CN115393565A - Omnibearing depth image acquisition device and use method thereof - Google Patents
Omnibearing depth image acquisition device and use method thereof Download PDFInfo
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- CN115393565A CN115393565A CN202211010981.9A CN202211010981A CN115393565A CN 115393565 A CN115393565 A CN 115393565A CN 202211010981 A CN202211010981 A CN 202211010981A CN 115393565 A CN115393565 A CN 115393565A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention discloses an omnibearing depth image acquisition device and a use method thereof, and the omnibearing depth image acquisition device comprises a conveyor, wherein a workpiece guide rail is arranged at the top of the conveyor, an installation frame is arranged above the workpiece guide rail, an installation plate is arranged below the inner wall of the top of the installation frame, a transmission part is arranged at the top of the installation plate, a rotary clamping component is arranged at the bottom of the installation plate, and an omnibearing acquisition component is arranged at the top of the workpiece guide rail.
Description
Technical Field
The invention relates to the field of image acquisition devices for product detection, in particular to an omnidirectional depth image acquisition device and a use method thereof.
Background
In the current production and processing process of workpieces, the production precision of the workpieces directly influences the motion performance and the service life of machinery, so an enterprise must control the quality precision of the workpieces, the existing workpiece visual detection mode needs to clamp the workpieces through a clamping device, then image acquisition is carried out on the workpieces through image acquisition equipment, and the acquired images are analyzed through a background controller to detect the precision of the workpieces;
however, when the image acquisition is performed on a workpiece by the conventional image acquisition equipment, the workpiece is clamped by the clamping device, the surface of the workpiece is shielded, and the acquired image of the workpiece has a detection blind area, so that the image acquisition of the workpiece is not comprehensive enough, and the accuracy of the workpiece detection is reduced.
Therefore, an omnidirectional depth image acquisition device and a using method thereof are provided to solve the problems.
Disclosure of Invention
The invention aims to provide an omnidirectional depth image acquisition device and a using method thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an omnibearing depth image acquisition device comprises a conveyor, wherein a workpiece guide rail is arranged at the top of the conveyor, a mounting frame is arranged above the workpiece guide rail, a mounting plate is arranged below the inner wall of the top of the mounting frame, a transmission part is arranged at the top of the mounting plate, a rotary clamping assembly is arranged at the bottom of the mounting plate, and an omnibearing acquisition assembly is arranged at the top of the workpiece guide rail;
wherein, rotatory centre gripping subassembly is including guide holder, fixed plate, step motor and axis of rotation, the vertical downward setting of step motor is in the below of mounting bracket, the axis of rotation is connected with step motor's output shaft transmission, fixed plate fixed connection is in the axis of rotation, sliding connection has a plurality of slide bars on the fixed plate, and a plurality of slide bars are equal angle evenly distributed, every on the fixed plate the bottom of slide bar all is provided with flexible pneumatic clamping jaw, the guide holder rotates to be connected in the axis of rotation, the wave guide rail has been seted up on the guide holder, every the top of slide bar all is provided with guide bar, every the guide bar all with wave sliding fit of guide rail.
In a further embodiment, rotatory centre gripping subassembly is still including controller, cylinder, connecting plate and two press from both sides tight piece, the cylinder is vertical to be set up downwards the top of mounting bracket, the connecting plate sets up one side that the axis of rotation was kept away from to step motor, the output of cylinder with the top fixed connection of connecting plate, the mounting panel with through a plurality of spliced pole fixed connection, two between the mounting bracket press from both sides tight piece interval and set up in the axis of rotation, two press from both sides tight piece all with the guide holder structure cooperatees.
In a further embodiment, the guide seat is connected with the fixing plate through a plurality of multi-stage telescopic rods, and the guide seat is in sliding fit with the fixing plate in the vertical direction.
In a further embodiment, the all-round subassembly of gathering is including crescent guide rail, fixed block, connection slide bar and two direction slide bars, the crescent guide rail sets up the top of work piece guide rail, two the direction slide bar interval sets up on the fixed block, two the direction slide bar all with crescent guide rail sliding fit, the fixed plate is close to one side of flexible pneumatic clamping jaw all is provided with the camera, it sets up to connect the slide bar the fixed plate is kept away from one side of camera, crest on the wave guide rail faces the camera, the equal electric connection of controller and camera, step motor and a plurality of flexible pneumatic clamping jaw.
In a further embodiment, all-round collection subassembly still includes threaded rod, gag lever post, sliding block, drive gear and acceleration gear group, threaded rod and gag lever post are all rotated and are connected the top of work piece guide rail, the sliding block cover is established on the gag lever post, the sliding block with gag lever post sliding fit, sliding block and threaded rod threaded connection, the sliding block is close to the direction spout has been seted up to one side of connecting the slide bar, it passes through direction spout and sliding block sliding fit on the horizontal direction to connect the slide bar, the sliding tray has been seted up in the axis of rotation, drive gear passes through sliding tray and axis of rotation sliding fit, the gear group rotates with higher speed to be connected the top of fixed plate.
In a further embodiment, a transmission gear is arranged at the top of the threaded rod, and the driving gear is in transmission connection with the transmission gear through the accelerating gear set.
In a further embodiment, the transmission assembly comprises a driving shaft, a flexible rack, a rotating gear and a synchronizing gear, wherein the driving shaft is rotatably connected to the fixed plate, the flexible rack is arranged on a conveyor belt of the conveyor, the synchronizing gear is arranged at the bottom of the driving shaft, the rotating gear is arranged at the top of the driving shaft, and the synchronizing gear is in transmission connection with the flexible rack.
In a further embodiment, the transmission assembly further comprises a circular rotating plate, a ratchet wheel, a pawl and a linkage gear, the circular rotating plate is in sliding fit with the rotating shaft through the sliding groove, the pawl is arranged at the bottom of the circular rotating plate, the ratchet wheel is rotationally connected to the rotating shaft, the ratchet wheel is matched with the pawl, the linkage gear is fixedly connected to the bottom of the ratchet wheel, and the linkage gear is meshed with the rotating gear.
The invention also discloses a use method of the omnibearing depth image acquisition device, which comprises the following steps:
s1: an output shaft of the air cylinder vertically moves downwards to drive the plurality of flexible pneumatic clamping jaws to descend simultaneously, and the plurality of flexible pneumatic clamping jaws clamp a workpiece to be detected;
s2: an output shaft of the air cylinder vertically moves upwards to lift the workpiece to a position as high as the middle part of the crescent guide rail, and then the stepping motor drives the workpiece to rotate anticlockwise;
s3: when the workpiece rotates anticlockwise, the camera slides along the crescent guide rail from top to bottom, the workpiece is subjected to all-dimensional image acquisition, and the appearance of the workpiece is detected and analyzed by analyzing image data acquired by the camera through the controller;
s4: after the detection and analysis of the workpiece are finished, the output shaft of the air cylinder vertically moves downwards, the workpiece is placed back on the conveyor, and then the plurality of flexible pneumatic clamping jaws move upwards and reset;
s5: the output shaft of the stepping motor rotates clockwise, and the conveying belt is driven by the synchronizing gear to move, so that the next workpiece to be detected can move to the position under the flexible pneumatic clamping jaws, and image acquisition is continuously performed on the workpiece.
Compared with the prior art, the invention has the beneficial effects that:
firstly, as the plurality of flexible pneumatic clamping jaws rotate, when one flexible pneumatic clamping jaw passes through a wave crest on the wavy guide rail, the flexible pneumatic clamping jaw vertically moves upwards, so that the workpiece is not shielded, the camera can comprehensively acquire images of the workpiece, and the accuracy of workpiece detection is ensured.
Secondly, when image acquisition starts, the stepping motor drives the workpiece to rotate anticlockwise, and at the moment, the pawl cannot drive the ratchet wheel to rotate, so that the conveying belt can be kept still all the time in the image acquisition process, and conveying of the conveying belt to the workpiece cannot be influenced.
Thirdly, in the invention, when the stepping motor drives the workpiece to rotate anticlockwise, the stepping motor can drive the camera to slide along the crescent guide rail, the camera can shoot the workpiece downwards when positioned above the workpiece, and the camera can shoot the workpiece upwards when positioned below the workpiece, so that the camera can not only collect images on the outer wall of the workpiece, but also collect images on the top and the bottom of the workpiece, and finally can collect the images in all directions of the workpiece, and the controller can detect and contrastively analyze the appearance of the workpiece by analyzing the image data collected by the camera so as to judge whether the workpiece is qualified.
Fourthly, in the invention, after the detection and analysis of a certain workpiece are finished, the conveyer belt can move a fixed distance every time, and the next workpiece to be detected is moved to be under the plurality of flexible pneumatic clamping jaws, so that continuous image acquisition and comparative analysis of the plurality of workpieces are realized, the detection efficiency of the workpiece is improved, at the moment, the camera can return to the top of the crescent guide rail again, the movement of the workpiece is not hindered, and compared with the prior art, the moving precision of the conveyer belt can be ensured, and the conveyer belt is driven to move without extra power, so that the manufacturing cost of equipment can be effectively saved, and the device is more environment-friendly.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a rotary clamping assembly according to the present invention;
FIG. 3 is a schematic view of the structure of the transmission member of the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 3;
FIG. 5 is a schematic structural view of an omni-directional acquisition assembly according to the present invention;
FIG. 6 is an enlarged view of FIG. 5 at B;
FIG. 7 is a schematic structural view of a circular rotating plate according to the present invention;
FIG. 8 is a schematic structural diagram of the wavy guide rail of the present invention;
fig. 9 is a schematic view of the structure of the sliding groove of the present invention.
In the figure: 1. a conveyor; 2. a workpiece guide rail; 3. a mounting frame; 4. a cylinder; 5. a workpiece; 6. mounting a plate; 7. a step motor; 8. connecting columns; 9. a drive shaft; 10. a crescent-shaped guide rail; 11. a connecting plate; 12. a flexible rack; 13. a rotating shaft; 14. a drive gear; 15. a rotating gear; 17. a synchronizing gear; 18. a slider; 19. an acceleration gear set; 20. a transmission gear; 21. a threaded rod; 22. a limiting rod; 23. a fixed block; 24. a guide slide bar; 25. connecting a sliding rod; 26. a guide chute; 27. a circular rotating plate; 28. a ratchet wheel; 29. a linkage gear; 30. a pawl; 31. a camera; 32. a sliding groove; 33. a guide seat; 34. a wave-shaped guide rail; 35. a flexible pneumatic jaw; 36. a slide bar; 37. a multi-stage telescopic rod; 38. a fixing plate; 39. a clamping piece; 40. a guide rod.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 9, an omnidirectional depth image collecting device includes a conveyor 1, a workpiece guide rail 2 is disposed on the top of the conveyor 1, an installation frame 3 is disposed above the workpiece guide rail 2, an installation plate 6 is disposed below an inner wall of the top of the installation frame 3, a transmission component is disposed on the top of the installation plate 6, a rotary clamping component is disposed at the bottom of the installation plate 6, and an omnidirectional collecting component is disposed on the top of the workpiece guide rail 2;
the rotary clamping assembly comprises a guide seat 33, a fixed plate 38, a stepping motor 7 and a rotating shaft 13, wherein the stepping motor 7 is vertically and downwardly arranged below the mounting frame 3, the rotating shaft 13 is in transmission connection with an output shaft of the stepping motor 7, the fixed plate 38 is fixedly connected to the rotating shaft 13, the fixed plate 38 is slidably connected with a plurality of sliding rods 36, the sliding rods 36 are uniformly distributed on the fixed plate 38 at equal angles, the bottom of each sliding rod 36 is provided with a flexible pneumatic clamping jaw 35, the guide seat 33 is rotatably connected to the rotating shaft 13, the guide seat 33 is provided with a wavy guide rail 34, the top of each sliding rod 36 is provided with a guide rod 40, and each guide rod 40 is in sliding fit with the wavy guide rail 34;
the workpiece guide rail 2 is used for guiding the movement of a plurality of workpieces 5, so that the plurality of workpieces 5 can horizontally move, the plurality of flexible pneumatic clamping jaws 35 are used for clamping the workpieces 5, the stepping motor 7 can drive the workpieces 5 to rotate through the rotating shaft 13, the camera 31 can conveniently acquire all-around images of the workpieces 5, and as the wave crests on the wave-shaped guide rail 34 face the camera 31, along with the rotation of the plurality of flexible pneumatic clamping jaws 35, when one of the flexible pneumatic clamping jaws 35 passes through the wave crests on the wave-shaped guide rail 34, the flexible pneumatic clamping jaw 35 vertically moves upwards, the workpiece 5 cannot be shielded, and the camera 31 can further acquire the images of the workpieces 5 in all-around mode.
Specifically, rotatory centre gripping subassembly is still including controller, cylinder 4, connecting plate 11 and two clamp pieces 39, cylinder 4 is vertical to be set up downwards the top of mounting bracket 3, connecting plate 11 sets up one side of axis of rotation 13 is kept away from to step motor 7, the output of cylinder 4 with the top fixed connection of connecting plate 11, mounting panel 6 with through a plurality of spliced poles 8 fixed connection, two between the mounting bracket 3 press from both sides the interval of clamp pieces 39 and set up on axis of rotation 13, two press from both sides clamp pieces 39 all with guide holder 33 structure cooperatees, be connected through a plurality of multistage telescopic links 37 between guide holder 33 and the fixed plate 38, guide holder 33 and fixed plate 38 sliding fit on vertical direction.
When image acquisition begins, the output shaft of the cylinder 4 vertically moves downwards to drive the plurality of flexible pneumatic clamping jaws 35 to descend simultaneously, the plurality of flexible pneumatic clamping jaws 35 clamp the workpiece 5 to be detected placed on the conveying belt, after clamping is completed, the output shaft of the cylinder 4 vertically moves upwards to lift the workpiece 5 to the middle position of the crescent guide rail 10 and the like, then the stepping motor 7 drives the workpiece 5 to rotate anticlockwise, at the moment, the pawl 30 cannot drive the ratchet 28 to rotate, therefore, the conveying belt can be kept standing still all the time in the image acquisition process, and the camera 31 can acquire the omnidirectional image of the workpiece 5 at the moment.
Specifically, the all-round collection assembly comprises a crescent guide rail 10, a fixed block 23, a connecting slide bar 25 and two guide slide bars 24, wherein the crescent guide rail 10 is arranged at the top of the workpiece guide rail 2, the two guide slide bars 24 are arranged on the fixed block 23 at intervals, the two guide slide bars 24 are in sliding fit with the crescent guide rail 10, a camera 31 is arranged on one side of the fixed plate 38 close to the flexible pneumatic clamping jaw 35, the connecting slide bar 25 is arranged on one side of the fixed plate 38 far away from the camera 31, and the controller is electrically connected with the camera 31, the stepping motor 7 and the flexible pneumatic clamping jaws 35;
the omnibearing acquisition component further comprises a threaded rod 21, a limiting rod 22, a sliding block 18, a driving gear 14 and an accelerating gear set 19, wherein the threaded rod 21 and the limiting rod 22 are rotatably connected to the top of the workpiece guide rail 2, the sliding block 18 is sleeved on the limiting rod 22, the sliding block 18 is in sliding fit with the limiting rod 22, the sliding block 18 is in threaded connection with the threaded rod 21, a guide sliding groove 26 is formed in one side, close to the connecting sliding rod 25, of the sliding block 18, the connecting sliding rod 25 is in sliding fit with the sliding block 18 in the horizontal direction through the guide sliding groove 26, a sliding groove 32 is formed in the rotating shaft 13, the driving gear 14 is in sliding fit with the rotating shaft 13 through the sliding groove 32, the accelerating gear set 19 is rotatably connected to the top of the fixing plate 38, a transmission gear 20 is arranged at the top of the threaded rod 21, and the driving gear 14 is in transmission connection with the transmission gear 20 through the accelerating gear set 19;
when the stepping motor 7 drives the workpiece 5 to rotate counterclockwise, the driving gear 14 drives the transmission gear 20 to rotate at a high speed through the accelerating gear set 19, and further drives the threaded rod 21 to rotate at a high speed, so as to drive the sliding block 18 to slide vertically and downwardly along the direction of the limiting rod 22, and because the connecting sliding rod 25 is in sliding fit with the sliding block 18 in the horizontal direction through the guide sliding chute 26, the camera 31 can be driven to slide along the crescent-shaped guide rail 10, the camera 31 can shoot the workpiece 5 in a bent manner when being positioned above the workpiece 5, and the camera 31 can shoot the workpiece 5 in a bent manner when being positioned below the workpiece 5, so that the camera 31 can not only collect images on the outer wall of the workpiece 5, but also collect images on the top and the bottom of the workpiece 5, and finally realize omnibearing image collection on the workpiece 5, the appearance of the workpiece 5 is detected and contrastively analyzed by analyzing the image data collected by the camera 31 to judge whether the workpiece 5 is qualified, wherein the controller is a C8051F single chip microcomputer 020 type;
after the image acquisition of a certain workpiece 5 is finished, the camera 31 just moves to the bottom of the crescent-shaped guide rail 10.
Specifically, the transmission assembly comprises a driving shaft 9, a flexible rack 12, a rotating gear 15 and a synchronizing gear 17, wherein the driving shaft 9 is rotatably connected to the fixed plate 38, the flexible rack 12 is arranged on the conveyor belt of the conveyor 1, the synchronizing gear 17 is arranged at the bottom of the driving shaft 9, the rotating gear 15 is arranged at the top of the driving shaft 9, the synchronizing gear 17 is in transmission connection with the flexible rack 12, the transmission assembly further comprises a circular rotating plate 27, a ratchet 28, a pawl 30 and a linkage gear 29, the circular rotating plate 27 is in sliding fit with the rotating shaft 13 through the sliding groove 32, the pawl 30 is arranged at the bottom of the circular rotating plate 27, the ratchet 28 is rotatably connected to the rotating shaft 13, the ratchet 28 is in structural fit with the pawl 30, the linkage gear 29 is fixedly connected to the bottom of the ratchet 28, and the linkage gear 29 is meshed with the rotating gear 15;
after the detection and analysis of a certain workpiece 5 are completed, the output shaft of the air cylinder 4 vertically moves downwards, the workpiece 5 is placed back on the conveyor, then the flexible pneumatic clamping jaws 35 move upwards and reset, at the moment, the output shaft of the stepping motor 7 rotates clockwise, at the moment, the ratchet 30 drives the ratchet 28 to rotate, the ratchet 28 drives the driving shaft 9 to rotate through the linkage gear 29, and further, the conveyor belt can be driven by the synchronizing gear 17 to move, so that the conveyor belt can move for a fixed distance at each time, the next workpiece 5 to be detected is moved to be under the flexible pneumatic clamping jaws 35, continuous image acquisition and comparative analysis of the workpieces 5 are realized, the detection efficiency of the workpieces 5 is improved, at the moment, the camera 31 can return to the top of the crescent guide rail 10 again, the movement of the workpieces 5 cannot be hindered, and compared with the prior art, the movement precision of the conveyor belt can be guaranteed, and no extra power is needed to drive the conveyor belt to move, the manufacturing cost of the device can be effectively saved, and the environment is more environment-friendly.
The invention also discloses a use method of the omnibearing depth image acquisition device, which comprises the following steps:
s1: an output shaft of the cylinder 4 vertically moves downwards to drive the plurality of flexible pneumatic clamping jaws 35 to descend simultaneously, and the plurality of flexible pneumatic clamping jaws 35 clamp the workpiece 5 to be detected;
s2: an output shaft of the air cylinder 4 vertically moves upwards to lift the workpiece 5 to a position as high as the middle part of the crescent guide rail 10, and then the stepping motor 7 drives the workpiece 5 to rotate anticlockwise;
s3: when the workpiece 5 rotates anticlockwise, the camera 31 slides along the crescent guide rail 10 from top to bottom, the workpiece 5 is subjected to all-dimensional image acquisition, and the controller detects and analyzes the appearance of the workpiece 5 by analyzing image data acquired by the camera 31;
s4: after the detection and analysis of the workpiece 5 are finished, the output shaft of the cylinder 4 vertically moves downwards, the workpiece 5 is placed back on the conveyor, and then the plurality of flexible pneumatic clamping jaws 35 move upwards and reset;
s5: the output shaft of the stepping motor 7 rotates clockwise, and the conveying belt is driven by the synchronizing gear 17 to move, so that the next workpiece 5 to be detected can move to the position right below the flexible pneumatic clamping jaws 35, and image acquisition can be continuously performed on the workpiece 5 conveniently.
The working principle of the invention is as follows: a plurality of flexible pneumatic clamping jaw 35 are used for carrying out the centre gripping to work piece 5, and step motor 7 can drive work piece 5 through axis of rotation 13 and rotate, the camera 31 of being convenient for carries out omnidirectional image acquisition to work piece 5, and because the crest on the wave guide rail 34 is just facing to camera 31, along with going on of the pivoted of a plurality of flexible pneumatic clamping jaw 35, when one of them flexible pneumatic clamping jaw 35 passes through the crest on the wave guide rail 34, this flexible pneumatic clamping jaw 35 all can vertical rebound, can not lead to the fact the sheltering from work piece 5, and then can make camera 31 carry out image acquisition to work piece 5 omnidirectionally.
When image acquisition begins, the vertical downstream of output shaft of cylinder 4, drive a plurality of flexible pneumatic clamping jaw 35 and descend simultaneously, a plurality of flexible pneumatic clamping jaw 35 carry out the centre gripping to the work piece 5 of waiting to detect of placing on the conveyer belt, the centre gripping finishes the back, the vertical upward movement of output shaft of cylinder 4, with work piece 5 lifting to the position such as the intermediate position of crescent guide rail 10, afterwards, step motor 7 drives work piece 5 anticlockwise rotation, at this moment, pawl 30 can not drive ratchet 28 and rotate, therefore the conveyer belt can remain throughout the image acquisition in-process and keep standing still, and camera 31 can carry out omnidirectional image acquisition to work piece 5 this moment.
When the stepping motor 7 drives the workpiece 5 to rotate counterclockwise, the driving gear 14 drives the transmission gear 20 to rotate at a high speed through the accelerating gear set 19, so as to drive the threaded rod 21 to rotate at a high speed, so as to drive the sliding block 18 to slide vertically and downwardly along the direction of the limiting rod 22, and because the connecting sliding rod 25 is in sliding fit with the sliding block 18 in the horizontal direction through the guide sliding groove 26, the camera 31 can be driven to slide along the crescent guide rail 10, the workpiece 5 can be taken down when the camera 31 is located above the workpiece 5, and the workpiece 5 can be taken up when the camera 31 is located below the workpiece 5, so that the camera 31 can not only acquire images of the outer wall of the workpiece 5, but also acquire images of the top and the bottom of the workpiece 5, and finally realize the omnibearing image acquisition of the workpiece 5, and the appearance of the workpiece 5 can be detected and contrasted and analyzed by analyzing the image data acquired by the camera 31, so as to judge whether the workpiece 5 is qualified, wherein the controller is a C8051F single chip microcomputer.
After the image acquisition of a certain workpiece 5 is finished, the camera 31 just moves to the bottom of the crescent-shaped guide rail 10.
After the detection and analysis of a certain workpiece 5 are finished, the output shaft of the cylinder 4 vertically moves downwards, the workpiece 5 is placed back on the conveyor, then the flexible pneumatic clamping jaws 35 move upwards and reset, the output shaft of the stepping motor 7 rotates clockwise, the pawl 30 drives the ratchet 28 to rotate at the moment, the ratchet 28 drives the driving shaft 9 to rotate through the linkage gear 29, and further the conveying belt can be driven to move through the synchronizing gear 17, so that the conveying belt can move for a fixed distance at each time, the next workpiece 5 to be detected moves to be under the flexible pneumatic clamping jaws 35, continuous image acquisition and comparative analysis of the workpieces 5 are realized, the detection efficiency of the workpieces 5 is improved, the camera 31 can return to the top of the crescent guide rail 10 again at the moment, the movement of the workpieces 5 cannot be hindered, and compared with the prior art, the moving precision of the conveying belt can be guaranteed, the conveying belt does not need additional power to drive the conveying belt to move, the manufacturing cost of the equipment can be effectively saved, and the environment is more environment-friendly.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The omnibearing depth image acquisition device comprises a conveyor (1), and is characterized in that a workpiece guide rail (2) is arranged at the top of the conveyor (1), an installation frame (3) is arranged above the workpiece guide rail (2), an installation plate (6) is arranged below the inner wall of the top of the installation frame (3), a transmission part is arranged at the top of the installation plate (6), a rotary clamping assembly is arranged at the bottom of the installation plate (6), and an omnibearing acquisition assembly is arranged at the top of the workpiece guide rail (2);
wherein, rotatory centre gripping subassembly is including guide holder (33), fixed plate (38), step motor (7) and axis of rotation (13), step motor (7) vertical downward setting is in the below of mounting bracket (3), axis of rotation (13) are connected with the output shaft transmission of step motor (7), fixed plate (38) fixed connection be in on axis of rotation (13), sliding connection has a plurality of slide bars (36) on fixed plate (38), and a plurality of slide bars (36) are equal angle evenly distributed on fixed plate (38), every the bottom of slide bar (36) all is provided with flexible pneumatic clamping jaw (35), guide holder (33) rotate to be connected on axis of rotation (13), wave guide rail (34) have been seted up on guide holder (33), every the top of slide bar (36) all is provided with guide bar (40), every guide bar (40) all with wave guide rail (34) sliding fit.
2. The all-round degree of depth image acquisition device of claim 1, characterized in that, rotatory centre gripping subassembly is still including controller, cylinder (4), connecting plate (11) and two press from both sides tight piece (39), cylinder (4) set up vertically downwards the top of mounting bracket (3), connecting plate (11) set up one side of axis of rotation (13) is kept away from to step motor (7), the output of cylinder (4) with the top fixed connection of connecting plate (11), mounting panel (6) with through a plurality of spliced pole (8) fixed connection between mounting bracket (3), two press from both sides tight piece (39) interval and set up on axis of rotation (13), two press from both sides tight piece (39) and all cooperate with guide holder (33) structure.
3. The omnidirectional depth image collecting device according to claim 1, wherein the guide base (33) is connected to the fixing plate (38) by a plurality of multi-stage telescopic rods (37), and the guide base (33) is slidably engaged with the fixing plate (38) in a vertical direction.
4. The all-dimensional depth image acquisition device according to claim 2, wherein the all-dimensional acquisition assembly comprises a crescent guide rail (10), a fixed block (23), a connecting slide bar (25) and two guiding slide bars (24), the crescent guide rail (10) is arranged at the top of the workpiece guide rail (2), the two guiding slide bars (24) are arranged on the fixed block (23) at intervals, the two guiding slide bars (24) are in sliding fit with the crescent guide rail (10), a camera (31) is arranged on one side, close to the flexible pneumatic clamping jaw (35), of the fixed plate (38), the connecting slide bar (25) is arranged on one side, away from the camera (31), of the fixed plate (38), a wave crest on the wave-shaped guide rail (34) faces the camera (31), and the controller is electrically connected with the camera (31), the stepping motor (7) and the flexible pneumatic clamping jaws (35).
5. The all-round degree of depth image acquisition device of claim 4, characterized in that, all-round collection subassembly is still including threaded rod (21), gag lever post (22), sliding block (18), drive gear (14) and acceleration gear set (19), threaded rod (21) and gag lever post (22) all rotate to be connected in the top of work piece guide rail (2), sliding block (18) cover is established on gag lever post (22), sliding block (18) with gag lever post (22) sliding fit, sliding block (18) and threaded rod (21) threaded connection, sliding block (18) are close to connect slide bar (25) one side seted up direction spout (26), connect slide bar (25) and sliding block (18) sliding fit in the horizontal direction through direction spout (26), seted up sliding tray (32) on axis of rotation (13), drive gear (14) pass through sliding tray (32) and axis of rotation (13) sliding fit, acceleration gear set (19) rotate to be connected in the top of fixed plate (38).
6. The omnidirectional depth image acquisition device according to claim 5, wherein a transmission gear (20) is arranged on the top of the threaded rod (21), and the driving gear (14) is in transmission connection with the transmission gear (20) through the accelerating gear set (19).
7. The all-round depth image acquisition device of claim 5, wherein the transmission assembly comprises a driving shaft (9), a flexible rack (12), a rotating gear (15) and a synchronizing gear (17), the driving shaft (9) is rotatably connected to the fixing plate (38), the flexible rack (12) is arranged on the conveyor belt of the conveyor (1), the synchronizing gear (17) is arranged at the bottom of the driving shaft (9), the rotating gear (15) is arranged at the top of the driving shaft (9), and the synchronizing gear (17) is in transmission connection with the flexible rack (12).
8. The omnidirectional depth image acquisition device according to claim 7, wherein the transmission assembly further comprises a circular rotating plate (27), a ratchet wheel (28), a pawl (30) and a linkage gear (29), the circular rotating plate (27) is in sliding fit with the rotating shaft (13) through the sliding groove (32), the pawl (30) is arranged at the bottom of the circular rotating plate (27), the ratchet wheel (28) is rotatably connected to the rotating shaft (13), the ratchet wheel (28) is structurally matched with the pawl (30), the linkage gear (29) is fixedly connected to the bottom of the ratchet wheel (28), and the linkage gear (29) is meshed with the rotating gear (15).
9. A method of using an omnidirectional depth image acquisition device, comprising the omnidirectional depth image acquisition device as recited in any one of claims 1 to 8, comprising the steps of:
s1: an output shaft of the air cylinder (4) vertically moves downwards to drive the plurality of flexible pneumatic clamping jaws (35) to descend simultaneously, and the plurality of flexible pneumatic clamping jaws (35) clamp a workpiece (5) to be detected;
s2: an output shaft of the air cylinder (4) vertically moves upwards to lift the workpiece (5) to a position with the same height as the middle part of the crescent guide rail (10), and then the stepping motor (7) drives the workpiece (5) to rotate anticlockwise;
s3: when the workpiece (5) rotates anticlockwise, the camera (31) slides along the crescent guide rail (10) from top to bottom, the workpiece (5) is subjected to all-dimensional image acquisition, and the appearance of the workpiece (5) is detected and analyzed by the controller through analyzing image data acquired by the camera (31);
s4: after the workpiece (5) is detected and analyzed, the output shaft of the air cylinder (4) vertically moves downwards, the workpiece (5) is placed back on the conveyor, and then the flexible pneumatic clamping jaws (35) move upwards and reset;
s5: the output shaft of step motor (7) clockwise rotates, drives the conveyer belt through synchronizing gear (17) and carries out the motion for work piece (5) that next wait to detect can move to under a plurality of flexible pneumatic clamping jaw (35), are convenient for continuously carry out image acquisition to work piece (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211010981.9A CN115393565A (en) | 2022-08-22 | 2022-08-22 | Omnibearing depth image acquisition device and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211010981.9A CN115393565A (en) | 2022-08-22 | 2022-08-22 | Omnibearing depth image acquisition device and use method thereof |
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| CN202211010981.9A Withdrawn CN115393565A (en) | 2022-08-22 | 2022-08-22 | Omnibearing depth image acquisition device and use method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117125451A (en) * | 2023-10-27 | 2023-11-28 | 钛玛科（北京）工业科技有限公司 | Tire carcass detection device and working method |
| CN117309880A (en) * | 2023-10-07 | 2023-12-29 | 宁波五峰机械有限公司 | Detection mechanism and detection method for sewing machine workpiece |
-
2022
- 2022-08-22 CN CN202211010981.9A patent/CN115393565A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117309880A (en) * | 2023-10-07 | 2023-12-29 | 宁波五峰机械有限公司 | Detection mechanism and detection method for sewing machine workpiece |
| CN117309880B (en) * | 2023-10-07 | 2024-05-10 | 宁波五峰机械有限公司 | Detection mechanism and detection method for sewing machine workpiece |
| CN117125451A (en) * | 2023-10-27 | 2023-11-28 | 钛玛科（北京）工业科技有限公司 | Tire carcass detection device and working method |
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