CN116256370A - Novel multi-axis linkage visual detection equipment, method and application - Google Patents

Novel multi-axis linkage visual detection equipment, method and application Download PDF

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Publication number
CN116256370A
CN116256370A CN202310138297.7A CN202310138297A CN116256370A CN 116256370 A CN116256370 A CN 116256370A CN 202310138297 A CN202310138297 A CN 202310138297A CN 116256370 A CN116256370 A CN 116256370A
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axis
detection
photographing
rotates
moves
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CN202310138297.7A
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CN116256370B (en
Inventor
王孟哲
梁正南
赖勉力
李恩全
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Guangdong Jiuzong Intelligent Technology Co ltd
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Guangdong Jiuzong Intelligent Technology Co ltd
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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
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/045—Correction of measurements
    • 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
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • 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
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0106—General arrangement of respective parts
    • G01N2021/0112—Apparatus in one mechanical, optical or electronic block
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Abstract

The invention relates to the field of visual detection, in particular to novel multi-axis linkage visual detection equipment, a method and application. The invention discloses novel multi-axis linkage visual detection equipment, which comprises an installation platform, wherein a tool assembly with a first moving direction, a second moving direction and a first rotating direction is arranged at the installation platform. The tool assembly only has one-direction rotation, so compared with the tool assembly with two axial rotation degrees of freedom; on the one hand, when the tool assembly rotates in two directions simultaneously in the motion process, the line and the gas circuit involved with the tool assembly can also move along with the tool assembly, and the condition that the line, the gas circuit and the tool assembly are subjected to motion interference easily occurs in the motion process due to the fact that the wiring quantity required by the two rotation directions is more and more complex, and the requirement on wiring is higher.

Description

Novel multi-axis linkage visual detection equipment, method and application
Technical Field
The invention relates to the field of visual detection, in particular to novel multi-axis linkage visual detection equipment, a method and application.
Background
With the economic development, products with higher appearance requirements, such as middle frames of electronic products, enter markets successively. Whether the appearance of these products is defective directly affects the normal use thereof; therefore, before the product is put into use, visual appearance detection is required to be carried out on the product so as to screen out defective products with defects in appearance. As the yield of such products is now increasing, the demand for visual inspection equipment is increasing.
The problem of low detection efficiency and low defective product detection rate of traditional manual detection is gradually replaced by visual detection equipment. The existing visual inspection device generally adopts a multi-axis linkage mode to adjust the posture of the inspection object or the visual equipment, so that the important inspection part of the inspection object can be covered. However, since the multi-axis linkage approach requires a large number of devices and wiring arrangements to implement; on the one hand, the devices of the existing multi-axis linkage equipment have the defects that the devices and the circuit are arranged in a complex way, so that the whole structure is not compact and reasonable enough to facilitate the construction, on the other hand, the structure wiring problem of the existing equipment also directly causes the visual detection method suitable for the equipment to have the defects of insufficient high efficiency and more ineffective movement in the whole detection flow, so that the stability of a detection object in the detection process is easily influenced, and the whole detection process is not fine enough and is easy to generate errors in the detection process. Therefore, a detection device with more reasonable device arrangement and a detection method suitable for the detection device with more stable and efficient operation are lacking in the current market.
Meanwhile, the existing visual detection equipment is large in detection demand of products, so that multi-station synchronization is needed in most cases, detection can be carried out on a plurality of detection objects at the same time, detection efficiency is improved to a large extent, and in the prior art, research on how to stabilize and calibrate the consistency of multi-station synchronization work at low cost is carried out. Meanwhile, due to the fact that the arrangement structure of the multi-axis equipment is complex, the situation that the light path is blocked and cannot be applied to the multi-axis equipment frequently occurs in the conventional auxiliary calibration equipment such as a laser interferometer, and therefore the novel multi-axis linkage equipment and the low-cost calibration method which is adaptive to the novel multi-axis linkage equipment are the problems to be solved in the current visual detection field.
Disclosure of Invention
Aiming at the technical defects existing in the prior art, the invention provides novel multi-axis linkage visual inspection equipment which comprises an equipment main body, wherein the equipment main body comprises an installation platform, and a tool assembly with a first moving direction, a second moving direction and a first rotating direction is arranged at the installation platform and is used for placing an inspection object;
a visual mounting frame is vertically arranged at the mounting platform; the position of the visual mounting frame above the tool assembly is provided with a rotary mounting plate which is matched with the visual mounting frame in a moving way along a third moving direction; a rotary cover with a second rotary direction is arranged between two ends of the rotary mounting plate along the first moving direction, and a visual acquisition component which rotates along with the rotary cover is arranged at the rotary cover through a visual mounting plate; the vision acquisition component department forms the detection area, and frock component can be located the detection area department.
The invention can provide a stable mounting position for the rotary mounting plate and the vision acquisition component through the vision mounting frame. At the same time, the installation of the rotating cover by rotating the installation plate can also enable the rotating cover to obtain a safer and more stable arrangement space.
In addition, the tool assembly only has one direction of rotation, so the tool assembly is compared with the tool assembly with two axial rotation degrees of freedom; on the one hand, when the tool components rotating in two directions rotate simultaneously in two directions in the moving process, the lines and the air paths involved in the tool components can also move along with the tool components, and the condition of movement interference among the lines, the air paths and the tool components easily occurs in the moving process due to the fact that the wiring quantity required by the two rotating directions is more and more complex, and the wiring requirement is higher. In particular, in the process of installing and constructing the equipment main body, the arrangement of the circuits and the air circuits related to the tool assembly is simpler; the limiting influence of the device in installation and construction on the movement and rotation of the tool assembly can be reduced, and the tool assembly can rotate within a range of three hundred sixty degrees;
On the other hand, the tool assembly rotates in only one direction, so that the position stability of the detection object on the tool assembly can be better ensured; when the tool assembly rotates in two directions at the same time, the movement amplitude of the detection object is larger, so that the detection object is more likely to deviate at the tool assembly; and thus may have an influence on the acquisition result of the detection image. In the invention, the visual acquisition component has the upward rotation direction of the other direction, so that the visual acquisition component can be matched with the first rotation direction of the tool component to meet the relative spatial position adjustment requirement required in the acquisition process of the visual detection image.
Preferably, the first moving direction, the second moving direction and the third moving direction are orthogonal to each other, and the rotation axes of the first rotating direction and the second rotating direction are perpendicular to each other; the rotation axis of the first rotation direction is parallel to the third movement direction; the rotation axis of the second rotation direction is parallel to the first movement direction.
It can be understood that the mutually orthogonal rotation shafts can be conveniently built on one hand, and on the other hand, the setting and the calculation of the position and posture adjustment can be convenient.
Preferably, the tool assembly comprises a mounting bottom plate, a sucker mounting plate is arranged at the mounting bottom plate, and suction nozzles for adsorbing detection objects are uniformly distributed at the sucker mounting plate.
It can be understood that the detection object can be better adsorbed and fixed through the suction nozzle, and meanwhile, the detection object can be fixed or loosened through controlling the roadside, so that the operation is simple and convenient.
Preferably, the mounting platform is provided with second linear guide rails in parallel symmetry along a second moving direction, and the second linear guide rails are provided with second sliding blocks in sliding fit with the second linear guide rails; the mounting platform is provided with a second ball screw module for driving the second sliding block to move along a second moving direction; the second sliding block is provided with a first mounting plate; the first mounting plate is provided with a first guide rail seat arranged along a first moving direction; a first sliding seat which is in sliding fit with the first guide rail seat along a first moving direction is arranged at the first guide rail seat; the first guide rail seat is also provided with a first ball screw module for driving the first sliding seat to slide, and a tooling installation seat on which a tooling assembly is arranged on the first sliding seat of the first ball screw module; the tool mounting seat is provided with a synchronous belt component for driving the tool component to rotate in a first rotation direction; the synchronous belt assembly comprises a driving wheel, a driven wheel, an idler wheel and a transmission belt for realizing power transmission among the driving wheel, the driven wheel and the idler wheel; the driving wheel is driven by a synchronous belt driving motor; one side of the mounting platform, which is positioned in the second moving direction, is provided with an inductor component for inducing and monitoring the moving state of the tool component in the second moving direction.
Specifically, each driven wheel synchronously driven by the driving wheel can be kept synchronous better, so that the rotation consistency of each tool assembly can be ensured better, and the synchronous detection of the detection object at each tool assembly can be carried out stably. The driven wheel and the tool assembly are driven through a worm gear reducer.
It will be appreciated that a stable drive path for the drive belt can be provided by the idler pulley, thereby facilitating installation of the drive belt by an installer. In addition, the idler wheel can also tension the transmission belt and ensure that other devices in the rotary cover are prevented from interfering when the transmission belt is transmitted while providing a transmission path for the transmission belt; thereby ensuring the smooth and stable operation of the transmission belt.
Preferably, the visual detection assembly comprises a camera and a light source; the camera is used for visually collecting detection images of the detection objects placed at the tool assembly in the detection area; the light source is used for polishing the detection area.
Specifically, detection image acquisition can be preferably realized through the mutual matching of the light source and the camera, and meanwhile, the light source only flashes when the camera shoots; on the one hand, the electric power can be saved better, the service life of the light source can be prolonged, and on the other hand, the interference of light on the work of detection personnel can be avoided effectively.
Preferably, the visual mounting frame comprises side vertical plates arranged on two sides of the mounting platform; the second linear guide rail and the tool assembly are positioned between the side vertical plates at two sides; a connecting transverse plate is connected between the side vertical plates at two sides, is positioned above the tool assembly and cannot interfere with the movement of the tool assembly in the second moving direction; third linear guide blocks along a third moving direction are symmetrically arranged at the connecting transverse plate in parallel; a third sliding rod in sliding fit with the third linear guide insert is connected with the rotary mounting plate; and a third ball screw module is arranged at the position between the third linear guide blocks positioned at the two sides of the connecting transverse plate along a third moving direction, and a moving seat in the third ball screw module is connected with the rotary mounting plate through a driving connecting plate so as to drive the rotary mounting plate to move along the third moving direction.
The connecting cross plate can provide a stable mounting base for the rotary mounting plate and subsequent mounting of the vision acquisition assembly; therefore, the visual acquisition assembly can rotate according to the control signal in the rotation process, and further the condition that the follow-up detection result is affected due to unclear detection image acquisition caused by shaking of the visual acquisition assembly can be effectively avoided. In addition, the connecting transverse plate can also be used as a good arrangement position in the subsequent circuit gas path arrangement process.
Preferably, the rotary mounting plates are vertically formed with rotary mounting plates at two ends along the first moving direction, the rotary cover is mounted in a space formed between the rotary mounting plates at two sides, and a second servo motor for driving the rotary cover to rotate is arranged at the rotary mounting plate at one end; a mounting bearing for movably mounting the rotary cover is arranged at the rotary mounting plate at the other end; the rotating cover is connected with a visual mounting plate provided with a visual acquisition component and drives the visual mounting plate to rotate in a second rotating direction; the connecting transverse plate and the rotating mounting plate form limit constraint on the rotating range of the visual mounting plate and the visual acquisition assembly.
In general, the whole formed by the rotary mounting plate, the rotary cover, the visual mounting plate and the visual acquisition assembly can be safely and stably arranged in a space enclosed between the side vertical plates and the connecting transverse plates; meanwhile, the vision acquisition assembly arranged in the way can comprehensively cover the moving path of the tool assembly in the second moving direction so as to meet the requirements of different acquisition angles in the detection image acquisition process.
The invention also provides a novel multi-axis linkage visual detection image acquisition method which is realized based on the novel multi-axis linkage visual detection device, wherein a space where a device main body is positioned is provided with a space coordinate system of XYZ axes, the Z axes are formed along the vertical direction, and the X axes and the Y axes are formed along the horizontal plane in a mutually orthogonal manner; the first moving direction, the second moving direction and the third moving direction are respectively an X-axis direction, a Y-axis direction and a Z-axis direction, a first rotating direction is defined as an A-axis direction, and a second rotating direction is defined as an R-axis direction; the method specifically comprises the following steps:
Step S1: feeding material
Placing the detection object at the tool assembly;
step S2: detection image acquisition
The relative space positions between the tool assembly and the vision acquisition assembly are adjusted according to the first moving direction, the second moving direction, the first rotating direction, the third moving direction and the second rotating direction, so that vision acquisition is sequentially carried out on detection images of key positions required to be detected by the detection object;
step S3: detection screening
Analyzing the collected detection images to obtain detection results and screening defective products.
Preferably, the detection object has four sides and four diagonals; the vision inspection acquisition component comprises a camera and a light source; wherein step S2 specifically comprises the following steps,
step S21: the R axis rotates to enable the long side of the detection object to be parallel to the X axis, the Y axis moves the detection object to the lower side of the field of view of the camera, the Z axis is adjusted to focus, the X axis is adjusted to move to the upper right corner of the plane of the detection object, the X axis is moved to scan the image, the Y axis moves to shoot the other side after shooting is finished, then the X axis is moved to scan the shooting picture, and the shooting detection of the whole plane of the middle frame is completed through repeated actions;
step S22: after finishing the planar photographing detection, the Y-axis moves in the positive direction, the A-axis rotates by 70 degrees, the Z-axis moves downwards in the positive direction, then the Y-axis moves, the Z-axis moves, and the two-axis adjustment completes focusing; then the X-axis moves in the positive direction, moves to the initial position of the first inner side edge, starts photographing along the negative direction of the X-axis, and completes photographing detection of the first inner side edge;
Step S23: after the first inner side edge is detected, the R axis rotates 35 degrees in the positive direction, the R axis rotates to the first inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, photographing is completed to the first inner diagonal position;
step S24: after the first inner diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the second inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the second inner side, and the negative direction of the X axis moves to photograph, so that the second inner side detection is finished;
step S25: after the second inner side edge is detected, the R axis rotates by 35 degrees again, the R axis rotates to the second inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, the photographing finishes the second inner diagonal detection;
step S26: after the second inner diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the third inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the third inner side, and the negative direction of the X axis moves to photograph, so that the third inner side detection is finished;
step S27: after the third inner side edge is detected, the R-axis rotates 35 degrees in the positive direction, the R-axis rotates to the third inner diagonal position, the Y-axis is adjusted to focus, and after the X-axis moves to the photographing position, photographing is completed to the third inner diagonal position;
Step S28: after the third inner side diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the fourth inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the fourth inner side, and the negative direction of the X axis moves to photograph, so that the fourth inner side detection is finished;
step S29: after the fourth inner side edge is detected, the R axis rotates 35 degrees in the positive direction, the R axis rotates to the fourth inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, the fourth inner diagonal detection is completed through photographing;
step S210: after the detection of four inner side edges and four inner side opposite angles is finished, the R axis rotates by 35 degrees in the negative direction, the A axis continues to rotate so that the visual field of the camera and the outer frame surface of the detection object are photographed vertically, the Y axis is adjusted, the Z axis finishes focusing, and after the X axis moves to the initial photographing position in the positive direction, the X axis moves in the negative direction again to photograph, so that the photographing detection of the first outer side edge is finished;
step S211: the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, photographing is completed to perform first outside diagonal detection;
step S212: after the first outside diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the second outside side;
Step S213: after the second outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, photographing is completed to perform second outer diagonal detection;
step S214: after the second outside diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the third outside edge;
step S215: after the third outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, the photographing is completed to detect the third outer diagonal angle;
step S216: after the third outer diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the fourth outer side;
step S217: after the fourth outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, the fourth outer diagonal detection is completed after photographing;
step S218: after four outer side edges and four outer side opposite angles are detected, the Z shaft is lifted, moved and returned, the A shaft rotates back to be perpendicular to the plane, the R shaft rotates in the positive direction for 45 degrees to be returned to the angle position when the plane, and finally, all shafts are adjusted to return to the initial state.
It can be understood that the detection image acquisition method in the invention can preferably detect four sides and four opposite angles which are easy to generate defects in the detection object and four sides on the plane; therefore, the method has a wider detection range while keeping higher detection efficiency, and further ensures higher defective product detection rate.
Specifically, the detection image acquisition method can synchronously acquire a plurality of detection objects placed at each station at the same time; in addition, in the image acquisition process of each part, the detection object to be acquired is always positioned at the station, and the image is photographed and acquired through the camera corresponding to the station. The detection object and the vision acquisition component only need to follow the set rotation angle to sequentially complete photographing and image acquisition of each part; therefore, visual image acquisition can be stably, conveniently and rapidly carried out on key positions of the detection object in the whole image acquisition process, the image acquisition efficiency is improved better, and further, the follow-up analysis processing can be carried out on the acquired images more efficiently so as to obtain the appearance defect detection result of the detection object.
In addition, in the process of drawing, the set rotation angles and the rotation sequence of the angles can better ensure that all key positions of the detection object can be covered, so that the condition of missing defect detection can be better avoided. And the rotation angle and the rotation sequence of each angle in the process can better ensure that the whole detection process is smooth and efficient in operation, and the ineffective rotation is less, so that the situation that the positioning stability of a detection object is influenced due to too complicated rotation in the detection process is preferably reduced, and further, the detection visual image acquisition of each key position can be stably and sequentially completed in the rotation process.
The invention also provides application of the novel multi-axis linkage visual detection equipment, when the detection object is a mobile phone middle frame, the novel multi-axis linkage visual detection equipment is adopted, and the detection image acquisition method is given to acquire detection images of the mobile phone middle frame.
Drawings
Fig. 1 is a schematic structural view of a main body of the apparatus in embodiment 1;
FIG. 2 is a schematic view of the tooling assembly of FIG. 1;
FIG. 3 is a schematic structural view of the mounting platform and tooling mount and related structures in embodiment 2;
FIG. 4 is a schematic view of the structure of the mounting platform of FIG. 3;
FIG. 5 is a schematic view of the mounting base and related structure of the tool of FIG. 3;
FIG. 6 is a schematic view of the internal structure of the tool mount of FIG. 3;
FIG. 7 is a schematic view of the visual acquisition assembly in embodiment 2;
fig. 8 is a schematic structural view of the structure of the vision mount, the vision collecting assembly, and the like in embodiment 2;
FIG. 9 is a schematic view of the visual mount and swivel mounting plate of FIG. 8 and related structures;
FIG. 10 is a schematic view of the visual mounting plate, rotating cover, visual acquisition assembly and related structures of FIG. 8;
FIG. 11 is a schematic view of the rotating housing and related components of FIG. 10;
FIG. 12 is a schematic view showing the structure of the calibration block main body in embodiment 3;
FIG. 13 is a schematic view of the structure of FIG. 12 from another perspective;
fig. 14 is a schematic diagram of the structure of a mobile phone middle frame in embodiment 6.
Detailed Description
Example 1
Referring to fig. 1, the embodiment provides a novel multi-axis linkage vision inspection apparatus, which includes an apparatus main body 100, wherein the apparatus main body 100 includes a tool assembly 110 for placing an inspection object and a vision acquisition assembly 120 for acquiring an inspection image of the inspection object; a detection area is formed at the vision acquisition component 120, and the tool component 110 can be positioned at the detection area;
the tool assembly 110 has a first moving direction, a second moving direction and a first rotating direction which are independent of each other; the vision acquisition assembly 120 has a third direction of movement and a second direction of rotation that are independent of each other; the first moving direction, the second moving direction, the first rotating direction, the third moving direction and the second rotating direction are used together to realize adjustment of the relative spatial position relationship between the tool assembly 110 and the vision collecting assembly 120.
It can be appreciated that the movement or rotation of the tool assembly 110 and the vision collecting assembly 120 in all directions can be preferably coordinated to adjust the relative position between the detection object and the vision collecting assembly 120, so as to achieve a better detection image collecting effect, and further ensure the accuracy of the detection result obtained by analyzing and detecting the collected image.
Notably, the tooling assembly 110 in the present embodiment has only one rotation direction, so that compared to the tooling assembly 110 having two degrees of freedom of axial rotation; on the one hand, when the tooling assembly 110 rotating in two directions rotates simultaneously in two directions in the moving process, the line and the air channel involved in the tooling assembly can also move along with the tooling assembly, and the condition of movement interference between the line, the air channel and the tooling assembly 110 easily occurs in the moving process due to the fact that the wiring quantity required by the two rotating directions is more and more complex, and the wiring requirement is higher. Specifically, in the process of installing and constructing the equipment main body 100, the arrangement of the circuits and the air paths related to the tool assembly 110 is simpler; the limiting influence of the device in installation and construction on the movement and rotation of the tool assembly 110 can be reduced, and the tool assembly 110 can rotate within a range of three hundred sixty degrees;
on the other hand, the tool assembly 110 rotates in only one direction, so that the position stability of the detection object on the tool assembly 110 can be better ensured; when the tool assembly 110 rotates in two directions and rotates simultaneously in two directions, the movement amplitude of the detection object is larger, so that the detection object is more likely to deviate at the tool assembly 110; and thus may have an influence on the acquisition result of the detection image. In this embodiment, the vision collecting assembly 120 has a rotation direction in another direction, so that the vision collecting assembly can cooperate with the first rotation direction of the tool assembly 110 to meet the requirement of adjusting the relative spatial position required in the process of collecting the vision detection image.
The first moving direction, the second moving direction and the third moving direction are orthogonal in pairs, and the rotation axes of the first rotating direction and the second rotating direction are perpendicular to each other.
It can be understood that the mutually orthogonal rotation shafts can be conveniently built on one hand, and on the other hand, the setting and the calculation of the position and posture adjustment can be convenient.
Example 2
2-11, the embodiment provides a novel multi-axis linkage vision inspection device suitable for the device main body 100 in the embodiment 1, which comprises the device main body 100, wherein the device main body 100 comprises a mounting platform 130, a tooling assembly 110 with a first moving direction, a second moving direction and a first rotating direction is arranged at the mounting platform 130, and the tooling assembly 110 is used for placing an inspection object;
a vision mount 140 is vertically disposed at the mounting platform 130; the vision mounting frame 140 is provided with a rotary mounting plate 150 which is matched with the vision mounting frame in a moving way along a third moving direction at a position above the tool assembly 110; a rotating cover 160 with a second rotating direction is arranged between two ends of the rotating mounting plate 150 along the first moving direction, and a vision acquisition component 120 rotating along with the rotating cover 160 is arranged at the rotating cover 160 through a vision mounting plate 170; the vision acquisition component 120 forms a detection area where the tooling component 110 can be located.
Specifically, the present embodiment preferably provides a stable mounting location for the rotatable mounting plate 150 and the vision acquisition assembly 120 via the vision mounting bracket 140. At the same time, the installation of the rotating cover 160 by rotating the mounting plate 150 also enables a safer and more stable arrangement space for the rotating cover 160.
The first moving direction, the second moving direction and the third moving direction are orthogonal in pairs, and the rotating shafts of the first rotating direction and the second rotating direction are perpendicular to each other; the rotation axis of the first rotation direction is parallel to the third movement direction; the rotation axis of the second rotation direction is parallel to the first movement direction.
The tool assembly 110 comprises a mounting base plate 210, a sucker mounting plate 220 is arranged at the mounting base plate 210, and suction nozzles 230 for sucking detection objects are uniformly distributed at the sucker mounting plate 220.
It can be appreciated that the suction nozzle 230 can preferably adsorb and fix the detection object, and the air-side control can fix or loosen the detection object, so that the operation is simple.
The mounting platform 130 is symmetrically provided with a second linear guide rail 310 in parallel along a second moving direction, and the second linear guide rail 310 is provided with a second sliding block 320 in sliding fit with the second linear guide rail 310; the mounting platform 130 is provided with a second ball screw module 330 for driving the second sliding block 320 to move along the second moving direction; the second slider 320 has a first mounting plate 340 mounted thereon; the first mounting plate 340 has mounted thereon a first rail mount 510 disposed along a first moving direction; the first guide rail seat 510 is provided with a first sliding seat 520 which is in sliding fit with the first guide rail seat along a first moving direction; the first guide rail seat 510 is further provided with a first ball screw module 350 for driving the first sliding seat 520 to slide, and the sliding seat is provided with a tool mounting seat 530 on which the tool assembly 110 is arranged; the tool mounting seat 530 is provided with a synchronous belt component for driving the tool component 110 to rotate in a first rotation direction; the timing belt assembly includes a drive wheel 610, a driven wheel 620, an idler wheel 630, and a drive belt for effecting power transmission between the drive wheel 610, the driven wheel 620, and the idler wheel 630; the driving wheel 610 is driven by a timing belt driving motor.
Specifically, each driven wheel 620 synchronously driven by the driving wheel 610 can preferably keep synchronization, so that rotation consistency of each tool assembly 110 can be preferably ensured, and stable synchronous detection of the detection object at each tool assembly 110 can be realized. The driven wheel 620 and the tool assembly 110 are driven by a worm gear reducer.
It will be appreciated that a stable drive path can be provided for the drive belt by the idler pulleys 630, which can facilitate installation of the drive belt by an installer. In addition, idler pulleys 630 also provide a drive path for the drive belt while tensioning the drive belt and also ensure that the drive belt avoids interference with other components within rotating housing 160 while driving; thereby ensuring the smooth and stable operation of the transmission belt.
One side of the mounting platform 130 in the second moving direction is provided with an inductor assembly 410 for inducing the moving state of the monitoring tool assembly 110.
It will be appreciated that the sensor assembly 410 is preferably used to facilitate monitoring of the tool assembly 110 by a inspector, thereby ensuring that the distance and direction of movement of the tool assembly 110 remain highly accurate.
The vision acquisition assembly 120 includes a camera 121 and a light source 122; the camera 121 is used for visually acquiring a detection image of a detection object placed at the tool assembly 110 at a detection area; the light source 122 is used for polishing the detection area.
Specifically, the detection image acquisition can be preferably realized by the interaction of the light source 122 and the camera 121, and the light source 122 flashes only when the camera 121 photographs; on the one hand, the electric power can be saved and the service life of the light source 122 can be prolonged, and on the other hand, the interference of the light on the work of the detection personnel can be effectively avoided.
The vision mount 140 includes side risers 141 disposed on both sides of the mounting platform 130; the second linear guide rail 310 and the tool assembly 110 are positioned between the side vertical plates 141 at two sides; a connecting transverse plate 142 is connected between the side vertical plates 141 on two sides, and the connecting transverse plate 142 is positioned above the tool assembly 110 and cannot interfere with the movement of the tool assembly 110 in the second moving direction; third linear guide blocks 810 are symmetrically arranged in parallel at the connection cross plate 142 along the third moving direction; a third sliding rod 820 in sliding fit with the third linear guide insert at the third linear guide insert is connected to the rotary mounting plate 150; a third ball screw module 830 is disposed at a position between the third linear guide blocks 810 at both sides of the connection cross plate 142 along a third moving direction, and a moving seat in the third ball screw module 830 is connected with the rotation mounting plate 150 through a driving connection plate 840 to drive the rotation mounting plate 150 to move along the third moving direction.
Further, the connection cross plate 142 preferably provides a stable mounting base for the mounting of the rotating mounting plate 150 and subsequent vision acquisition assembly 120; therefore, the vision acquisition component 120 can preferably rotate according to the control signal in the rotation process, and further the condition that the follow-up detection result is affected due to unclear detection image acquisition caused by shaking of the vision acquisition component 120 can be effectively avoided. In addition, the connecting cross plate 142 can also serve as a good arrangement position in the subsequent circuit gas path arrangement process.
The rotary mounting plates 150 are vertically formed with rotary mounting plates 151 at both ends thereof in the first moving direction, the rotary cover 160 is mounted in a space formed between the rotary mounting plates 151 at both sides, and a side DD motor 1110 for driving the rotary cover 160 to rotate is provided at the rotary mounting plate 151 at one end; a mounting bearing for movably mounting the rotating cover 160 is provided at the rotating assembly plate 151 at the other end; the rotating cover 160 is connected with the vision mounting plate 170 provided with the vision acquisition assembly 120 and drives the vision mounting plate to rotate in the second rotation direction; the connecting cross plate 142 and the rotating mounting plate 150 together form a limit constraint on the rotational range of the vision mounting plate 170 and the vision acquisition assembly 120.
Specifically, the rotating cover 160 can preferably provide a stable mounting location for the side DD motor 1110 on the one hand, and can also cooperate with the vision mounting plate 170 to mount and secure the vision acquisition assembly 120 on the other hand.
In general, the rotary mounting plate 150, the rotary cover 160, the vision mounting plate 170 and the vision collection assembly 120 form a single unit that is capable of being disposed safely and stably within the space defined between the side uprights 141 and the connecting cross-plate 142; meanwhile, the vision collection assembly 120 arranged in this way can also cover the moving path of the tooling assembly 110 in the second moving direction more comprehensively so as to meet the requirements of different collection angles in the process of detecting image collection.
Example 3
12-13, the present embodiment provides a multi-station consistency calibration block on a multi-axis linkage visual inspection device, which can be placed at the tooling assembly 110 in the embodiment 1 or the embodiment 2 and coordinate with the visual acquisition assembly 120 to calibrate the device main body 100 in the embodiment 1 or the device main body 100 in the embodiment 2; the calibration block comprises a calibration block main body 1200, wherein the calibration block main body 1200 has a length L and a width W consistent with a detection object; a rectangular reference block 1210 having a length l is formed at the calibration block body 1200.
Specifically, the length L and the width W of the calibration block body 1200 may be adjusted to be adapted according to the detection objects to be detected, so that errors existing in the calibration process before detecting different detection objects can be preferably reduced. Furthermore, a reference block 1210 having a length l and a width w can preferably be used as a reference during calibration.
The thickness of the calibration block body 1200 corresponds to the detection object. Thereby reducing the influence of the deviation of the movement positions on the X, Y and Z axes.
The bottom surface of the calibration block body 1200 is used for being matched with a station to be calibrated in a positioning way. A groove 1220 is formed at the top surface of the calibration block body 1200, and a reference block 1210 is formed to protrude from the middle of the groove 1220; the length l and width w of the reference block 1210 can be used as references in the calibration process.
A plurality of reinforcing ribs 1230 are formed between the reference block 1210 and the inner side wall of the recess 1220 in the recess 1220. As can be appreciated, the ribs 1230 can preferably ensure strength of the calibration block body 1200 to improve durability.
The calibration block body 1200 is made of invar steel. The invar steel has a small linear expansion coefficient, so that the influence of temperature on the size of the calibration block can be reduced better.
Example 4
The present embodiment provides a calibration method implemented based on the calibration block main body 1200 in embodiment 4, where the apparatus main body 100 to which the calibration method is applied in this embodiment includes a tool assembly 110 for placing a detection object and a vision acquisition assembly 120 for acquiring a detection image of the detection object; a detection area is formed at the vision acquisition component 120, and the tool component 110 can be positioned at the detection area; the tool assembly 110 can also be provided with a calibration block for calibration; a cuboid reference block 1210 is formed at the calibration block;
the tool assembly 110 is provided with a plurality of residual stations which are arranged one by one to form a first station, a second station and a sequence; the vision acquisition component 120 is also provided with a plurality of vision acquisition components and corresponds to the tool components 110 one by one;
the tool assembly 110 has a second moving direction and a first rotating direction which are independent of each other; the vision acquisition assembly 120 has a third direction of movement and a second direction of rotation that are independent of each other; the second moving direction, the first rotating direction, the third moving direction and the second rotating direction are used together to realize adjustment of the relative spatial position relationship between the tool assembly 110 and the vision acquisition assembly 120; the first rotation direction of the tool assembly 110 is realized through driving of a station motor at each station; or in the application to different visual inspection devices, the calibration method is also applicable when the first rotation direction of the tool assembly 110 is controlled by other power driving assemblies to realize rotation control; the second rotational direction of the vision acquisition assembly 120 is driven by the side DD motor.
The station motors and the side DD motors at the stations are controlled by external control signals to control the rotation angle.
The space where the equipment main body is located is provided with a space coordinate system of XYZ axes, the Z axes are formed along the vertical direction, and the X axes and the Y axes are formed along the horizontal plane in a mutually orthogonal mode; the second moving direction is the Y-axis direction, and the third moving direction is the Z-axis direction; the rectangular reference block 1210 at the calibration block has a length l; the vision acquisition assembly 120 includes a camera 121 and a light source 122;
the calibration method specifically comprises the following steps of,
step S1: camera 121 calibration
Correcting the distortion of the corresponding lens on each station sequentially by using a conventional camera 121 calibration method such as checkerboard, dots and the like;
step S2: station motor calibration (first rotation direction calibration)
Performing multi-station motor consistency calibration;
step S3: side DD motor calibration (second rotation direction calibration)
And (5) calibrating the consistency of the side DD motor.
Specifically, in this embodiment, firstly, through step S1, it can be better ensured that each detection surface is not distorted when moving to the position of the forward camera 121, so as to ensure consistency of the lens acquired image of each station at the same vision acquisition position.
Further, the errors generated in the installation process and the errors generated in the machining and assembling of the workpiece can be obtained through the calibration processes in the step S2 and the step S3 preferably through corresponding references; therefore, in the subsequent visual image acquisition process, staff can counteract the errors through a program setting or mechanical adjustment method, and adverse effects such as differences among detected image defect characteristics acquired at each station and the like generated by detection results due to the errors can be effectively avoided; and further improves the accuracy of the detection result.
Meanwhile, in the calibration method of the present embodiment, except for the apparatus main body 100 to be calibrated; the whole calibration process can be completed by only using the calibration block main body 1200, so that the calibration method in the embodiment is convenient and stable in operation and lower in cost compared with the prior art. In addition, it is worth noting that the calibration block main body 1200 adopted by the calibration personnel can be manufactured according to the detection object to be detected, so that the real detection situation can be better simulated in the calibration process, the best calibration effect suitable for the detection object can be realized, and the higher calibration precision is ensured, so that the error in the actual detection process is reduced.
Specifically, step S2 specifically includes the steps of:
s21, placing and fixing the calibration block at a first station;
step S22, the vision acquisition component 120 corresponding to the first station is adjusted along the Z axis to make the acquired images clear, and then the first station is acquired and the position motor at the first station is obtained on the zero positionImage i 0 ；
Step S23: the positive direction rotation angle of the station motor at the first station is theta, and n is theta=180°; the vision acquisition component 120 acquires the image i1 of the station motor at the first station on the angle theta and processes the image i1 and the image i 0 Comparing and obtaining a comparison result;
step S24: according to the step S23, the station motor at the first station rotates to the position of (n-1) theta in turn to obtain an image i of 2 theta to (n-1) theta on the station 2 To i (n-1) And all are identical to image i 0 Comparing and obtaining a comparison result;
step S25: the station motor at the first station returns to the original point;
step S26: repeating steps S22 to S24N times to obtain the relative i of each image 0 The comparison result in (2);
step S27: taking the average value of the comparison results of a plurality of times as a reference value of a first station in the positive direction under each (n-1) theta angle;
step S28: inverting the station motor at the first station according to the steps S23 to S27 to obtain a reference value of the first station in the opposite direction;
step S29: resetting a station motor at a first station, and lifting the first station along the Z axis to return to the position corresponding to the camera 121; the calibration block is loosened, taken down and placed on a second station;
step S210: the camera 121 on the second station obtains reference values in the forward direction and the reverse direction under each (n-1) x θ angle of the second station according to steps S2 to S8;
step S211: completing reference values in the forward direction and the reverse direction under the (n-1) theta angles of the rest stations according to the steps S9 to S10;
step S212: and calculating compensation values of the other stations in the forward direction and the reverse direction under the (n-1) theta angles by taking the first station as a reference to finish calibration of the station motor consistency.
Specifically, in this embodiment, a calibration block is used as a reference for image comparison to obtain compensation values of the rest stations in the first rotation direction relative to the first station; thereby enabling staff to take measures with the compensation value as a reference to counteract the error; thereby ensuring the consistency of the station motors at the multiple stations in rotation, namely the rotation consistency of the multiple stations in the first rotation direction; thereby ensuring consistency and accuracy of the inspection images acquired by the vision acquisition assembly 120 at each station.
Further, the θ angle in step S23 in this embodiment may be selected according to different detection objects, so that it is ensured that the condition of excessive calibration is avoided while the detection accuracy required by the detection objects is satisfied, and further the calibration efficiency is improved and the cost is saved.
In step S23 and step S24, the comparison amount is i 1 、i 2 To i (n-1) Relative to i 0 Middle l side centerline angle change s 11 、s 21 S to s (n-1)1 。
The reference value in step S27 and step S28 is the angle value of the line in the l side, and the reference value in the positive direction is calculated by the formula
Figure BDA0004086738150000141
The reference value in the opposite direction is calculated as +.>
Figure BDA0004086738150000142
The compensation value calculation method in step S212 is positive direction compensation value S mz ＝S mz(n-1) -S 1z(n-1) And a reverse direction compensation value S mf ＝S mf(n-1) -S 1f(n-1) 。
As can be appreciated, the present implementation uses the l-edge centerline change angle of the reference block 1210 at the calibration block body 1200 as a reference for comparison; on the one hand, when the images are compared, the variation of the line angle in the side I can be clearly identified in the acquired images; on the other hand, the change of the angle of the center line of the side I is used as a reference quantity and can be directly corresponding to the rotation angle of the station motor, so that the error is ensured to be smaller and the change sensitivity is higher.
Further, by obtaining the compensation values in the forward direction and the reverse direction, the deviation between other stations and the first station in different angles of rotation can be obtained, so that a detector can eliminate the deviation by taking the compensation value as a reference and then setting through a program to ensure the consistency of multiple stations, and further ensure the synchronous and stable operation of the whole detection flow. Therefore, the situation that the image acquisition and the contrast analysis are affected due to the difference of the rotation angles of the stations can be effectively avoided.
In this embodiment, step S3 specifically includes the following steps:
s31, placing and fixing the calibration block at the first station;
step S32, the vision acquisition component 120 corresponding to the first station is adjusted along the Z axis to make the acquired images clear, and then the first station is subjected to image acquisition to obtain an image i of the station motor at the first station on the zero position 0 ；
Step S33, the side DD motor rotates forward by an angle θ to drive the vision acquisition assembly 120 corresponding to each station to rotate therewith, where n=180°; the vision acquisition assembly 120 and the first station are adjusted along the Z-axis and the Y-axis, respectively, to accomplish focusing; the vision acquisition component 120 acquires a graph; and obtains an image i of the DD motor on the side edge at the first station on the angle theta 1 And is connected with i 0 Comparing and obtaining a comparison result;
step S34, according to the step in S33, the side DD motor rotates to the position of (n-1) theta in sequence to obtain an image i from 2 theta to (n-1) theta on the station 2 To i (n-1) And all are identical to image i 0 Comparing and obtaining a comparison result;
step S35, returning the side DD motor to the original point;
step S36, repeating steps S32 to S34N times to obtain the relative i of each image 0 The comparison result in (2);
step S37, taking an average value of a plurality of comparison results as a reference value of a first station in the positive direction under each (n-1) angle;
step S38, rotating the side DD motor in the reverse direction according to the steps S33 to S37 to obtain a reference value of the first station in the reverse direction;
step S39, resetting a side DD motor, and moving and resetting the first station along the Y axis; loosening and taking down the calibration block, and placing the calibration block on a second station;
step S310, the camera 121 on the second station obtains reference values in the forward direction and the reverse direction at each (n-1) θ angle of the second station according to steps S32 to S38;
Step S311, completing the reference values in the forward direction and the reverse direction at each (n-1) θ angle of the remaining stations according to steps S39 to S310;
and step S312, calculating compensation values of the other stations in the forward direction and the reverse direction under the (n-1) angle theta by taking the first station as a reference, and completing the calibration of the consistency of each station through the compensation values.
In step S33 and step S34, the comparison amount is i 1 、i 2 To i (n-1) Relative to i 0 Length change d of middle l edge 11 、d 21 To d (n-1)1 。
The reference value in step S37 and step S38 is selected as the length value of the l side, and the calculation formula of the positive direction reference value is as follows
Figure BDA0004086738150000151
The calculation formula of the opposite direction reference value is +.>
Figure BDA0004086738150000152
The method comprises the steps of carrying out a first treatment on the surface of the The compensation value calculation formula of the positive direction in step S312 is d mz ＝d mz(n-1) -d 1z(n-1) The calculation formula of the compensation value in the opposite direction is d mf ＝d mf(n-1) -d 1f(n-1) 。/>
Specifically, in the calibration method in this embodiment, the length change of the l side is used as the comparison quantity to obtain the reference value and the compensation value, on one hand, in the rotation process of the side DD motor, since the projection length l' =l×cos θ of the l side of the reference block 1210 in the calibration block main body 1200 on the imaging plane of the camera 121, that is, the projection length and the rotation angle have a certain functional correspondence, the length change of the l side is used as the calibration reference of the rotation angle, so that the calibration accuracy can be ensured stably and reliably; on the other hand, the length of l in the image acquired by the camera 121 can be clearly recognized, so that the situation that the calibration difficulty is increased due to the difficulty in recognizing the selected reference amount can be preferably avoided.
It can be understood that by obtaining the compensation value of each station relative to the first station when the side DD motor rotates forward and backward by different angles, the deviation existing between different stations can be counteracted by the detection personnel by taking the compensation value as a reference through program setting, so that the consistent and stable performance of the whole detection flow is ensured.
It is worth noting that, compared with the laser interferometer commonly used in the prior art, the calibration method in the embodiment does not need dimming, is fast in speed, small in size, stable and convenient in calibration process and low in cost.
In addition, the calibration ranges of one hundred eighty degrees in the forward and backward directions in the embodiment are considered as the complete maximum calibration angles; when the device is specifically applied to different device main bodies 100, the specific values of the rotation range, the theta angle and the n calibrated in the forward and backward directions can be adjusted according to the rotation angle of the applied device main body 100; as long as the rotation angle in the detection process can be satisfied.
Example 5
With reference to fig. 14, the present embodiment provides a detection image acquisition method of a multi-axis linkage vision detection apparatus implemented based on the apparatus main body 100 in embodiment 1 or embodiment 2, and the apparatus main body 100 has completed calibration by the calibration method in embodiment 4 to reduce errors so as to ensure detection accuracy; in this embodiment, the space in which the apparatus main body 100 is located establishes a space coordinate system of XYZ axes, the Z axis is formed in the vertical direction, and the X axis and the Y axis are formed orthogonal to each other along the horizontal plane; the first moving direction, the second moving direction and the third moving direction are respectively an X-axis direction, a Y-axis direction and a Z-axis direction, a first rotating direction is defined as an A-axis direction, and a second rotating direction is defined as an R-axis direction; the detection object has four sides and four opposite angles; the vision inspection acquisition assembly comprises a camera 121 and a light source 122; the detection image acquisition method specifically comprises the following steps:
Step S1: feeding material
Placing the detection object at the tooling assembly 110;
step S2: detection image acquisition
The relative spatial positions between the tool assembly 110 and the vision acquisition assembly 120 are adjusted according to the first moving direction, the second moving direction, the first rotating direction, the third moving direction and the second rotating direction, so that the vision acquisition is sequentially carried out on the detection images of the key positions required to be detected by the detection object;
step S3: detection screening
Analyzing the acquired detection image to obtain a detection result and screening out defective products;
further, the specific implementation method of the step S2 specifically includes the following steps:
step S21: the R axis rotates to enable the long side of the detection object to be parallel to the X axis, the Y axis moves the detection object to the visual field of the camera 121, the Z axis is adjusted to focus, the X axis is adjusted to move to the upper right corner of the plane of the detection object, the X axis scans the image, the Y axis moves to shoot the other side after shooting is finished, then the X axis scans the shooting picture, and the whole plane of the middle frame is shot and detected through repeated actions;
step S22: after finishing the planar photographing detection, the Y-axis moves in the positive direction, the A-axis rotates by 70 degrees, the Z-axis moves downwards in the positive direction, then the Y-axis moves, the Z-axis moves, and the two-axis adjustment completes focusing; then the X-axis moves in the positive direction, moves to the initial position of the first inner side edge, starts photographing along the negative direction of the X-axis, and completes photographing detection of the first inner side edge;
Step S23: after the first inner side edge is detected, the R axis rotates 35 degrees in the positive direction, the R axis rotates to the first inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, photographing is completed to the first inner diagonal position;
step S24: after the first inner diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the second inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the second inner side, and the negative direction of the X axis moves to photograph, so that the second inner side detection is finished;
step S25: after the second inner side edge is detected, the R axis rotates by 35 degrees again, the R axis rotates to the second inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, the photographing finishes the second inner diagonal detection;
step S26: after the second inner diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the third inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the third inner side, and the negative direction of the X axis moves to photograph, so that the third inner side detection is finished;
step S27: after the third inner side edge is detected, the R-axis rotates 35 degrees in the positive direction, the R-axis rotates to the third inner diagonal position, the Y-axis is adjusted to focus, and after the X-axis moves to the photographing position, photographing is completed to the third inner diagonal position;
Step S28: after the third inner side diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the fourth inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the fourth inner side, and the negative direction of the X axis moves to photograph, so that the fourth inner side detection is finished;
step S29: after the fourth inner side edge is detected, the R axis rotates 35 degrees in the positive direction, the R axis rotates to the fourth inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, the fourth inner diagonal detection is completed through photographing;
step S210: after the detection of four inner side edges and four inner side opposite angles is completed, the negative direction of the R axis rotates by 35 degrees, the A axis continues to rotate so that the visual field of the camera 121 and the outer frame surface of the detection object are photographed vertically, the Y axis is adjusted, the Z axis completes focusing, after the positive direction of the X axis moves to the initial photographing position, the X axis moves in the negative direction again to photograph, and the photographing detection of the first outer side edge is completed;
step S211: the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, photographing is completed to perform first outside diagonal detection;
step S212: after the first outside diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the second outside side;
Step S213: after the second outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, photographing is completed to perform second outer diagonal detection;
step S214: after the second outside diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the third outside edge;
step S215: after the third outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, the photographing is completed to detect the third outer diagonal angle;
step S216: after the third outer diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the fourth outer side;
step S217: after the fourth outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, the fourth outer diagonal detection is completed after photographing;
step S218: after four outer side edges and four outer side opposite angles are detected, the Z shaft is lifted, moved and returned, the A shaft rotates back to be perpendicular to the plane, the R shaft rotates in the positive direction for 45 degrees to return to the angle position when the plane, and finally, all shafts are adjusted to return to the initial state;
It can be understood that, the detection image acquisition method in this embodiment can preferably detect four sides and four opposite angles, which are easy to have defects, of the detection object and detect four sides on the plane; therefore, the method has a wider detection range while keeping higher detection efficiency, and further ensures higher defective product detection rate.
Specifically, the detection image acquisition method in the embodiment can synchronously acquire a plurality of detection objects placed at each station at the same time; in addition, in the image capturing process of each part, the detection object to be captured is always located at the station, and the image capturing is performed by the camera 121 corresponding to the station. And the detection object and vision acquisition component 120 only needs to follow the set rotation angle to sequentially complete photographing and image acquisition of each part; therefore, visual image acquisition can be stably, conveniently and rapidly carried out on key positions of the detection object in the whole image acquisition process, the image acquisition efficiency is improved better, and further, the follow-up analysis processing can be carried out on the acquired images more efficiently so as to obtain the appearance defect detection result of the detection object.
In addition, in the process of drawing, the set rotation angles and the rotation sequence of the angles can better ensure that all key positions of the detection object can be covered, so that the condition of missing defect detection can be better avoided. And the rotation angle and the rotation sequence of each angle in the process can better ensure that the whole detection process is smooth and efficient in operation, and the ineffective rotation is less, so that the situation that the positioning stability of a detection object is influenced due to too complicated rotation in the detection process is preferably reduced, and further, the detection visual image acquisition of each key position can be stably and sequentially completed in the rotation process.
In addition, after the calibration method in the foregoing embodiment 4 is used for calibration, it can be better ensured that each station can keep synchronization in the detection process, so that good preconditions can be provided for synchronous and stable performance of multi-station detection image acquisition; therefore, the visual acquisition effect of the detection images of the detection objects at each station can be well ensured to be maintained at a higher consistent level, and the accuracy of the subsequent analysis and detection of the acquired images is further ensured.
Example 6
Referring to fig. 14, the present embodiment provides an application of the detection image acquisition method in embodiment 5 to visual image acquisition of a mobile phone center 1400; it can be appreciated that, by the method, the detection image acquisition can be preferably performed on the part of the mobile phone middle frame 1400 where the visual defect is easy to occur, so as to detect and exclude the defective products in cooperation with the subsequent analysis.
It is to be understood that, based on one or several embodiments provided herein, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, which do not exceed the protection scope of the present application.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.

Claims (10)

1. Novel multiaxis linkage visual detection equipment, its characterized in that: the device comprises a device main body (100), wherein the device main body (100) comprises a mounting platform (130), a tool assembly (110) with a first moving direction, a second moving direction and a first rotating direction is arranged at the mounting platform (130), and the tool assembly (110) is used for placing a detection object;
a visual mounting frame (140) is vertically arranged at the mounting platform (130); the visual mounting frame (140) is provided with a rotary mounting plate (150) which is matched with the visual mounting frame in a moving way along a third moving direction at a position above the tool assembly (110); a rotary cover (160) with a second rotary direction is arranged between two ends of the rotary mounting plate (150) along the first moving direction, and a visual acquisition assembly (120) which rotates along with the rotary cover (160) is arranged at the rotary cover (160) through a visual mounting plate (170); the vision acquisition component (120) forms a detection area, and the tool component (110) can be positioned at the detection area.
2. The novel multi-axis linkage vision inspection apparatus of claim 1, wherein: the first moving direction, the second moving direction and the third moving direction are orthogonal in pairs, and the rotating shafts of the first rotating direction and the second rotating direction are perpendicular to each other; the rotation axis of the first rotation direction is parallel to the third movement direction; the rotation axis of the second rotation direction is parallel to the first movement direction.
3. The novel multi-axis linkage vision inspection apparatus according to claim 1 or 2, characterized in that: the tool assembly (110) comprises a mounting bottom plate (210), a sucker mounting plate (220) is arranged at the mounting bottom plate (210), and suction nozzles (230) for sucking a detection object are uniformly distributed at the sucker mounting plate (220).
4. A novel multi-axis linkage vision inspection apparatus as claimed in claim 3, wherein: a second linear guide rail (310) is symmetrically arranged at the mounting platform (130) in parallel along a second moving direction, and a second sliding block (320) which is in sliding fit with the second linear guide rail (310) is arranged on the second linear guide rail; a second ball screw module (330) for driving the second sliding block (320) to move along a second moving direction is arranged at the mounting platform (130); the second sliding block (320) is provided with a first mounting plate (340); a first guide rail seat (510) arranged along a first moving direction is mounted on the first mounting plate (340); a first sliding seat (520) which is in sliding fit with the first guide rail seat (510) along a first moving direction is arranged at the first guide rail seat; the first guide rail seat (510) is also provided with a first ball screw module (350) for driving the first sliding seat (520) to slide, and a tooling installation seat (530) on which the tooling assembly (110) is arranged on the first sliding seat (520) of the first ball screw module (350); a synchronous belt component for driving the tool component (110) to rotate in a first rotation direction is arranged at the tool mounting seat (530); the synchronous belt assembly comprises a driving wheel (610), a driven wheel (620), an idler wheel (630) and a transmission belt for realizing power transmission among the driving wheel (610), the driven wheel (620) and the idler wheel (630); the driving wheel (610) is driven by a synchronous belt driving motor; one side of the mounting platform (130) in the second moving direction is provided with an inductor assembly (410) for inducing and monitoring the moving state of the tool assembly (110) in the second moving direction.
5. The novel multi-axis linkage vision inspection apparatus of claim 4, wherein: the visual detection assembly comprises a camera (121) and a light source (122); the camera (121) is used for visually acquiring detection images of detection objects placed at the tool assembly (110) at the detection area; the light source (122) is used for polishing the detection area.
6. The novel multi-axis linkage vision inspection apparatus of claim 5, wherein: the vision mounting frame (140) comprises side vertical plates (141) arranged on two sides of the mounting platform (130); the second linear guide rail (310) and the tool assembly (110) are positioned between the side vertical plates (141) at the two sides; a connecting transverse plate (142) is connected between the side vertical plates (141) at two sides, and the connecting transverse plate (142) is positioned above the tool assembly (110) and cannot interfere with the movement of the tool assembly (110) in the second moving direction; third linear guide blocks (810) along a third moving direction are symmetrically arranged at the connecting transverse plate (142) in parallel; a third sliding rod (820) in sliding fit with the third linear guide insert is connected with the rotary mounting plate (150); and a third ball screw module (830) is arranged at the position between the third linear guide blocks (810) positioned at the two sides of the connecting transverse plate (142) along a third moving direction, and a moving seat in the third ball screw module (830) is connected with the rotary mounting plate (150) through a driving connecting plate (840) to drive the rotary mounting plate (150) to move along the third moving direction.
7. The novel multi-axis linkage vision inspection apparatus of claim 6, wherein: the rotary mounting plates (150) are vertically provided with rotary mounting plates (151) at two ends along the first moving direction, the rotary cover (160) is mounted in a space formed between the rotary mounting plates (151) at two sides, and a second driving motor (1110) for driving the rotary cover (160) to rotate is arranged at the rotary mounting plate (151) at one end; a mounting bearing for movably mounting the rotary cover (160) is arranged at the rotary mounting plate (151) at the other end; the rotating cover (160) is connected with a visual mounting plate (170) provided with a visual acquisition assembly (120) and drives the visual mounting plate to rotate in a second rotating direction; the connecting cross plate (142) and the rotating mounting plate (150) together form a limit constraint on the rotation range of the vision mounting plate (170) and the vision acquisition assembly (120).
8. A novel multi-axis linkage visual inspection image acquisition method, based on the novel multi-axis linkage visual inspection device of any one of claims 1-7, wherein a space coordinate system of XYZ axes is established in a space where a device main body (100) is located, the Z axes are formed along a vertical direction, and the X axes and the Y axes are formed along a horizontal plane in an orthogonal manner; the first moving direction, the second moving direction and the third moving direction are respectively an X-axis direction, a Y-axis direction and a Z-axis direction, a first rotating direction is defined as an A-axis direction, and a second rotating direction is defined as an R-axis direction; the method is characterized by comprising the following steps of:
Step S1: feeding material
Placing the detection object at the tool assembly (110);
step S2: detection image acquisition
The relative spatial positions between the tool assembly (110) and the vision acquisition assembly (120) are adjusted according to the first moving direction, the second moving direction, the first rotating direction, the third moving direction and the second rotating direction, so that the vision acquisition is sequentially carried out on the detection images of the key positions required to be detected by the detection object;
step S3: detection screening
Analyzing the collected detection images to obtain detection results and screening defective products.
9. The method for acquiring the novel multi-axis linkage visual inspection image according to claim 8, wherein the method comprises the following steps: the detection object has four sides and four opposite angles; the vision inspection acquisition component comprises a camera (121) and a light source (122); wherein step S2 specifically comprises the following steps,
step S21: the R axis rotates to enable the long side of the detection object to be parallel to the X axis, the Y axis moves the detection object to the visual field of a camera (121), the Z axis is adjusted to focus, the X axis is adjusted to move to the upper right corner of the plane of the detection object, the X axis is moved to scan an image, the Y axis is moved to shoot the other side after shooting is finished, the X axis is moved to scan a shooting picture, and the whole plane shooting detection of the middle frame is completed through repeated actions;
Step S22: after finishing the planar photographing detection, the Y-axis moves in the positive direction, the A-axis rotates by 70 degrees, the Z-axis moves downwards in the positive direction, then the Y-axis moves, the Z-axis moves, and the two-axis adjustment completes focusing; then the X-axis moves in the positive direction, moves to the initial position of the first inner side edge, starts photographing along the negative direction of the X-axis, and completes photographing detection of the first inner side edge;
step S23: after the first inner side edge is detected, the R axis rotates 35 degrees in the positive direction, the R axis rotates to the first inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, photographing is completed to the first inner diagonal position;
step S24: after the first inner diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the second inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the second inner side, and the negative direction of the X axis moves to photograph, so that the second inner side detection is finished;
step S25: after the second inner side edge is detected, the R axis rotates by 35 degrees again, the R axis rotates to the second inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, the photographing finishes the second inner diagonal detection;
step S26: after the second inner diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the third inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the third inner side, and the negative direction of the X axis moves to photograph, so that the third inner side detection is finished;
Step S27: after the third inner side edge is detected, the R-axis rotates 35 degrees in the positive direction, the R-axis rotates to the third inner diagonal position, the Y-axis is adjusted to focus, and after the X-axis moves to the photographing position, photographing is completed to the third inner diagonal position;
step S28: after the third inner side diagonal detection is finished, the positive direction of the R axis rotates 55 degrees again to the fourth inner side, the Y axis is adjusted to focus, the X axis moves to the initial photographing position of the fourth inner side, and the negative direction of the X axis moves to photograph, so that the fourth inner side detection is finished;
step S29: after the fourth inner side edge is detected, the R axis rotates 35 degrees in the positive direction, the R axis rotates to the fourth inner diagonal position, the Y axis is adjusted to focus, and after the X axis moves to the photographing position, the fourth inner diagonal detection is completed through photographing;
step S210: after the detection of four inner side edges and four inner side opposite angles is finished, the negative direction of the R axis rotates by 35 degrees, the A axis continues to rotate so that the visual field of a camera (121) and the outer frame surface of the detection object are photographed vertically, the Y axis is adjusted, the Z axis is finished focusing, after the positive direction of the X axis is moved to the initial photographing position, the X axis moves in the negative direction again to photograph, and the photographing detection of the first outer side edge is finished;
step S211: the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, photographing is completed to perform first outside diagonal detection;
Step S212: after the first outside diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the second outside side;
step S213: after the second outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, photographing is completed to perform second outer diagonal detection;
step S214: after the second outside diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the third outside edge;
step S215: after the third outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, the photographing is completed to detect the third outer diagonal angle;
step S216: after the third outer diagonal detection is completed, the R-axis negative direction rotates 45 degrees, the Y-axis focusing is adjusted, the X-axis moves to a photographing position, and the X-axis negative direction moves to complete photographing of the fourth outer side;
step S217: after the fourth outer side is photographed, the R axis rotates 45 degrees in the negative direction, the Y axis is adjusted to focus, and after the X axis moves to a photographing position, the fourth outer diagonal detection is completed after photographing;
step S218: after four outer side edges and four outer side opposite angles are detected, the Z shaft is lifted, moved and returned, the A shaft rotates back to be perpendicular to the plane, the R shaft rotates in the positive direction for 45 degrees to be returned to the angle position when the plane, and finally, all shafts are adjusted to return to the initial state.
10. The application of the novel multi-axis linkage visual detection equipment is characterized in that when the detection object is a mobile phone middle frame (1400), the novel multi-axis linkage visual detection equipment according to any one of claims 1-7 is adopted, and the detection image acquisition method according to any one of claims 8-9 is given to carry out detection image acquisition on the mobile phone middle frame (1400).
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