CN113014775B - Stepless rotation camera, method and cold-rolled steel strip visual detection system - Google Patents
Stepless rotation camera, method and cold-rolled steel strip visual detection system Download PDFInfo
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- CN113014775B CN113014775B CN202110242760.3A CN202110242760A CN113014775B CN 113014775 B CN113014775 B CN 113014775B CN 202110242760 A CN202110242760 A CN 202110242760A CN 113014775 B CN113014775 B CN 113014775B
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- 239000010960 cold rolled steel Substances 0.000 title claims abstract description 24
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- 238000012372 quality testing Methods 0.000 abstract 1
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- 229910000831 Steel Inorganic materials 0.000 description 4
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/951—Balls
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The invention discloses a stepless rotating camera, wherein a lens is fixedly connected to a stepless rotating ball, the stepless rotating ball can rotate clockwise and anticlockwise along the x-axis direction, and a driving device of the stepless rotating ball is arranged in a stepless rotating box. The working method comprises the following steps: the motor is started, and the main rotating wheel rotates to drive the auxiliary rotating wheel and the screw rod to rotate. The cold-rolled steel strip visual detection system comprises a camera. The camera can keep in the electrodeless rotation of finite space, has removed the restriction of finite space to its rotation, can realize the fine setting to camera shooting angle to ensure to the no omission nature of cold-rolled steel sheet welding seam quality testing, enlarge the detection field of vision. And only one motor is used for control, so that the use number of the motors is greatly saved compared with the prior art, more energy consumption can be reduced, and the device is more environment-friendly. In addition, the invention has simple and compact integral structure, and can solve the problem of limited space position because only one motor is applied, thereby occupying small space.
Description
Technical Field
The invention relates to a visual detection device and a steel strip visual detection system, in particular to a stepless rotating camera and a method and a cold-rolled steel strip visual detection system.
Background
The quality of the welding seam is one of the factors for determining whether the strip breakage probability exists in the continuous rolling production process of the strip steel, most domestic steel mills invest a large amount of funds to promote improvement in order to avoid the appearance of the welding seam defect, but due to the lack of mature application experience, the effect exerted after the improvement is very limited. At present, various domestic steel mills are dedicated to improving the labor efficiency, the detection of the quality of welding seams is urgent need of workshops, and the test points are successful and can be expanded to other production lines.
However, for image photographing sampling analysis for effectively detecting the quality of the welding seam, three problems that the spatial position of a camera is limited, the image detection visual field is insufficient, the shooting angle of the camera is difficult to fine adjust and the like are encountered, and the three problems cause that the welding seam image detection always has defects.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an electrodeless rotary camera, a method and a cold-rolled steel strip visual detection system.
In order to solve the technical problems, the invention adopts the technical scheme that: a stepless rotation camera comprises a lens, the lens is fixedly connected to a stepless rotation ball, the stepless rotation ball is arranged in a stepless rotation box and can rotate relative to the stepless rotation box, the stepless rotation ball can rotate clockwise and anticlockwise along the x-axis direction, a driving device of the stepless rotation ball is arranged in the stepless rotation box, the driving device comprises a direction control ball, the driving device drives the rotation of the direction control ball, the spherical surface of the direction control ball is in contact with the spherical surface of the stepless rotation ball, friction is formed between the contact surfaces, resistance force is formed, a deflector rod is fixedly connected to the driving device, the top end of the deflector rod extends out of the stepless rotation box, a long opening extending along the x-axis direction is formed in the top of the stepless rotation box, the deflector rod moves in the long opening, guide rods bent in an arc shape are fixedly connected to two sides of a rod body of the deflector rod, and the radian of the guide rods is the same as that of the inorganic rotation ball, the guide rod is provided with a guide rail groove corresponding to the inner part of the stepless rotating box, the radian of the guide rod is the same as that of the guide rail groove, the guide rod is arranged in the guide rail groove, the length of the guide rod is smaller than that of the guide rail groove, the guide rod can move in the guide rail groove, and the guide rod can ensure that the moving tracks of the deflector rod and the driving device are in an arc shape which is the same as the spherical radian of the stepless rotating ball;
the slot hole that runs through is seted up on the upper portion of guide bar, slot hole department is provided with the rotation connector, the one end of rotating the connector articulates in the slot hole through the round pin axle, and can be for the other end free rotation of rotating the connector, the round pin axle can remove in the slot hole, the other end and the screw rod fixed connection of rotation connector, the cover is equipped with from rotating the wheel on the screw rod, from rotating the screw-thread toothing between wheel and the screw rod, from rotating the wheel and being connected with main rotation wheel through the belt drive, main rotation wheel is fixed mutually with the output shaft of motor.
Furthermore, an R-shaped sealing plug is fixedly connected between the guide rods and the notch of the guide track groove, the round head of the R-shaped sealing plug abuts against the guide rods, and the warped legs of the R-shaped sealing plug face the guide rods and abut against the guide rods; the tip fixedly connected with anticreep stopper and the buffering stopper of guide bar, the anticreep stopper is the hull type that both ends upwarp upwards, and the both ends of anticreep stopper can be inserted and arrange in between the perk leg and the guide rail cell wall of R type sealing plug, and the buffering stopper is the type of falling a boat opposite with the anticreep stopper, the hull bottom of anticreep stopper and the hull bottom fixed connection of buffering stopper.
Furthermore, the driving device also comprises a box body and a box cover, the box cover can be fixedly covered on the box body, and the top of the box cover is fixedly connected with a deflector rod connecting seat fixed with the deflector rod; the ball is three to the accuse, and three accuse is all located the box body to the ball, and the three ball groove that is the triangle-shaped range is seted up to the bottom of box body, and three accuse is arranged in three ball groove respectively to the ball, and the ball axle hole that runs through is seted up to the Y axle direction axial region of accuse to the ball, sets up slotted shaft hole on the ball groove that corresponds with the ball shaft hole, connects through flower shape hub connection between ball shaft hole and the groove shaft hole.
Furthermore, the cross section of the flower-shaped shaft is in a multi-petal flower shape, at least 4 petal inclined planes are arranged on each petal, the cross section of the spherical shaft hole is matched with the cross section of the flower-shaped shaft, the flower-shaped shaft penetrates through the spherical shaft hole and is arranged in the spherical shaft hole, and a resistance reducing device corresponding to the flower-shaped shaft is arranged in the groove shaft hole.
Furthermore, the resistance reducing device comprises a track ring fixed in the groove shaft hole and a rotating block clamped in the track ring, wherein the rotating block is provided with a flower-shaped shaft groove matched with the flower-shaped shaft in shape and used for connecting and fixing the flower-shaped shaft; the inner wall of the track ring is provided with an outer pincerlike bayonet, the outer wall of the rotating block is provided with an inner pincerlike bayonet, a ball is arranged in the inner pincerlike bayonet in a limiting manner, one surface of the ball abuts against the inner pincerlike bayonet, the other surface of the ball abuts against the outer pincerlike bayonet, the ball can freely rotate relative to the inner pincerlike bayonet, and the inner pincerlike bayonet is arranged in the outer pincerlike bayonet in a limiting manner; an inclined plane is arranged between the end face where the flower-shaped shaft groove of the rotating block is located and the inner pincer-shaped bayonet, so that the end face where the flower-shaped shaft groove is located is concave, the end part of the outer pincer-shaped bayonet is located at the inclined plane, and the inner pincer-shaped bayonet can be limited in the outer pincer-shaped bayonet.
Further, a plurality of fixture blocks of interval fixedly connected with on the outer wall of track circle, the width of fixture block is the same with the width of track circle, and the fixture block includes a center post that is located the fixture block middle part, two diaphragms of fixedly connected with side by side on the center post, and the tip of two diaphragms all is crooked towards the track circle, corresponds the fixture block on the inner wall in groove shaft hole and has seted up the draw-in groove with fixture block shape matched with.
Furthermore, a bearing is sleeved on the screw rod and fixed on the stepless rotating box through a column, and a gap is formed between the inner wall of the bearing and the surface of the screw rod, so that the bearing can support the screw rod without influencing the rotation of the screw rod.
Furthermore, rubber coatings are wrapped on the surfaces of the electrodeless rotating ball and the direction control ball, so that the frictional resistance between the electrodeless rotating ball and the direction control ball is increased.
A working method of a stepless rotary camera comprises the following steps:
the method comprises the following steps that firstly, a motor is started to enable an output shaft of the motor to start to rotate, a main rotating wheel is fixed with the output shaft of the motor, after the motor is started, the main rotating wheel and the output shaft of the motor are driven to synchronously rotate, the main rotating wheel is connected with a secondary rotating wheel in a belt transmission mode, the secondary rotating wheel is sleeved and connected to a screw rod in a threaded engagement mode, so that the main rotating wheel can drive the secondary rotating wheel to rotate and can further drive the screw rod to rotate, and the position of the secondary rotating wheel is unchanged, so that the screw rod can move forwards or backwards relative to the secondary rotating wheel along an x axis when rotating; the screw rod is hinged with the long hole of the deflector rod through the rotating connector, and the two ends of the rotating connector can freely rotate, so that the rotation of the screw rod can be compensated, only the acting force of the pushing or retreating of the screw rod is transmitted, and the long hole of the deflector rod has the function of enabling the pin shaft to move in the long hole, so that the arc-shaped movement of the deflector rod is not limited by the displacement of the screw rod;
the lens is fixedly connected to the electrodeless turning ball, the electrodeless turning ball is installed in the electrodeless turning box and can turn relative to the electrodeless turning box, the electrodeless turning ball can turn clockwise and anticlockwise along the direction of an x axis, so that the shooting angle of the lens on the x axis can be adjusted, a driving device of the electrodeless turning ball is arranged in the electrodeless turning box, the driving device comprises a direction control ball, the driving device drives the turning of the direction control ball, the spherical surface of the direction control ball is in contact with the spherical surface of the electrodeless turning ball, and friction is formed between the contact surfaces, so that resistance is formed, when the direction control ball turns anticlockwise, the electrodeless turning ball can turn clockwise under the action of friction force;
a driving device is fixedly connected with a deflector rod, the top end of the deflector rod extends out of a stepless rotating box, the top of the stepless rotating box is provided with a long opening extending along the x-axis direction for the deflector rod to move in the long opening, two sides of the rod body of the deflector rod are fixedly connected with guide rods bent in an arc shape, the radian of each guide rod is the same as the spherical radian of the inorganic rotating ball, the guide rods are provided with guide rail grooves corresponding to the interior of the stepless rotating box, the radian of each guide rail groove is the same as that of each guide rod, the guide rods are arranged in the guide rail grooves, the length of each guide rod is smaller than that of each guide rail groove, the guide rods can move in the guide rail grooves, the guide rods can ensure that the moving tracks of the deflector rod and the driving device are in the arc shape which is the same as the spherical radian of the stepless rotating ball, so that the moving tracks of the deflector rod and the stepless rotating ball are the same in shape and cannot be mutually restrained due to different moving track shapes, therefore, the stepless rotation of the lens can be realized.
The utility model provides a cold-rolled steel strip visual inspection system, includes the electrodeless camera that rotates, camera fixed mounting is in the side of welding machine, and the welding machine removes the machine through the installation and constitutes mobilizable welding machine, and the welding machine sets up directly over the cold-rolled steel sheet, and the welding seam on the cold-rolled steel sheet is aimed at to the camera lens of camera, and the placing of cold-rolled steel sheet is on conveying mechanism, the motor in welding machine, moving mechanism, the camera all with control box electric connection.
The camera can keep stepless rotation in a limited space, the limitation of the limited space on the rotation of the camera is removed for a vision detection system with limited space, and the stepless rotation can also realize the fine adjustment of the shooting angle of the camera, so that the omission of the detection of the weld joint quality of the cold-rolled steel plate is ensured, and the detection visual field is expanded.
And the camera with the functions can be controlled by only one motor, which cannot be realized in the prior art, and compared with the prior art, the use number of the motors is greatly saved, so that more energy consumption can be reduced, and the camera is more environment-friendly.
In addition, the invention has simple and compact integral structure, and can solve the problem of limited space position because only one motor is applied, thereby occupying small space.
Drawings
Fig. 1 is a schematic overall structure diagram of a stepless rotary camera.
Fig. 2 is a schematic cross-sectional structure diagram of a stepless rotary camera.
Fig. 3 is a schematic cross-sectional structure diagram of the electrodeless rotary camera in a rotary state.
Fig. 4 is a schematic view of an end structure of the guide bar.
Fig. 5 is an exploded structural view of the driving device.
Fig. 6 is a schematic structural view of the flower shaft.
Fig. 7 is an exploded structural view of the resistance reducing device.
Fig. 8 is an enlarged view of the structure at a in fig. 7.
Fig. 9 is a schematic cross-sectional structure diagram of the resistance reducing device.
FIG. 10 is a schematic diagram showing the overall structure of a visual inspection system for cold-rolled steel strips.
In the figure: 1. a lens; 2. a stepless rotating ball; 3. a stepless rotating box; 4. a drive device; 5. a direction control ball; 6. a deflector rod; 7. an elongated opening; 8. a guide bar; 9. a guide rail groove; 10. a long hole; 11. rotating the connector; 12. a screw; 13. a driven rotating wheel; 14. a main rotating wheel; 15. a motor; 16. an R-shaped sealing plug; 17. raising legs; 18. anti-plug-off; 19. a buffer plug; 20. a box body; 21. a box cover; 22. the deflector rod connecting seat; 23. a ball groove; 24. a ball axle hole; 25. a slotted shaft hole; 26. a flower-shaped shaft; 27. a track ring; 28. rotating the block; 29. a flower-shaped shaft groove; 30. an outer pincerlike bayonet; 31. an inner pincerlike bayonet; 32. a ball bearing; 33. a bevel; 34. a clamping block; 35. a central column; 36. a transverse plate; 37. a bearing; 38. a welding machine; 39. a moving mechanism; 40. cold-rolled steel sheets; 41. welding seams; 42. a conveying mechanism.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The x-axis direction in the invention is the left-right direction in the drawing, and the y-axis direction is the up-down direction in the drawing.
The stepless rotary camera as shown in fig. 1 and 2 comprises a lens 1, wherein the lens is fixedly connected to the bottom end of a stepless rotary ball 2, the stepless rotary ball is installed in a stepless rotary box 3, the lower end of the stepless rotary box is provided with an opening, so that part of the stepless rotary ball is exposed outside the stepless rotary box, and the lens is installed outside the stepless rotary box. The electrodeless turning ball can rotate relative to the electrodeless turning box, as shown in the figure, the bottom end of the electrodeless turning box extends downwards beyond the central axis of the electrodeless turning ball, and the opening aperture of the electrodeless turning box is smaller than the diameter of the electrodeless turning ball, so that the electrodeless turning ball can be ensured not to fall off. And the two sides of the bottom opening of the electrodeless rotating box can also be provided with the dark rollers, so that the rotation of the electrodeless rotating ball is not influenced by the friction of the electrodeless rotating box.
The stepless rotary ball can rotate clockwise and counterclockwise along the x-axis direction, i.e. clockwise and counterclockwise in the view angle of fig. 1 and 2. The driving device 4 of the stepless rotating ball is arranged in the stepless rotating box and is used for driving the stepless rotating ball to rotate.
The driving device comprises a direction control ball 5, the driving device drives the direction control ball to rotate, the spherical surface of the direction control ball is in contact with the spherical surface of the electrodeless rotating ball, friction is formed between contact surfaces of the contact surfaces, and rubber coatings wrap the surfaces of the electrodeless rotating ball and the direction control ball so as to increase the friction resistance between the electrodeless rotating ball and the direction control ball.
The driving device is fixedly connected with a deflector rod 6, the top end of the deflector rod extends out of the stepless rotating box, the top of the stepless rotating box is provided with a long opening 7 extending along the x-axis direction for the deflector rod to move in the long opening, two sides of the rod body of the deflector rod are fixedly connected with guide rods 8 bent in an arc shape, the radian of each guide rod is the same as the spherical radian of the inorganic rotating ball, a guide rail groove 9 with the same radian as that of each guide rod is formed in the guide rod corresponding to the stepless rotating box, the guide rods are arranged in the guide rail grooves, the length of each guide rod is smaller than that of each guide rail groove, the guide rods can move in the guide rail grooves, and the guide rods can ensure that the moving tracks of the deflector rod and the driving device are in the arc shape which is the same as the spherical radian of the stepless rotating ball; as shown in fig. 3.
The upper portion of guide bar is seted up the slot hole 10 that runs through, slot hole department is provided with rotates connector 11, the one end of rotating the connector articulates in the slot hole through the round pin axle, and can be for the other end free rotation of rotating the connector, the round pin axle can remove in the slot hole, the other end and the screw rod 12 fixed connection of rotating the connector, the cover is equipped with from rotating wheel 13 on the screw rod, from rotating the threaded engagement between wheel and the screw rod, from rotating the wheel and being connected with main rotating wheel 14 through the belt drive, main rotating wheel is fixed mutually with the output shaft of motor 15. The screw 12 is sleeved with a bearing 37, the bearing is fixed on the stepless rotating box through a column, and a gap is formed between the inner wall of the bearing and the surface of the screw, so that the bearing can support the screw without influencing the rotation of the screw.
When the visual detection system is applied to a cold-rolled steel strip visual detection system, the cold-rolled steel strip has a motion state in the z-axis direction (penetrating the drawing direction) under the transmission action of a conveying mechanism such as a conveyor belt, so that when a weld joint is detected, the weld joint can be detected only by considering the x-axis displacement of a lens. Therefore, the rotation of the stepless rotating ball in the invention only needs to consider the stepless rotation in the x-axis direction. Therefore, the movement direction of the steering control ball in the driving device only needs to realize the stepless rotation in the x-axis direction.
Specifically, as shown in fig. 5, the driving device further includes a box body 20 and a box cover 21, the box cover can be fixed on the box body, and the top of the box cover is fixedly connected with a driving lever connecting seat 22 fixed with the driving lever; the direction control balls are three and are all positioned in the box body, three ball grooves 23 which are arranged in a triangular mode are formed in the bottom of the box body, the three direction control balls are respectively positioned in the three ball grooves, and the three direction control balls are also arranged in a triangular mode, so that the contact area between the direction control balls and the electrodeless rotary balls can be increased, and the effect of driving the electrodeless rotary balls to rotate by friction is better. The Y-axis direction shaft part of the steering control ball is provided with a through ball shaft hole 24, a groove shaft hole 25 is formed in the ball groove corresponding to the ball shaft hole, and the ball shaft hole is connected with the groove shaft hole through a flower-shaped shaft 26. The position of the patterned shaft is limited, so that the steering control ball can only rotate along the x-axis direction and cannot rotate in other directions.
The cross section of the flower-shaped shaft 26 is in a multi-petal flower shape, at least 4 petal inclined planes are arranged on each petal, as shown in fig. 6, 7 petals are arranged in the embodiment, each petal has 4 inclined planes, the cross section of the spherical shaft hole is matched with the cross section of the flower-shaped shaft, the flower-shaped shaft is inserted in the spherical shaft hole in a penetrating mode, the flower-shaped shaft has the function of increasing the contact area between the shaft and the spherical shaft hole, the angle between the inclined planes and the inclined planes is sharp, the stability between the flower-shaped shaft and the spherical shaft hole can be enhanced, the flower-shaped shaft and the spherical shaft hole are not easy to slip, and stepless rotation of the control ball under the driving of the flower-shaped shaft can be achieved.
Correspondingly, a resistance reducing device corresponding to the flower-shaped shaft is arranged in the groove shaft hole 25. As shown in fig. 7, the resistance reducing device includes a track ring 27 fixed in the slotted shaft hole and a rotating block 28 clamped in the track ring, and the rotating block is provided with a flower-shaped shaft slot 29 matched with the flower-shaped shaft in shape for connecting and fixing the flower-shaped shaft.
As shown in fig. 9, an outer pincerlike bayonet 30 is arranged on the inner wall of the track ring, an inner pincerlike bayonet 31 is arranged on the outer wall of the rotating block, a ball 32 is arranged in the inner pincerlike bayonet in a limiting manner, one surface of the ball abuts against the inner pincerlike bayonet, and the other surface of the ball abuts against the outer pincerlike bayonet, so that a gap is formed between the end part of the inner pincerlike bayonet and the inner wall of the outer pincerlike bayonet as shown in fig. 9, the ball and the outer pincerlike bayonet are connected only through the ball, the ball can freely rotate relative to the inner pincerlike bayonet, the rotating block can freely rotate relative to the track ring through the rotation of the ball, and the rotating resistance is very small.
The inner pincerlike bayonet is limited and arranged in the outer pincerlike bayonet; an inclined plane 33 is arranged between the end face where the flower-shaped shaft groove of the rotating block is located and the inner pincer-shaped bayonet, so that the end face where the flower-shaped shaft groove is located is concave, the end part of the outer pincer-shaped bayonet is located at the inclined plane, the inner pincer-shaped bayonet can be limited in the outer pincer-shaped bayonet, and the inner pincer-shaped bayonet cannot be separated from the outer pincer-shaped bayonet.
As shown in fig. 7 and 8, a plurality of clamping blocks 34 are fixedly connected to the outer wall of the track ring 27 at intervals, the width of each clamping block is the same as that of the track ring, each clamping block includes a central column 35 located in the middle of each clamping block, two transverse plates 36 are fixedly connected to the central column in parallel, the end portions of the two transverse plates are both bent towards the track ring, and clamping grooves matched with the shapes of the clamping blocks are formed in the inner wall of each groove shaft hole corresponding to the clamping blocks. The fixture block has the function of fixing the track ring in the groove shaft hole, and the shape of the fixture block is beneficial to enhancing the stability between the track ring and the groove shaft hole, so that the resistance reduction rotation between the track ring and the rotating block is realized, and the stepless rotation of the steering control ball is further promoted.
The notch of the guide track groove 9 is fixedly connected with an R-shaped sealing plug 16 between the guide rods, the inside of the R-shaped sealing plug is made of hard materials such as metal or hard plastics, and the outside of the R-shaped sealing plug is wrapped by soft materials such as rubber. The round head of the R-shaped sealing plug is abutted against the guide rod to support and seal the guide rod, and the support function is to support the position of the guide rod in the guide track groove, so that the round head cannot incline to scratch the inner wall of the guide track groove.
The warped leg 17 of the R-shaped sealing plug faces the guide rod and abuts against the guide rod, and the warped leg can also realize the supporting function; the end part of the guide rod is fixedly connected with an anti-dropping plug 18 and a buffer plug 19, the anti-dropping plug is of a boat shape with two upwards-tilted ends, and the two ends of the anti-dropping plug can be inserted between the tilted legs of the R-shaped sealing plug and the wall of the guide rail groove, so that the guide rod is limited.
In order to guarantee that the guide rod possibly falls out of the guide rail groove in the limit state, the anti-falling plug is arranged. The buffering plug is a reverse ship type opposite to the anti-dropping plug, and the bottom of the anti-dropping plug is fixedly connected with the bottom of the buffering plug. The buffer plug has a concave shape as shown in fig. 4, and when the end of the guide rod moves to the bottom of the guide rail groove in the limit state, the buffer plug can have a buffering function to prevent the end of the guide rod from being damaged.
The working method of the stepless rotary camera comprises the following steps:
step one, starting a motor 15 to enable an output shaft of the motor to start to rotate, fixing a main rotating wheel 14 and the output shaft of the motor 15, driving the main rotating wheel and the output shaft of the motor to synchronously rotate after the motor is started, connecting the main rotating wheel with a slave rotating wheel 13 in a belt transmission mode, sleeving the slave rotating wheel and connecting the slave rotating wheel on a screw rod 12 in a threaded engagement mode, so that the main rotating wheel can drive the slave rotating wheel to rotate and can further drive the screw rod to rotate, and because the position of the slave rotating wheel is unchanged, the screw rod can move forwards or backwards relative to the slave rotating wheel along an x axis when rotating; the screw rod is hinged with the long hole 10 of the deflector rod 6 through the rotating connector 11, and the two ends of the rotating connector can freely rotate, so that the rotation of the screw rod can be compensated, only the acting force of the pushing or retreating of the screw rod is transmitted, and the long hole of the deflector rod has the function of enabling the pin shaft to move in the long hole, so that the arc-shaped movement of the deflector rod is not limited by the displacement of the screw rod;
the lens 1 is fixedly connected to the electrodeless turning ball 2, the electrodeless turning ball is installed in the electrodeless turning box and can turn relative to the electrodeless turning box, the electrodeless turning ball can turn clockwise and anticlockwise along the direction of an x axis, so that the shooting angle of the lens on the x axis can be adjusted, a driving device 4 of the electrodeless turning ball is arranged in the electrodeless turning box, the driving device comprises a direction control ball 5, the driving device drives the turning of the direction control ball, the spherical surface of the direction control ball is in contact with the spherical surface of the electrodeless turning ball, friction is formed between the contact surfaces, and resistance is formed by friction;
a deflector rod 6 is fixedly connected on the driving device, the top end of the deflector rod extends out of the stepless rotating box, the top of the stepless rotating box is provided with a long opening 7 extending along the x-axis direction for the deflector rod to move in the long opening, two sides of the rod body of the deflector rod are fixedly connected with guide rods 8 bent in an arc shape, the radian of the guide rods is the same as the spherical radian of the inorganic rotating ball, guide rail grooves 9 with the same radian as the guide rods are formed in the guide rods corresponding to the stepless rotating box, the guide rods are arranged in the guide rail grooves, the length of the guide rods is smaller than that of the guide rail grooves, the guide rods can move in the guide rail grooves, the guide rods can ensure that the moving tracks of the deflector rod and the driving device are in the arc shape which is the same as the spherical radian of the stepless rotating ball, so that the moving track of the deflector rod is the same as the rotating track shape of the stepless rotating ball, and, therefore, the stepless rotation of the lens can be realized.
As shown in fig. 10, the dashed boxes in the figure represent obstacles in the prior art, which limit the position space of the camera. A vision detection system for a cold-rolled steel strip comprises the stepless rotary camera, the camera is fixedly installed on the side face of a welding machine 38, the welding machine becomes a movable welding machine through a mounting moving mechanism 39, the welding machine is arranged right above a cold-rolled steel plate 40, a lens of the camera is aligned to a welding seam 41 on the cold-rolled steel plate, the cold-rolled steel plate is placed on a conveying mechanism 42, and a motor 15 in the welding machine, the moving mechanism and the camera is electrically connected with a control box.
During the use, conveying mechanism drives the cold-rolled steel sheet removal like the conveyer belt, welds at the in-process welding machine that removes, and the welding seam after the welding is shot through aforementioned camera, can detect the quality of welding seam. Meanwhile, when the situation that the welding seam is inclined is found, the control box can control the moving mechanism to adjust the position of the welding machine, so that the welding seam returns. And the motor of the camera can be controlled to lead the camera to rotate in a stepless way, and the camera can also rotate any angle automatically for the oblique welding line so as to adjust the visual field.
The above embodiments are not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make variations, modifications, additions or substitutions within the technical scope of the present invention.
Claims (10)
1. The utility model provides an electrodeless rotation camera, includes camera lens (1), its characterized in that: the lens is fixedly connected to the stepless rotating ball (2), the stepless rotating ball is arranged in the stepless rotating box (3) and can rotate relative to the stepless rotating box, the stepless rotating ball can rotate clockwise and anticlockwise along the x-axis direction, a driving device (4) of the stepless rotating ball is arranged in the stepless rotating box, the driving device comprises a direction control ball (5), the driving device drives the direction control ball to rotate, the spherical surface of the direction control ball is in contact with the spherical surface of the stepless rotating ball, friction is formed between the contact surfaces, resistance is formed, a deflector rod (6) is fixedly connected to the driving device, the top end of the deflector rod extends out of the stepless rotating box, a long opening (7) extending along the x-axis direction is formed in the top of the stepless rotating box and used for the deflector rod to move in the long opening, guide rods (8) bent in an arc shape are fixedly connected to two sides of a rod body of the deflector rod, and the radian of the guide rods is the same as that of the spherical surface of the stepless rotating ball, a guide rail groove (9) with the same radian as the guide rod is formed in the guide rod corresponding to the electrodeless rotating box, the guide rod is arranged in the guide rail groove, the length of the guide rod is smaller than that of the guide rail groove, the guide rod can move in the guide rail groove, and the guide rod can ensure that the moving tracks of the deflector rod and the driving device are in an arc shape with the same radian as the spherical surface of the electrodeless rotating ball;
slotted hole (10) that run through is seted up on the upper portion of guide bar, slotted hole department is provided with rotates connector (11), the one end of rotating the connector articulates in the slotted hole through the round pin axle, and can be for the other end free rotation of rotating the connector, the round pin axle can remove in the slotted hole, the other end and screw rod (12) fixed connection of rotating the connector, the cover is equipped with from rotating wheel (13) on the screw rod, from rotating the threaded engagement between wheel and the screw rod, from rotating the wheel and being connected with main rotation wheel (14) through the belt drive, main rotation wheel is fixed mutually with the output shaft of motor (15).
2. The electrodeless rotary camera as defined in claim 1, wherein: an R-shaped sealing plug (16) is fixedly connected between the guide rods at the notch of the guide track groove (9), the round head of the R-shaped sealing plug abuts against the guide rods, and the warped legs (17) of the R-shaped sealing plug face towards the guide rods and abut against the guide rods; the tip fixedly connected with anticreep stopper (18) and buffering stopper (19) of guide bar, the anticreep stopper is the ship type that the both ends upwarp upwards, and the both ends of anticreep stopper can insert to be arranged in between the perk leg and the guide rail cell wall of R type sealing plug, and the buffering stopper is the type of falling the boat opposite with the anticreep stopper, the hull bottom of anticreep stopper and the hull bottom fixed connection of buffering stopper.
3. The electrodeless rotary camera as defined in claim 2, wherein: the driving device also comprises a box body (20) and a box cover (21), the box cover can be fixedly covered on the box body, and the top of the box cover is fixedly connected with a driving lever connecting seat (22) fixed with a driving lever; the direction control ball is three, and three direction control ball all is arranged in the box body, and three ball groove (23) that are the triangle-shaped range are seted up to the bottom of box body, and three direction control ball is arranged in three ball groove respectively, and the ball axle hole (24) that run through is seted up to the y axle direction axial region of direction control ball, sets up slotted shaft hole (25) on the ball groove that corresponds with the ball shaft hole, is connected through flower shape axle (26) between ball axle hole and the slotted shaft hole.
4. The electrodeless rotary camera as defined in claim 3, wherein: the cross section of the flower-shaped shaft (26) is in a multi-petal flower shape, at least 4 petal inclined planes are arranged on each petal, the cross section shape of the spherical shaft hole is matched with that of the flower-shaped shaft, the flower-shaped shaft penetrates through the spherical shaft hole and is arranged in the spherical shaft hole, and a resistance reducing device corresponding to the flower-shaped shaft is arranged in the groove shaft hole (25).
5. The electrodeless rotary camera as defined in claim 4, wherein: the resistance reducing device comprises a track ring (27) fixed in the groove shaft hole and a rotating block (28) clamped in the track ring, wherein the rotating block is provided with a flower-shaped shaft groove (29) matched with the flower-shaped shaft in shape and used for connecting and fixing the flower-shaped shaft; an outer pincerlike bayonet (30) is arranged on the inner wall of the track ring, an inner pincerlike bayonet (31) is arranged on the outer wall of the rotating block, a ball (32) is arranged in the inner pincerlike bayonet in a limiting manner, one surface of the ball abuts against the inner pincerlike bayonet, the other surface of the ball abuts against the outer pincerlike bayonet, the ball can freely rotate relative to the inner pincerlike bayonet, and the inner pincerlike bayonet is arranged in the outer pincerlike bayonet in a limiting manner; an inclined plane (33) is arranged between the end face where the flower-shaped shaft groove of the rotating block is located and the inner pincer-shaped bayonet, so that the end face where the flower-shaped shaft groove is located is concave, the end part of the outer pincer-shaped bayonet is located at the inclined plane, and the inner pincer-shaped bayonet can be limited in the outer pincer-shaped bayonet.
6. The electrodeless rotary camera as defined in claim 5, wherein: the outer wall of the track ring (27) is fixedly connected with a plurality of clamping blocks (34) at intervals, the width of each clamping block is the same as that of the track ring, each clamping block comprises a central column (35) located in the middle of each clamping block, two transverse plates (36) are fixedly connected to the central column side by side, the end portions of the two transverse plates are bent towards the track ring, and clamping grooves matched with the shapes of the clamping blocks are formed in the inner walls of the groove shaft holes corresponding to the clamping blocks.
7. The electrodeless rotary camera as defined in claim 6, wherein: the screw rod (12) is sleeved with a bearing (37), the bearing is fixed on the stepless rotating box through a column, and a gap is formed between the inner wall of the bearing and the surface of the screw rod, so that the bearing can support the screw rod without influencing the rotation of the screw rod.
8. The electrodeless rotary camera as defined in claim 7, wherein: the surfaces of the electrodeless rotating ball and the direction control ball are wrapped with rubber coatings so as to increase the frictional resistance between the electrodeless rotating ball and the direction control ball.
9. An operating method of the electrodeless rotary camera as defined in any one of claims 1 to 8, wherein: the method comprises the following steps:
step one, starting a motor (15) to enable an output shaft of the motor to start to rotate, fixing a main rotating wheel (14) and the output shaft of the motor (15), driving the main rotating wheel and the output shaft of the motor to synchronously rotate after the motor is started, connecting the main rotating wheel with a slave rotating wheel (13) in a belt transmission mode, sleeving the slave rotating wheel and connecting the slave rotating wheel on a screw rod (12) in a threaded engagement mode, so that the main rotating wheel can drive the slave rotating wheel to rotate and can further drive the screw rod to rotate, and the position of the slave rotating wheel is unchanged, so that the screw rod can move forwards or backwards relative to the slave rotating wheel along an x axis when rotating; the screw rod is hinged with a long hole (10) of the shifting lever (6) through a rotating connector (11), and two ends of the rotating connector can rotate freely, so that the rotation of the screw rod can be compensated, only the acting force of the screw rod for pushing or retreating is transmitted, and the long hole of the shifting lever has the function of enabling the pin shaft to move in the long hole, so that the arc-shaped movement of the shifting lever is not limited by the displacement of the screw rod;
the lens (1) is fixedly connected to the electrodeless turning ball (2), the electrodeless turning ball is installed in the electrodeless turning box and can turn relative to the electrodeless turning box, the electrodeless turning ball can turn clockwise and anticlockwise along the x-axis direction, so that the shooting angle of the lens on the x-axis can be adjusted, a driving device (4) of the electrodeless turning ball is arranged in the electrodeless turning box, the driving device comprises a direction control ball (5), the driving device drives the turning of the direction control ball, the spherical surface of the direction control ball is in contact with the spherical surface of the electrodeless turning ball, friction is formed between the contact surfaces, and resistance is formed by friction;
step three, a driving device is fixedly connected with a driving lever (6), the top end of the driving lever extends out of a stepless rotating box, the top of the stepless rotating box is provided with a long opening (7) extending along the x-axis direction for the driving lever to move in the long opening, two sides of a lever body of the driving lever are fixedly connected with guide rods (8) bent in an arc shape, the radian of each guide rod is the same as the spherical radian of the inorganic rotating ball, the guide rods are provided with guide rail grooves (9) corresponding to the insides of the stepless rotating box, the guide rods are arranged in the guide rail grooves, the length of each guide rod is smaller than that of each guide rail groove, the guide rods can move in the guide rail grooves, the guide rods can ensure that the moving tracks of the driving lever and the driving device are in the arc shapes which are the same as the spherical radians of the stepless rotating ball, and therefore the moving tracks of the driving lever are the same as the rotating tracks of the stepless rotating ball, the two will not be constrained by different shapes of the motion tracks, so the lens can rotate steplessly.
10. A cold-rolled steel strip visual inspection system which characterized in that: the electrodeless rotary camera comprises the electrodeless rotary camera as defined in any one of claims 1-8, the camera is fixedly installed on the side surface of a welding machine (38), the welding machine becomes a movable welding machine by installing a moving mechanism (39), the welding machine is arranged right above a cold-rolled steel plate (40), the lens of the camera is aligned to a welding seam (41) on the cold-rolled steel plate, the cold-rolled steel plate is placed on a conveying mechanism (42), and motors (15) in the welding machine, the moving mechanism and the camera are all electrically connected with a control box.
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| CN113959949B (en) * | 2021-10-27 | 2024-04-30 | 内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司 | Device and process for detecting inserted tube seat fillet weld phased array of power station boiler |
| CN113834446B (en) * | 2021-11-25 | 2022-02-15 | 南京万生华态科技有限公司 | Acquisition device and acquisition method for fringe projection image |
| CN117035913A (en) * | 2023-07-26 | 2023-11-10 | 青岛惊喜优品科技有限公司 | Shopping system with intelligent recommendation ranking function |
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