a is the blind hole, and the automatic check out test set includes the frame and sets up in the frame:
the automatic feeding device is used for outputting the feeding shaft type workpiece 1;
the detection table 4 is used for receiving the shaft workpieces 1 output by the automatic feeding device;
the detection device 5 is used for detecting the shaft workpieces 1 on the detection table 4;
the automatic blanking device is used for automatically classifying the detected shaft workpieces 1;
the material moving device 8 is used for grabbing and moving the shaft-type workpiece 1;
the detection table 4 comprises a table top 4a, and a first jig 4b, a second jig 4c and a third jig 4d which are arranged on the table top 4a side by side, wherein grooves for horizontally placing the shaft workpieces 1 are formed in the first jig 4b, the second jig 4c and the third jig 4 d;
the detection device 5 comprises a distance sensor 5a, a vision detector 5b and a hole detector 5c, wherein the sensing end of the distance sensor 5a is horizontally arranged and coaxially faces one end of the shaft-type workpiece 1 on the first jig 4b, the detection end of the vision detector 5b is vertically arranged and radially faces two ends of the shaft-type workpiece 1 on the second jig 4c, and the sensing end of the hole detector 5c is horizontally arranged and coaxially faces the concentric hole 1a of the shaft-type workpiece 1 on the second jig 4 c;
the material moving device 8 grabs the shaft workpiece 1 to enable the shaft workpiece to sequentially pass through the first jig 4b, the second jig 4c and the third jig 4d from the output end of the automatic feeding device to the input end of the automatic discharging device.
The working principle of the invention is as follows:
the automatic feeding device, the automatic discharging device and the material moving device 8 work in a combined mode and are used for enabling the shaft-type workpiece 1 to be detected to sequentially pass through the first jig 4b, the second jig 4c and the third jig 4d, and therefore the shaft-type workpiece 1 sequentially passes through the distance sensor 5a, the vision detector 5b and the hole detector 5c to be detected;
when the shaft-type workpiece 1 with the concentric hole 1a and the end without the concentric hole 1a respectively face the distance sensor 5a, the relative distance between the sensing end of the distance sensor 5a and the shaft-type workpiece 1 is changed greatly, so that the distance sensor 5a has a function of detecting whether the end of the shaft-type workpiece 1 with the concentric hole 1a faces itself, and thus, whether the shaft-type workpiece 1 is reversed is judged;
the visual detector 5b is a CCD visual detection mechanism, and is used for photographing the shaft workpieces 1, converting the shaft workpieces 1 into image signals and then transmitting the image signals to an image processing system, the image processing system converts information such as pixel distribution, brightness, color and the like into digital signals, and various operations are performed on the signals to extract the characteristics of a target, so that whether the length and the diameter of each part of the shaft workpieces 1 are qualified is judged;
the hole detector 5c is used for detecting whether the concentric hole 1a is qualified;
according to the detection results of the distance sensor 5a, the vision detector 5b and the hole detector 5c, the automatic blanking device classifies the qualified, unqualified and reversed shaft-type workpieces 1 into different areas.
As shown in fig. 4, the material moving device 8 includes:
the first linear driver 8a is arranged on the rack, and the driving direction of the first linear driver 8a is horizontally arranged;
the second linear driver 8b is fixedly arranged at the output end of the first linear driver 8a, and the driving direction of the second linear driver 8b is vertically arranged;
the first manipulator 8c, the second manipulator 8d and the third manipulator 8e are arranged side by side and fixedly installed at the output end of the second linear driver 8b, and under the non-working state, the first manipulator 8c, the second manipulator 8d and the third manipulator 8e are respectively positioned right above the first jig 4b, the second jig 4c and the third jig 4 d.
The working principle of the material moving device 8 is as follows: first linear actuator 8a and second linear actuator 8b are the cylinder slip table, first manipulator 8c, second manipulator 8d and third manipulator 8e mainly comprise finger cylinder and the clamping jaw of installing at finger cylinder output, move material device 8 can once only accomplish the material process that moves of three axle type work piece 1, make automatic feeding device's output, first tool 4b, second tool 4c, axle type work piece 1 on the third tool 4d remove respectively to first tool 4b, second tool 4c, third tool 4d, automatic unloader's input.
As shown in fig. 5, the first robot 8c includes:
a first rotary driver 8c1 fixedly installed at the output end of the second linear driver 8b, the driving shaft of the first rotary driver 8c1 being vertically arranged;
a clamping driver 8c2 fixedly mounted at the output end of the first rotary driver 8c 1;
and the clamping jaw 8c3 is provided with two clamping jaws 8c3 and is fixedly arranged at the output end of the clamping driver 8c2 respectively, the clamping jaw 8c3 is in a shape convenient for clamping the shaft-type workpiece 1, and the two clamping jaws 8c3 are in central symmetry and the symmetry centers of the two clamping jaws are coincident with the axis of the driving shaft of the first rotary driver 8c 1.
The working principle of the material moving device 8 is as follows: the first rotary driver 8c1 is a swing cylinder, the clamping driver 8c2 is a finger cylinder, compared with the second manipulator 8d and the third manipulator 8e, the first manipulator 8c has one more swing cylinder, the clamping driver 8c2 and the clamping jaw 8c3 can be independently combined into a manipulator having the function of clamping the shaft-like workpiece 1, and the first rotary driver 8c1 is used for driving the clamping driver 8c2 to drive the clamping jaw 8c3 to rotate, so that the first manipulator 8c not only has the function of clamping the shaft-like workpiece 1, but also can rotate the clamped shaft-like workpiece 1 by 180 degrees, so that when the distance sensor 5a detects that the shaft-like workpiece 1 placed on the first fixture 4b is reversed, which is not beneficial for the detection of the vision detector 5b and the hole detector 5c, the first manipulator 8c can rotate the shaft-like workpiece 1 on the first fixture 4b by 180 degrees and place the same on the second fixture 4c, thereby solving the problem.
As shown in fig. 5, the visual detector 5b includes:
the first camera 5b1 is provided with at least one first camera 5b1 which is fixedly arranged on the rack, the photographing end of the first camera 5b1 is vertically arranged downwards, and the photographing end of the first camera 5b1 is right opposite to the shaft-type workpiece 1 on the second jig 4 c;
a third camera 5b2, which is arranged on the frame, wherein the photographing end of the first camera 5b1 is horizontally arranged and coaxial with the shaft workpiece 1 on the second jig 4c, and one end of the shaft workpiece 1, which is provided with a concentric hole 1a, faces the third camera 5b 2;
and the light source 5b3 is arranged on the frame, and the light source 5b3 is arranged on the second jig 4c in the direction in which the shaft workpiece 1 is far away from the first camera 5b1 or the third camera 5b 2.
The working principle of the detection device 5 is as follows: the first camera 5b1 and the third camera 5b2 are both CCD cameras, the light source 5b3 is a fill-in light, the number of the first cameras 5b1 is two, the two first cameras 5b1 are respectively used for detecting the length and the diameter of each step at the two ends of the shaft-type workpiece 1, and the third camera 5b2 is used for detecting the diameter and the concentricity of one end of the shaft-type workpiece 1 having the concentric hole 1 a.
As shown in fig. 5, the inspection station 4 further includes a first correcting mechanism 4e for correcting the position of the shaft-like workpiece 1 on the second jig 4c, and the first correcting mechanism 4e includes:
a first baffle 4e1, which is arranged on the second fixture 4c beside one end of the shaft workpiece 1, and the first baffle 4e1 is positioned between the second fixture 4c and the visual detector 5 b;
the third linear driver 4e2 is arranged on the rack, the output end of the third linear driver 4e2 is fixedly connected with the first baffle 4e1, the third linear driver 4e2 is used for driving the first baffle 4e1 to move, and the moving track of the first baffle 4e1 is perpendicular to the axis of the shaft-like workpiece 1 on the second jig 4 c;
the first push block 4e3 is arranged on the second jig 4c beside the other end of the shaft workpiece 1;
the fourth linear driver 4e4 is arranged on the rack, the output end of the fourth linear driver 4e4 is fixedly connected with the first push block 4e3, the fourth linear driver 4e4 is used for driving the fourth linear driver 4e4 to move, and the moving track of the fourth linear driver 4e4 is coaxial with the axis of the shaft type workpiece 1 on the second jig 4 c.
The working principle of the first correcting mechanism 4e is as follows: the third linear driver 4e2 and the fourth linear driver 4e4 are both cylinder sliding tables, first, the third linear driver 4e2 drives the first baffle 4e1 to shield between the second fixture 4c and the vision detector 5b, then the fourth linear driver 4e4 drives the first push block 4e3 to approach the shaft workpiece 1, the first push block 4e3 pushes one end of the shaft workpiece 1 to make the other end of the shaft workpiece abut against the first baffle 4e1, then the fourth linear driver 4e4 and the third linear driver 4e2 are reset in sequence, the shaft workpiece 1 stays at a fixed position on the second fixture 4c, and there is no shielding between the shaft workpiece 1 and the vision detector 5 b.
As shown in fig. 5, the inspection station 4 further includes a second correcting mechanism 4f for correcting the position of the shaft-like workpiece 1 on the third jig 4d, and the second correcting mechanism 4f includes:
the second baffle 4f1 is arranged at the side of one end of the shaft workpiece 1 on the third jig 4d, the second baffle 4f1 is positioned between the third jig 4d and the hole detector 5c, and the second baffle 4f1 is provided with an avoidance through hole for avoiding the induction end of the hole detector 5 c;
the second push block 4f2 is arranged on the third jig 4d beside the other end of the shaft workpiece 1;
the fifth linear driver 4f3 is arranged on the frame, the output end of the fifth linear driver 4f3 is fixedly connected with the second push block 4f2, the fifth linear driver 4f3 is used for driving the fifth linear driver 4f3 to move, and the moving track of the fifth linear driver 4f3 is coaxial with the axis of the shaft-like workpiece 1 on the third jig 4 d.
The working principle of the second correcting mechanism 4f is as follows: the fifth linear driver 4f3 is an air cylinder sliding table, the fifth linear driver 4f3 drives the second push block 4f2 to approach the shaft-like workpiece 1, the second push block 4f2 pushes one end of the shaft-like workpiece 1 to enable the other end of the shaft-like workpiece to be tightly abutted to the second baffle 4f1, then the sensing end of the hole detector 5c penetrates through the through hole in the second baffle 4f1 to detect whether the depth of the concentric hole 1a is qualified, and after the detection is completed, the fifth linear driver 4f3 drives the second push block 4f2 to reset.
As shown in fig. 5, the distance sensor 5a is a laser ranging sensor.
As shown in fig. 7, the aperture detector 5c includes:
the sixth linear driver 5c1 is fixedly arranged on the frame, and the driving direction of the sixth linear driver 5c1 is parallel to the axis of the shaft-like workpiece 1 on the third jig 4 d;
and the rebound type electronic ruler 5c2 is fixedly installed at the output end of the sixth linear driver 5c1, and the sensing end of the rebound type electronic ruler 5c2 faces the shaft workpiece 1 on the third jig 4d and is coaxial with the shaft workpiece.
Working principle of the aperture detector 5 c: sixth linear actuator 5c1 is the cylinder slip table, and sixth linear actuator 5c1 is used for driving resilience formula electronic ruler 5c2 and removes for resilience formula electronic ruler 5c 2's response end inserts to the inside of concentric hole 1a, and resilience formula electronic ruler 5c2 is through detecting the distance that its response end was retracted, judges whether qualified concentric hole 1 a's degree of depth.
As shown in fig. 7, the hole detector 5c further includes a plug gauge 5c3, and the plug gauge 5c3 is fixedly mounted at the sensing end of the resilient electronic ruler 5c 2.
The working principle of the sixth linear drive 5c1 is: the sixth linear driver 5c1 is used for driving the rebound electronic ruler 5c2 to drive the plug gauge 5c3 to move, so that the plug gauge 5c3 is inserted into the concentric hole 1a, when the inner diameter or the concentricity of the concentric hole 1a is unqualified, the plug gauge 5c3 is clamped on the outer side of the concentric hole 1a and cannot go deep, and the retraction distance of the sensing end of the rebound electronic ruler 5c2 is obviously changed.
As shown in fig. 8 and 9, the automatic feeding device comprises a stocker 2 and a feeder 3 arranged on a frame;
the stocker 2 comprises a storage box 2a and a storage track 2b arranged on one side of the storage box 2a, the storage box 2a is used for storing a large number of stacked shaft-type workpieces 1, the storage track 2b is used for storing a large number of tiled shaft-type workpieces 1, the bottom surfaces of the storage box 2a and the storage track 2b are both obliquely arranged, the highest end of the storage track 2b is connected with the lowest end of the storage box 2a, and a first distributor 2c used for ejecting one shaft-type workpiece 1 from the interior of the storage box 2a to the interior of the storage track 2b is arranged between the storage box 2a and the storage track 2 b;
the feeding device 3 comprises a second distributor 3a and a material placing table 3b, the material placing table 3b is arranged beside the first jig 4b, and the second distributor 3a is arranged between the lowest end of the material storing track 2b and the material placing table 3 b.
The working principle of the automatic feeding device is as follows: first tripper 2c and second tripper 3a are the structure that automatic processing field is common to all, it mainly includes the cylinder and through the riser of cylinder drive lift, all can jack-up and only can jack-up an axle type work piece 1 when the riser goes up and down at every turn, thereby make first tripper 2c at every turn during operation, an axle type work piece 1 is inside from storage case 2a inside entering storage track 2b, and second tripper 3a at every turn during operation, an axle type work piece 1 is inside from storage track 2b inside entering material platform 3b, thereby realized axle type work piece 1's automatic feeding function.
As shown in fig. 2 and 10, the automatic blanking device comprises a movable material moving groove 6 and a material distributing box 7 which are arranged on the rack, the material distributing box 7 is arranged on one side of the detection platform 4 far away from the automatic feeding device, the movable material moving groove 6 is arranged between the detection platform 4 and the material distributing box 7, at least two spaces which are not communicated with each other are isolated inside the material distributing box 7, the movable material moving groove 6 comprises a sliding groove 6a and a second rotary driver 6b, the sliding groove 6a is obliquely arranged, the lower end of the sliding groove 6a faces the material distributing box 7, the second rotary driver 6b is fixedly arranged on the rack, an output shaft of the second rotary driver 6b is vertically arranged, and the sliding groove 6a is fixedly connected with the output shaft of the second rotary driver 6 b.
The working principle of the automatic blanking device is as follows: the material distributing box 7 is a belt conveyor, baffle plates used for blocking the shaft workpieces 1 from falling out of the periphery of the material distributing box 7 are arranged on the periphery of the material distributing box 7, partition plates which are arranged side by side and separate the interior of the material distributing box 7 into at least two spaces which are not communicated with each other are arranged in the material distributing box 7, the shaft workpieces 1 on the third jig 4d are moved to the sliding groove 6a by the material moving device 8, the sliding groove 6a is driven to rotate by the second rotary driver 6b according to detection results, the lower end of the sliding groove 6a faces to a specific space in the material distributing box 7, the shaft workpieces 1 with the same detection results slide into the same space in the material distributing box 7 along the sliding groove 6a, and the belt conveying structure of the material distributing box 7 is started to enable the shaft workpieces 1 in the material distributing box to be tiled.
The working principle of the invention is as follows:
s100, when the first distributor 2c works each time, one shaft workpiece 1 enters the storage track 2b from the inside of the storage box 2a, and when the second distributor 3a works each time, one shaft workpiece 1 enters the material placing table 3b from the inside of the storage track 2 b;
s200, the material moving device 8 completes the material moving process of the three shaft workpieces 1 at one time, so that the shaft workpieces 1 on the material placing table 3b, the first jig 4b, the second jig 4c and the third jig 4d are respectively moved to the first jig 4b, the second jig 4c, the third jig 4d and the chute 6a,
s300, the detection device 5 detects the shaft workpiece 1:
s310, detecting whether one end of the shaft workpiece 1 with the concentric hole 1a faces to the shaft workpiece, if so, executing S320, and if not, executing S330;
s320, the first manipulator 8c clamps the shaft workpiece 1 on the first jig 4b, rotates the shaft workpiece 180 degrees and then places the shaft workpiece on the second jig 4 c;
s330, the first manipulator 8c clamps the shaft workpiece 1 on the first fixture 4b and places the shaft workpiece on the second fixture 4 c;
s340, a visual detector 5b takes a picture of the shaft workpiece 1, processes image signals, and analyzes and judges the length and the diameter of each part of the shaft workpiece 1, and whether the diameter and the concentricity of one end of the shaft workpiece 1, which is provided with the concentric hole 1a, are qualified;
s350, the sixth linear driver 5c1 is used for driving the rebound type electronic ruler 5c2 to drive the plug gauge 5c3 to move, so that the plug gauge 5c3 is inserted into the concentric hole 1a, and whether the inner diameter, the concentricity and the depth of the concentric hole 1a are qualified or not is detected;
s400, the second rotary driver 6b drives the chute 6a to rotate according to the detection result, so that the lower end of the chute 6a faces to a specific direction, and the shaft workpieces 1 with the same detection result slide into the same space in the material distribution box 7 along the chute 6 a.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (8)

1. The utility model provides an axle type is multistation image detection machine for work piece processing, is provided with concentric hole (1a) including the automated inspection equipment that is used for detecting axle type work piece (1), and one end of axle type work piece (1) is provided with concentric hole (1a), and concentric hole (1a) are the blind hole, and the automated inspection equipment includes the frame and sets up in the frame:
the automatic feeding device is used for outputting the feeding shaft type workpieces (1);
the detection table (4) is used for receiving the shaft workpieces (1) output by the automatic feeding device;
the detection device (5) is used for detecting the shaft workpieces (1) on the detection table (4);
the automatic blanking device is used for automatically classifying the detected shaft workpieces (1);
the material moving device (8) is used for grabbing and moving the shaft workpiece (1);
it is characterized in that the preparation method is characterized in that,
the detection table (4) comprises a table top (4a) and a first jig (4b), a second jig (4c) and a third jig (4d) which are arranged on the table top (4a) side by side, and grooves for horizontally placing the shaft workpieces (1) are formed in the first jig (4b), the second jig (4c) and the third jig (4 d);
the detection device (5) comprises a distance sensor (5a), a visual detector (5b) and a hole detector (5c), wherein the sensing end of the distance sensor (5a) is horizontally arranged and coaxially faces one end of the shaft-type workpiece (1) on the first jig (4b), the sensing end of the visual detector (5b) is vertically arranged and radially faces two ends of the shaft-type workpiece (1) on the second jig (4c), and the sensing end of the hole detector (5c) is horizontally arranged and coaxially faces a concentric hole (1a) of the shaft-type workpiece (1) on the second jig (4 c);
the material moving device (8) grabs the shaft workpiece (1) to enable the shaft workpiece to sequentially pass through the first jig (4b), the second jig (4c) and the third jig (4d) from the output end of the automatic feeding device to the input end of the automatic discharging device;
the detection table (4) further comprises a first correction mechanism (4e) for correcting the position of the shaft workpiece (1) on the second jig (4c), and the first correction mechanism (4e) comprises:
the first baffle (4e1) is arranged beside one end of the shaft-like workpiece (1) on the second jig (4c), and the first baffle (4e1) is positioned between the second jig (4c) and the visual detector (5 b);
the third linear driver (4e2) is arranged on the rack, the output end of the third linear driver (4e2) is fixedly connected with the first baffle (4e1), the third linear driver (4e2) is used for driving the first baffle (4e1) to move, and the moving track of the first baffle (4e1) is perpendicular to the axis of the shaft workpiece (1) on the second jig (4 c);
the first push block (4e3) is arranged beside the other end of the shaft workpiece (1) on the second jig (4 c);
the fourth linear driver (4e4) is arranged on the rack, the output end of the fourth linear driver (4e4) is fixedly connected with the first push block (4e3), the fourth linear driver (4e4) is used for driving the fourth linear driver (4e4) to move, and the moving track of the fourth linear driver (4e4) is coaxial with the axis of the shaft workpiece (1) on the second jig (4 c);
the detection table (4) further comprises a second correction mechanism (4f) for correcting the position of the shaft workpiece (1) on the third jig (4d), and the second correction mechanism (4f) comprises:
the second baffle (4f1) is arranged beside one end of the shaft workpiece (1) on the third jig (4d), the second baffle (4f1) is positioned between the third jig (4d) and the hole detector (5c), and the second baffle (4f1) is provided with an avoidance through hole for avoiding the sensing end of the hole detector (5 c);
the second push block (4f2) is arranged beside the other end of the shaft workpiece (1) on the third jig (4 d);
the fifth linear driver (4f3) is arranged on the rack, the output end of the fifth linear driver (4f3) is fixedly connected with the second push block (4f2), the fifth linear driver (4f3) is used for driving the fifth linear driver (4f3) to move, and the moving track of the fifth linear driver (4f3) is coaxial with the axis of the shaft workpiece (1) on the third jig (4 d).
2. The multi-station image detection machine for processing the shaft workpieces as claimed in claim 1, wherein the material moving device (8) comprises:
the first linear driver (8a) is arranged on the rack, and the driving direction of the first linear driver (8a) is horizontally arranged;
the second linear driver (8b) is fixedly arranged at the output end of the first linear driver (8a), and the driving direction of the second linear driver (8b) is vertically arranged;
the first manipulator (8c), the second manipulator (8d) and the third manipulator (8e) are arranged side by side and fixedly installed at the output end of the second linear driver (8b), and under the non-working state, the first manipulator (8c), the second manipulator (8d) and the third manipulator (8e) are respectively positioned right above the first jig (4b), the second jig (4c) and the third jig (4 d).
3. The multi-station image detection machine for machining shaft workpieces according to claim 2, wherein the first manipulator (8c) comprises:
the first rotary driver (8c1) is fixedly arranged at the output end of the second linear driver (8b), and the driving shaft of the first rotary driver (8c1) is vertically arranged;
a clamping driver (8c2) fixedly arranged at the output end of the first rotary driver (8c 1);
and the clamping jaws (8c3) are two clamping jaws (8c3) and are respectively and fixedly arranged at the output end of the clamping driver (8c2), the clamping jaws (8c3) are convenient to clamp the shape of the shaft-type workpiece (1), and the two clamping jaws (8c3) are centrosymmetric and the symmetric centers of the two clamping jaws are coincided with the axis of the driving shaft of the first rotary driver (8c 1).
4. The machine according to claim 1, wherein the vision detector (5b) comprises:
the first camera (5b1) is provided with at least one, the first camera (5b1) is fixedly installed on the rack, the photographing end of the first camera (5b1) is vertically arranged downwards, and the photographing end of the first camera (5b1) is right opposite to the shaft-type workpiece (1) on the second jig (4 c);
the third camera (5b2) is arranged on the rack, the photographing end of the first camera (5b1) is horizontally arranged and is coaxial with the shaft workpiece (1) on the second jig (4c), and one end, provided with a concentric hole (1a), of the shaft workpiece (1) faces the third camera (5b 2);
and the light source (5b3) is arranged on the frame, and the light source (5b3) is arranged on the second jig (4c) in the direction in which the shaft workpiece (1) is far away from the first camera (5b1) or the third camera (5b 2).
5. The multi-station image detection machine for machining shaft workpieces according to claim 1, wherein the hole detector (5c) comprises:
the sixth linear driver (5c1) is fixedly arranged on the rack, and the driving direction of the sixth linear driver (5c1) is parallel to the axis of the shaft workpiece (1) on the third jig (4 d);
the rebound type electronic ruler (5c2) is fixedly installed at the output end of the sixth linear driver (5c1), and the sensing end of the rebound type electronic ruler (5c2) faces the shaft workpiece (1) on the third jig (4d) and is coaxial with the shaft workpiece.
6. The multi-station image detection machine for processing the shaft workpieces as claimed in claim 5, wherein the hole detector (5c) further comprises a plug gauge (5c3), and the plug gauge (5c3) is fixedly installed at a sensing end of the rebound type electronic ruler (5c 2).
7. The multi-station image detection machine for processing the shaft workpieces as claimed in claim 1, wherein the automatic feeding device comprises a material storage device (2) and a material loading device (3) which are arranged on the frame;
the stocker (2) comprises a storage box (2a) and a storage track (2b) arranged on one side of the storage box (2a), the storage box (2a) is used for storing a large number of stacked shaft workpieces (1), the storage track (2b) is used for storing a large number of tiled shaft workpieces (1), the bottom surfaces of the storage box (2a) and the storage track (2b) are obliquely arranged, the highest end of the storage track (2b) is connected with the lowest end of the storage box (2a), and a first distributor (2c) used for ejecting one shaft workpiece (1) from the inside of the storage box (2a) to the inside of the storage track (2b) is arranged between the storage box (2a) and the storage track (2 b);
the feeding device (3) comprises a second distributor (3a) and a material placing platform (3b), the material placing platform (3b) is arranged at the side of the first jig (4b), and the second distributor (3a) is arranged between the lowest end of the material storing track (2b) and the material placing platform (3 b).
8. The multi-station image detection machine for processing shaft workpieces as claimed in claim 1, wherein the automatic blanking device comprises a movable material moving groove (6) and a material distribution box (7) which are arranged on the machine frame, the material distribution box (7) is arranged on one side, away from the automatic feeding device, of the detection table (4), the movable material moving groove (6) is arranged between the detection table (4) and the material distribution box (7), at least two spaces which are not communicated with each other are isolated inside the material distribution box (7), the movable material moving groove (6) comprises a sliding groove (6a) and a second rotary driver (6b), the sliding groove (6a) is obliquely arranged, the lower end of the sliding groove (6a) faces the material distribution box (7), the second rotary driver (6b) is fixedly arranged on the machine frame, an output shaft of the second rotary driver (6b) is vertically arranged, and the sliding groove (6a) is fixedly connected with an output shaft of the second rotary driver (6 b).
CN202011178455.4A 2020-10-29 2020-10-29 Multi-station image detection machine for processing shaft workpieces Active CN112484645B (en)

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CN113203336B (en) * 2021-04-22 2023-08-01 安徽工程大学 Check tool for connecting piece of front end anti-collision beam and energy-absorbing box of automobile
CN114152202A (en) * 2021-11-26 2022-03-08 东风设备制造有限公司 Device for optically detecting undercut groove and undercut groove optical detection system
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Address after: 315500 No.2 Shanghai Industrial City, Shangtian Industrial Zone, Fenghua District, Ningbo City, Zhejiang Province

Patentee after: Ningbo Kesheng Axle Industry Co.,Ltd.

Address before: 315500 No.2 Shanghai Industrial City, Shangtian Industrial Zone, Fenghua District, Ningbo City, Zhejiang Province

Patentee before: FENGHUA KESHENG MICRO SHAFT Co.,Ltd.

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