CN204086164U - Based on the steel ball surface expanding unit of machine vision - Google Patents
Based on the steel ball surface expanding unit of machine vision Download PDFInfo
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- CN204086164U CN204086164U CN201420462754.4U CN201420462754U CN204086164U CN 204086164 U CN204086164 U CN 204086164U CN 201420462754 U CN201420462754 U CN 201420462754U CN 204086164 U CN204086164 U CN 204086164U
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Abstract
The utility model discloses a kind of steel ball surface expanding unit based on machine vision, comprising the guide rail for carrying steel ball, be set in parallel in the drive unit of screw rod and the drive screw turns coordinated below guide rail and with steel ball rolling; When the guide rail of steel ball above described screw rod, steel ball is opposite rail simultaneously radial rolling and transversal displacement under the acting in conjunction of screw drive and guide rail guiding, and at least radial rolling circumference of steel ball.The utility model adopts the passive technological means launched of rolling of screw drive steel ball, mainly solve steel ball that two adjacent steel balls cause because of close contact can not initiatively to roll the technical matters launched, the surface image that steel ball is complete can be absorbed, avoid undetected, reduce false drop rate, false drop rate is 1/10000th ~ 2, and sorting efficiency is high, is applicable to the sorting of steel ball industrial mass.
Description
Technical field
The utility model relates to steel ball sorting arrangement technical field, especially relates to a kind of steel ball surface expanding unit of steel ball sorting arrangement.
Background technology
Machine vision replaces human eye measure and judge with machine exactly, machine vision technique refers to by machine vision product (i.e. image-pickup device, point CMOS and CCD two kinds) target will be ingested convert picture signal to, send special image processing system to, according to pixel distribution and the information such as brightness, color, be transformed into digitized signal; Picture system carries out various computing to extract clarification of objective to these signals, and then controls on-the-spot device action according to the result differentiated.
Bearing steel ball surface defects detection based on machine vision technique is the focus of at present both at home and abroad scientific worker's research, and wherein the unfolded surface device of steel ball is core, is also domestic and international insoluble technical matters all the time.It take LabView as the steel ball surface defect detection method of software platform in conjunction with IMAQ Vision function library that the people such as Wang Peng, Wu Chunya of power and mechanical engineering institute of Harbin University of Science and Technology propose a kind of, the method to be moved acquisition image on a moving belt by steel ball, then the feature that defect area texture is destroyed is utilized, the presence or absence completing steel ball surface defect judges with type, definitely can not calculate the size of defect, the image of the whole outside surface of steel ball can not be absorbed.Doctor Pan Hongping of Harbin Institute of Technology it is also proposed a kind of video camera and Computer Image Processing and recognition technology of utilizing and carries out the experimental provision of automatic detection and Identification classification to steel ball surface, this device is the research carried out on the basis of Czech's meridian unfolding wheel, steel ball is allowed to roll on homemade objective table, to absorb the image in each orientation of steel ball, achieve the automatic detection of steel ball surface defect, but cannot ensure that steel ball is fully expanded on homemade objective table, the image that can absorb each preset can not be ensured.The Song Xiaoxia of University Of Science and Technology Of He'nan proposes the experiment porch launched for steel ball surface, it devises two orthogonal tracks according to testing requirement, steel ball relies on self gravitation to roll on two vertical tracks, so that picked-up is to the image of whole steel ball surface, but because the two-dimentional machinery motion of steel ball makes to obtain steel ball surface all standing image, there is randomness and complicacy.Chinese patent (notification number CN102658266B) discloses a kind of steel ball sorting equipment based on machine vision and method, it adopts the test chamber in feed shelter to carry steel ball and rotates with certain speed, the expansion of steel ball relies on the translation of the rotation in bottom friction dish cycle and interval to make steel ball do eccentric motion, reach the effect that steel ball surface to be detected launches, but this kind of method obtains image and has randomness, can not ensure to cover steel ball surface completely, mechanism is more complicated also.Chinese patent (notification number CN102288620B) discloses a kind of steel ball surface method of deploying based on multiple image sensor and device, this device utilizes the self gravitation of steel ball to roll on one dimension track, it adopts two symmetrical imageing sensors just can reach steel ball surface and covers comprehensively, thus the structure of its development mechanism simplifies very much, but this device is (see patent announcement CN102735693B accompanying drawing 1) in actual use, for improving sorting efficiency, steel ball on this one dimension track is in arrangement continuously, close contact between two adjacent steel balls, if the surface of two adjacent steel ball contacts has the defect such as pit or rust staining, can be affected it relatively to roll under the effect of gravity extruding force, steel ball is slided along this one dimension track, can not fully to roll expansion, complete steel ball surface image can not be absorbed and cause undetected, its false drop rate is higher is 3 ~ 5 ‰, obviously the sorting of steel ball industrial mass can not be applicable to, thus be necessary to make improvements.
Summary of the invention
For the deficiency that above-mentioned prior art exists, the purpose of this utility model is to provide a kind of steel ball surface expanding unit of the steel ball sorting arrangement based on machine vision, it adopts the passive technological means launched of rolling of screw drive steel ball, mainly solves steel ball that two adjacent steel balls cause because of close contact and can not initiatively to roll the technical matters launched.
To achieve these goals, the technical scheme that the utility model adopts is:
Based on a steel ball surface expanding unit for machine vision, comprising the guide rail for carrying steel ball, being set in parallel in the drive unit of screw rod and the drive screw turns coordinated below guide rail and with steel ball rolling; When the guide rail of steel ball above described screw rod, steel ball is opposite rail simultaneously radial rolling and transversal displacement under the acting in conjunction of screw drive and guide rail guiding, and at least radial rolling circumference of steel ball.
Wherein, described spiro rod length is greater than M*N times of pitch, and screw rod often rotates its drive radial rolling 1/N circumference of steel ball and transversal displacement M times pitch of M week, and wherein M, N are integer, M >=1, N >=3.Preferably, described spiro rod length is 5 times of pitch, bolt rotary 1 week its drive passive rolling quarter turn of steel ball and transversal displacement 1 times of pitch.Preferably, described spiro rod length is 9 times of pitch, bolt rotary 2 weeks its drive passive rolling quarter turn of steel ball and transversal displacement twice pitch.
Wherein, described drive unit is servo step motor.Described guide rail is the gib block be parallel to each other being located at steel ball two side, and described screw rod is located at the below of gib block center described in two.
Based on a steel ball surface expanding unit for machine vision, comprising the guide rail for carrying steel ball, being set in parallel in the first screw rod and the second screw rod that coordinate below guide rail and with steel ball rolling and the drive unit driving the first screw rod and the second bolt rotary; First screw rod and the second screw rod are sequentially arranged before and after described guide rail, when the guide rail of steel ball above described the first/the second screw rod, steel ball is opposite rail simultaneously radial rolling and transversal displacement under the acting in conjunction of the first/the second screw drive and guide rail guiding, and a steel ball at least radial rolling circumference respectively; Have gap between first screw rod and the second screw rod, this gap makes steel ball depart from the driving of the first screw rod and the second screw rod and opposite rail laterally to roll (2K-1)/4 circumference, and wherein K is positive integer.Preferably, described first spiro rod length is 5 times of pitch, the first bolt rotary 1 week its drive passive rolling quarter turn of steel ball and transversal displacement 1 times of pitch; Described second spiro rod length is 5 times of pitch, the second bolt rotary 1 week its drive passive rolling quarter turn of steel ball and transversal displacement 1 times of pitch.Wherein, the described gap length between the first screw rod and the second screw rod is less than the sphere diameter of 2 times of steel balls.
Adopt after technique scheme, the utility model compared to the prior art advantageously:
Compared with prior art, the utility model comprises guide rail, screw rod and drive unit, steel ball does one-dimensional square to moving along guide rail under screw rod drives, the structure of its development mechanism is simple, imageing sensor is arranged at top or the side of steel ball, requirement is limited to the position of imageing sensor lower, thus be convenient to imageing sensor lay and regulate (and the imageing sensor being symmetrically set in one dimension track both sides described in background technology, to the angle of imageing sensor and the requirement of distance very strict, be difficult in practical operation lay and regulate), the utility model adopts the passive rolling of screw drive steel ball thus steel ball surface is fully launched, self gravitation is relied on one dimension track initiatively compared with rolling expansion with the steel ball of prior art, it adopts the radial rolling and transversal displacement of screw drive steel ball opposite rail, because adjacent steel ball can equidistantly be kept apart by spiral fluted pitch, avoid adjacent steel ball because of some special circumstances (such as steel ball surface has the defect such as pit or rust staining) cause steel ball can not fully roll launch situation, thus the complete surface image of steel ball can be absorbed, avoid undetected, reduce false drop rate, false drop rate is 1/10000th ~ 2, sorting efficiency is high, be applicable to the sorting of steel ball industrial mass.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated:
Fig. 1 is the structural representation of the utility model embodiment 1.
Fig. 2 is the structural representation of the utility model embodiment 2.
Fig. 3 is the structural representation of the utility model embodiment 3.
Fig. 4 is the perspective view of the utility model embodiment 3.。
In figure, 1: screw rod; 11: the first screw rods; 12: the second screw rods; 2: guide rail; 3: steel ball.
Embodiment
The following stated is only preferred embodiment of the present utility model, does not therefore limit protection domain of the present utility model.
Embodiment 1, as shown in Figure 1:
A kind of steel ball surface expanding unit based on machine vision, this device is the significant components of steel ball sorter, comprise the guide rail 2 for carrying steel ball 3, to be located at below guide rail 2 and to roll with steel ball 3 that (drive unit and screw rod 1 can adopt gear to the drive unit that the screw rod 1 that coordinates and drive screw 1 rotate, the syndetons such as belt, belong to known technology, thus drive unit is not shown), screw rod 1 be provided with steel ball 3 bottom the helicla flute that matches, spiral fluted pitch is equal, when the guide rail 2 of steel ball 3 above described screw rod 1, steel ball 3 is opposite rail 2 radial rolling and transversal displacement simultaneously under the acting in conjunction that screw rod 1 drives and guide rail 2 leads, and at least radial rolling circumference of steel ball 3.Described screw rod 1 length is greater than M*N times of pitch, and steel ball 3 sphere diameter is less than M times of pitch, and screw rod 1 often rotates its drive radial rolling 1/N circumference of steel ball 3 and transversal displacement M times pitch of M week, and wherein M, N are integer, M >=1, N >=3.
Wherein, described drive unit is servo step motor, described guide rail 2 is for being located at the gib block be parallel to each other of steel ball 3 liang of sides, described screw rod 1 is located at the below of described two gib block centers, described guide rail 2 is downward-sloping along steel ball 3 direct of travel, and make steel ball 3 on guide rail 2, rely on self gravitation to enter in the helicla flute of screw rod 1, described spiral fluted helix angle is 30 ~ 60 degree, preferably 45 degree, screw rod 1 is made to drive the passive rolling of steel ball 3 more steady.
The present embodiment take sphere diameter as 18mm steel ball 3 unfolded surface for example is described, wherein the length of screw rod 1 is 100mm, the length of pitch is 20mm, and namely the length of screw rod 1 is 5 times of pitch, and screw rod 1 rotates one week its drive steel ball 3 radial rolling quarter turn of opposite rail 2 and transversal displacement 1 pitch.
In the present embodiment, the top of steel ball 3 is located at by imageing sensor, some steel balls 3 do one-dimensional square to moving along the guide rail 2 with gradient under self gravitation, servo step motor drive screw 1 rotates, step motor control screw rod 1 often rotates and pauses once for one week, imageing sensor completes the image capture to steel ball 3 surface within this pause interval time, and its imaging of surface image of the steel ball 3 under the stationary state that imageing sensor is absorbed is more clear, is conducive to the later image process of machine vision.
Steel ball 3 enters helicla flute one by one from the front end of screw rod 1, screw rod 1 rotates and then drives steel ball 3 radial rolling passively under the driving of drive unit, steel ball 3 is often through the distance of a pitch, the passive rolling quarter turn of steel ball 3, when steel ball 3 is continuously across the distance of 4 pitch, steel ball 3 was along spiral fluted tangential direction radial rolling 1 week passively, namely the image of steel ball 3 upper end spherical crown that image sensing device obtains within the scope of these 4 pitch just can reconstruct and generate around the steel ball image of 3 one weeks, and steel ball 3 exits helicla flute more one by one from the rear end of screw rod 1.In the present embodiment, steel ball 3 sphere diameter is less than 1 times of pitch of screw rod 1, make screw rod 1 can drive 4 steel balls 3 synchronously radial rolling and transversal displacement simultaneously, imageing sensor can absorb the image on the spherical crown surface, upper end including 4 steel balls 3 at every turn, be equivalent to 4 Process Synchronizations run, to improve image capture efficiency.
Screw rod 1 is adopted to drive the radial rolling expansion of steel ball 3, adjacent steel ball 3 can be made to separate, do not interfere with each other between steel ball 3 and steel ball 3, and steel ball 3 relies on external force to drive it to launch, thus can fully roll expansion in the surface of steel ball 3, and the steel ball 3 that the adjacent steel ball 3 solving existing one dimension track causes because of close contact can not initiatively roll the problem launched.
Embodiment 2, as shown in Figure 2:
The present embodiment take sphere diameter as 36mm steel ball 3 unfolded surface for example is described, wherein the length of screw rod 1 is 180mm, the length of pitch is 20mm, and namely the length of screw rod 1 is 9 times of pitch, and screw rod 1 rotates 2 weeks its drive steel ball 3 radial rolling quarter turn of opposite rail 2 and transversal displacement 2 pitch.The difference of the present embodiment and embodiment 1 is that the sphere diameter of steel ball 3 is greater than 1 times of pitch of screw rod 1 and is less than 2 times of pitch, because steel ball 3 enters spiral fluted from screw rod 1 front end, under the position-limiting action of guide rail 2, only have after screw rod 1 rotates 2 weeks, next steel ball 3 just has living space and again enters helicla flute from the front end of screw rod 1.The present embodiment shows: when the sphere diameter of steel ball 3 is greater than N times of pitch and is less than N+1 times of pitch, N >=0, namely drive unit drive screw 1 rotates after N+1 turns, next steel ball 3 can enter into the helicla flute of screw rod 1, the steel ball 3 of screw rod 1 overlying guide rail 2 is remained, all the other contents of the present embodiment are identical with embodiment 1, repeat no more.
Embodiment 3, see shown in Fig. 3 and Fig. 4:
Embodiment 1 and embodiment 2 all adopt a screw rod 1 pair of steel ball 3 to drive, imageing sensor can only absorb on a rotating direction around the steel ball image of 3 one weeks, and imageing sensor has vision dead zone in the rear and front end of steel ball 3, therefore the surface image of whole steel ball 3 can not intactly be absorbed, for solving this problem, position can be exited from screw rod 1 front position and steel ball 3 from screw rod 1 rear end at steel ball 3 and increase by two width pickup images, the steel ball 3 of these two positions rolls along guide rail 2, have close to orthogonal angle with the radial rolling of screw rod 1, therefore steel ball 3 image that imageing sensor can absorb six positions reconstructs the image generating complete steel ball 3 surface.But still there is certain randomness in the two width pickup images that the method increases, can affect the false drop rate of steel ball 3.For this problem, the first screw rod 11 that the present embodiment adopts two front and back sequentially to arrange and the second screw rod 12 points of two stage steel balls 3 drive and carry out radial rolling expansion, and this two radial rolling sagittal plane is orthogonal, thus being driven steel ball 3 respectively by two screw rods 1 to make steel ball 3 surface can fully intactly launch, to reduce false drop rate further.
Particularly, based on a steel ball 3 unfolded surface device for machine vision, comprising the guide rail 2 for carrying steel ball 3, to be set in parallel in below guide rail 2 and to roll the first screw rod 11 and the second screw rod 12 that coordinate and the drive unit driving the first screw rod 11 and the second screw rod 12 to rotate with steel ball 3.First screw rod 11 and the second screw rod 12 are sequentially arranged before and after described guide rail 2, when the guide rail 2 of steel ball 3 above described the first/the second screw rod 11,12, steel ball 3 is opposite rail 2 radial rolling and transversal displacement simultaneously under the acting in conjunction that the first/the second screw rod 11,12 drives and guide rail 2 leads, and a steel ball 3 at least radial rolling circumference respectively.Have gap between first screw rod 11 and the second screw rod 12, this gap makes steel ball 3 depart from the driving of the first screw rod 11 and the second screw rod 12 and opposite rail 2 laterally to roll quarter turn.Preferably, described first screw rod 11 length is 5 times of pitch, and the first screw rod 11 rotates 1 week its drive passive rolling quarter turn of steel ball 3 and transversal displacement 1 times of pitch.Described second screw rod 12 length is 5 times of pitch, and the second screw rod 12 rotates 1 week its drive passive rolling quarter turn of steel ball 3 and transversal displacement 1 times of pitch.Wherein, the described gap length between the first screw rod 11 and the second screw rod 12 is less than the sphere diameter of 2 times of steel balls 3, only holds a steel ball 3 in this gap, and it rolls more steadily with smooth and easy along guide rail 2.
A kind of steel ball 3 unfolded surface device based on machine vision launches the method on steel ball 3 surface, based on the steel ball 3 unfolded surface device of machine vision see embodiment 3, steel ball 3 does one-dimensional square to moving along described guide rail 2, drive unit drives described first screw rod 11 and the second screw rod 12 to rotate, and comprises the following steps:
The first step, the guide rail 2 of steel ball 3 above described first screw rod 11, steel ball 3 enters helicla flute one by one from the front end of the first screw rod 11, first screw rod 11 rotates and drives the radial rolling and transversal displacement of steel ball 3 relatively described guide rail 2, first screw rod 11 length is 5 times of pitch, steel ball 3 sphere diameter is less than 1 times of pitch, and screw rod 1 often rotates 1 week its drive radial rolling quarter turn of steel ball 3 and transversal displacement 1 times of pitch, and steel ball 3 exits helicla flute one by one from the rear end of the first screw rod 11.After steel ball 3 is by the guide rail 2 above the first screw rod 11, imageing sensor absorbs around the steel ball surface image of 3 one weeks.
Second step, the guide rail 2 of steel ball 3 above described gap, steel ball 3 is along the horizontal quarter turn that rolls of guide rail 2, make the first screw rod 11 drive the radial rolling sagittal plane of steel ball 3 orthogonal with the sagittal plane that the second screw rod 12 drives steel ball 3 radial rolling, during this position, imageing sensor does not obtain steel ball 3 surface image.
3rd step, the guide rail 2 of steel ball 3 above described second screw rod 12, steel ball 3 enters helicla flute one by one from the front end of the second screw rod 12, second screw rod 12 rotates and drives the radial rolling and transversal displacement of steel ball 3 relatively described guide rail 2, second screw rod 12 length is 5 times of pitch, steel ball 3 sphere diameter is less than 1 times of pitch, and screw rod 1 often rotates 1 week its drive radial rolling quarter turn of steel ball 3 and transversal displacement 1 times of pitch, and steel ball 3 exits helicla flute one by one from the rear end of the second screw rod 12.After steel ball 3 is by the guide rail 2 above the second screw rod 12, imageing sensor absorb with in the first step the image that absorbs orthogonal around the steel ball surface image of 3 one weeks.
The above is only better embodiment of the present utility model, therefore all equivalences done according to structure, feature and the principle described in the utility model patent claim change or modify, and are included in the utility model patent claim.
Claims (7)
1. based on a steel ball surface expanding unit for machine vision, it is characterized in that: comprising the guide rail for carrying steel ball, being set in parallel in the drive unit of screw rod and the drive screw turns coordinated below guide rail and with steel ball rolling; When the guide rail of steel ball above described screw rod, steel ball is opposite rail simultaneously radial rolling and transversal displacement under the acting in conjunction of screw drive and guide rail guiding, and at least radial rolling circumference of steel ball.
2. the steel ball surface expanding unit based on machine vision according to claim 1, it is characterized in that: described spiro rod length is greater than M*N times of pitch, screw rod often rotates its drive radial rolling 1/N circumference of steel ball and transversal displacement M times pitch of M week, and wherein M, N are integer, M >=1, N >=3.
3. the steel ball surface expanding unit based on machine vision according to claim 2, is characterized in that: described spiro rod length is 5 times of pitch, bolt rotary 1 week its drive passive rolling quarter turn of steel ball and transversal displacement 1 times of pitch.
4. the steel ball surface expanding unit based on machine vision according to claim 1, is characterized in that: described spiro rod length is 9 times of pitch, bolt rotary 2 weeks its drive passive rolling quarter turn of steel ball and transversal displacement twice pitch.
5. the steel ball surface expanding unit based on machine vision according to claim 1, is characterized in that: described drive unit is servo step motor.
6. the steel ball surface expanding unit based on machine vision according to claim 1, is characterized in that: described guide rail is the gib block be parallel to each other being located at steel ball two side, and described screw rod is located at the below of gib block center described in two.
7. based on a steel ball surface expanding unit for machine vision, it is characterized in that: comprising the guide rail for carrying steel ball, being set in parallel in the first screw rod and the second screw rod that coordinate below guide rail and with steel ball rolling and the drive unit driving the first screw rod and the second bolt rotary; First screw rod and the second screw rod are sequentially arranged before and after described guide rail, and when the guide rail of steel ball above described the first/the second screw rod, steel ball is opposite rail simultaneously radial rolling and transversal displacement under the acting in conjunction of the first/the second screw drive and guide rail guiding; Have gap between first screw rod and the second screw rod, this gap makes steel ball depart from the driving of the first screw rod and the second screw rod and opposite rail laterally to roll (2K-1)/4 circumference, and wherein K is positive integer.
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| CN201420462754.4U CN204086164U (en) | 2014-08-15 | 2014-08-15 | Based on the steel ball surface expanding unit of machine vision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155309A (en) * | 2014-08-15 | 2014-11-19 | 宁波百加百测控设备有限公司 | Steel ball surface spreading apparatus based on machine vision |
| CN106269561A (en) * | 2016-08-08 | 2017-01-04 | 哈尔滨理工大学 | Meridian belt wheel platform coupled motions formulas surface detection of steel ball mechanism |
| CN108896573A (en) * | 2018-05-15 | 2018-11-27 | 山东科技大学 | A kind of steel ball surface defect detection system based on the double thread method of development |
| WO2019034185A1 (en) * | 2017-08-18 | 2019-02-21 | 江苏力星通用钢球股份有限公司 | Flaw detection process for large steel balls used in offshore wind power end products |
| JP7078236B1 (en) * | 2022-03-08 | 2022-05-31 | 株式会社Gpro | Ball appearance recognition device and ball appearance recognition method |
-
2014
- 2014-08-15 CN CN201420462754.4U patent/CN204086164U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155309A (en) * | 2014-08-15 | 2014-11-19 | 宁波百加百测控设备有限公司 | Steel ball surface spreading apparatus based on machine vision |
| CN106269561A (en) * | 2016-08-08 | 2017-01-04 | 哈尔滨理工大学 | Meridian belt wheel platform coupled motions formulas surface detection of steel ball mechanism |
| WO2019034185A1 (en) * | 2017-08-18 | 2019-02-21 | 江苏力星通用钢球股份有限公司 | Flaw detection process for large steel balls used in offshore wind power end products |
| CN108896573A (en) * | 2018-05-15 | 2018-11-27 | 山东科技大学 | A kind of steel ball surface defect detection system based on the double thread method of development |
| JP7078236B1 (en) * | 2022-03-08 | 2022-05-31 | 株式会社Gpro | Ball appearance recognition device and ball appearance recognition method |
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