CN204188136U - Multi-functional quick high accuracy mechanical component detection system - Google Patents
Multi-functional quick high accuracy mechanical component detection system Download PDFInfo
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- CN204188136U CN204188136U CN201420558274.8U CN201420558274U CN204188136U CN 204188136 U CN204188136 U CN 204188136U CN 201420558274 U CN201420558274 U CN 201420558274U CN 204188136 U CN204188136 U CN 204188136U
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Abstract
The utility model relates to a kind of multi-functional quick high accuracy mechanical component detection system, the testing agency (2) that described system includes includes the orbital platform (2.1) be positioned at above worktable, orbital platform (2.1) is provided with at least one group and detects station (2.2), detect station (2.2) and be positioned at above-mentioned feeding structure (1) side, detection station (2.2) includes horizontal slip and is arranged at the upper movable block of orbital platform (2.1), vertically downward suction nozzle is provided with bottom movable block, detect station (2.2) and also include the universal stage (2.2.1) be installed on worktable, detect station (2.2) and include one just to the camera system (2.2.2) of universal stage (2.2.1), described detection station (2.2) also includes one and is installed on slide rail (2.2.4) on worktable, the upper slip of slide rail (2.2.4) is provided with slide block (2.2.3), and slide rail (2.2.4) has a rejected material hole.A kind of multi-functional quick high accuracy mechanical component detection system of the utility model, can detect fast to mechanical component.
Description
Technical field
The utility model relates to a kind of mechanical component detection system, especially relates to a kind of image processing techniques that utilizes and mechanical component is carried out to the system detected fast, belong to industrial automation field of mechanical technique.
Background technology
At present, for mechanical component such as rollers, need when dispatching from the factory to test to it, to reject the product not meeting rule, requirement, improve the yields of the product that dispatches from the factory; Conventional detection mode, for adopting manual detection mode, manually detect for outward appearance, size etc., but this kind of mode wastes time and energy, is unfavorable for large-scale industrial production; For this reason, Chinese patent application 201310119254.0 discloses " detection method of image detector and image detector ", its utilize image procossing mode treat inspection mechanical component carry out automatic business processing; But this patent is only set forth its feasibility theoretically, lack and realize system accordingly, therefore, need now a kind of system that can realize automated machine piece test badly.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, provides a kind of multi-functional quick high accuracy mechanical component detection system can carrying out detection fast to mechanical component.
The purpose of this utility model is achieved in that a kind of multi-functional quick high accuracy mechanical component detection system, described system includes the feeding structure be installed on worktable, testing agency and cutting agency, described testing agency includes the orbital platform be positioned at above worktable, described orbital platform is provided with at least one group and detects station, described detection station is positioned at by above-mentioned feeding structure, described detection station includes horizontal slip and is arranged at movable block on orbital platform, vertically downward suction nozzle is provided with bottom described movable block, described detection station also includes the universal stage be installed on worktable, described detection station includes one just to the camera system of universal stage, this camera system is just to the mechanical component on universal stage, described detection station also includes one and is installed on slide rail on worktable, described slide rail slides and is provided with slide block, and slide rail has a rejected material hole, above-mentioned skid is arranged on this rejected material hole.
A kind of multi-functional quick high accuracy mechanical component detection system of the utility model, described feeding structure includes vibrating disk, and the discharge outlet of described vibrating disk is provided with a positioning block, and the end of this locating piece is provided with the locating notch with mechanical component mating shapes.
A kind of multi-functional quick high accuracy mechanical component detection system of the utility model, described cutting agency includes the transport tape being positioned at testing agency side, and the discharge end of this transport tape is provided with an oblique downward blanking slide rail.
A kind of multi-functional quick high accuracy mechanical component detection system of the utility model, described system is also provided with a wood properly test station for detecting material, described wood properly test station includes the detection platform be installed on worktable, described wood properly test station also includes one just to the spectrometer of detection platform, described wood properly test station also includes one and is installed on slide rail on worktable, described slide rail slides and is provided with slide block, and slide rail having a rejected material hole, above-mentioned skid is arranged on this rejected material hole.
The detection method of a kind of multi-functional quick high accuracy mechanical component detection system of the utility model, described method includes following step:
Step 1, feeding: utilize vibrating disk to arrange mechanical component, and by Pneumatic suction nozzle mechanical component are adsorbed to successively and detect station and detect;
Step 2, detection: utilize image processing techniques to detect mechanical component;
Step 3, rejected material: will detect that mechanical component against regulation are abandoned;
Step 4, discharging: carry out discharging by cutting agency;
Above-mentioned steps 2 includes following concrete steps:
The image of step 2-1, acquisition mechanical component;
The shape of step 2-2, acquisition mechanical component;
Step 2-3, size according to the shape calculating machine part of above-mentioned mechanical component;
Step 2-4, the size obtained by step 2-3 and parameter preset parameter of regularity are compared;
Before the image of acquisition mechanical component carrying out step 2-1, the illumination model of described worktable need be determined in advance, the steps include:
A: utilize the combination of many group apertures and shutter to obtain the dark figure of described worktable;
B: utilize the combination of described many group apertures and shutter to obtain the bright figure of described worktable;
C: select brightness value in described dark figure to be stabilized in the first particular range and in described bright figure, brightness value is stabilized in aperture corresponding in the second particular range and shutter group, to obtain the illumination model of described worktable;
After the illumination model determining above-mentioned worktable, also need the relative position relation determining image acquisition equipment and worktable, the steps include:
D: lay gridiron pattern chequered with black and white uniformly on described worktable;
E: adjust described image acquisition equipment, with the whole visual field making described gridiron pattern be full of described image acquisition equipment, and makes described image acquisition equipment can take area large as far as possible in described gridiron pattern;
F: three dimensions of stage coordinates system and image acquisition equipment coordinate system are mapped respectively;
G: take the coordinate that described gridiron pattern determines each point on described worktable by described image acquisition equipment, thus know the yardstick that each pixel is corresponding in real space;
For step 2-2, include following concrete steps:
Step 2-2a, utilize edge detection operator to carry out rim detection to obtain marginal point;
Step 2-2b, obtain described marginal point in described stage coordinates system locus vector;
Step 2-2c, the vectorial shape can drawing these mechanical component in the locus of marginal point in stage coordinates system obtained according to step 2-2b.
The detection method of a kind of multi-functional quick high accuracy mechanical component detection system of the utility model, for step 2-2a, adopts edge detection operator to carry out the detection of part edge point; This rim detection is one or more in sobel operator, prewitt operator, canny operator or LOG operator.
The detection method of a kind of multi-functional quick high accuracy mechanical component detection system of the utility model,
Step 1 ', feeding: utilize vibrating disk to arrange mechanical component, and by Pneumatic suction nozzle mechanical component be adsorbed to successively and detect station and detect;
Step 2 ', detect: utilize image processing techniques to detect mechanical component;
Step 3 ', rejected material: will detect that mechanical component against regulation are abandoned;
Step 4 ', discharging: carry out discharging by cutting agency;
In above-mentioned steps 2 ', image processing techniques is adopted to detect with the manual detection of alternative routine to mechanical component, concretely:
The image of step 2-1 ', acquisition mechanical component;
The shape of step 2-2 ', acquisition mechanical component;
Step 2-3 ', the shape obtained by step 2-2 ' contrast with the master pattern prestored or design drawing;
Before the image of acquisition mechanical component carrying out step 2-1 ', the illumination model of described worktable need be determined in advance, the steps include:
A ': utilize the combination of many group apertures and shutter to obtain the dark figure of described worktable;
B ': utilize the combination of described many group apertures and shutter to obtain the bright figure of described worktable;
C ': select brightness value in described dark figure to be stabilized in the first particular range and in described bright figure, brightness value is stabilized in aperture corresponding in the second particular range and shutter group, to obtain the illumination model of described worktable;
After the illumination model determining above-mentioned worktable, also need the relative position relation determining image acquisition equipment and worktable, the steps include:
D': lay gridiron pattern chequered with black and white uniformly on described worktable;
E ': adjust described image acquisition equipment, with the whole visual field making described gridiron pattern be full of described image acquisition equipment, and makes described image acquisition equipment can take area large as far as possible in described gridiron pattern;
F ': three dimensions of stage coordinates system and image acquisition equipment coordinate system are mapped respectively;
G ': take the coordinate that described gridiron pattern determines each point on described worktable by described image acquisition equipment, thus know the yardstick that each pixel is corresponding in real space;
Carry out above-mentioned steps and can obtain high-precision machine part image in step 2-2 ';
Before the image of acquisition mechanical component carrying out step 2-1 ', also need the image pre-depositing design drawing or obtain a standard mechanical part;
Thus, only need contrast the shape of the mechanical component to be measured obtained and the above-mentioned image pre-depositing design drawing or obtain a standard mechanical part in step 2-3 ', thus can detect fast;
For step 2-2 ', include following concrete steps:
Step 2-2a ', utilize edge detection operator to carry out rim detection to obtain marginal point;
Step 2-2b ', obtain described marginal point in described stage coordinates system locus vector;
Step 2-2c ', the vectorial shape can drawing these mechanical component in the locus of marginal point in stage coordinates system obtained according to step 2-2b '.
The detection method of a kind of multi-functional quick high accuracy mechanical component detection system of the utility model,
Step 1), feeding: utilize vibrating disk to arrange mechanical component, and by Pneumatic suction nozzle mechanical component are adsorbed to successively and detect station and detect;
Step 2), detect: utilize image processing techniques to detect mechanical component;
Step 3), rejected material: will detect that mechanical component against regulation are abandoned;
Step 4), discharging: carry out discharging by cutting agency;
Above-mentioned steps 2) concrete steps be:
Step 2-1), obtain the image of mechanical component;
Step 2-2), by step 2-1) image that obtains contrasts with the image of the standardized element prestored.
Compared with prior art, the beneficial effects of the utility model are:
The utility model is undertaken detecting the manual detection mode with alternative routine by robotization mode, greatly improve the efficiency of detection, and the utility model can multi-functionally detect size, outward appearance, even material, greatly improve the versatility of native system, be conducive to the utilization and extention of native system.
Accompanying drawing explanation
Fig. 1 is the structural representation sketch of the utility model multi-functional quick high accuracy mechanical component detection system.
Fig. 2 is the structural representation sketch of the feeding structure of the utility model multi-functional quick high accuracy mechanical component detection system.
Fig. 3 is the structural representation sketch of the detection station of the utility model multi-functional quick high accuracy mechanical component detection system.
Wherein:
Feeding structure 1, testing agency 2, cutting agency 3;
Vibrating disk 1.1, locating piece 1.2, locating notch 1.3;
Orbital platform 2.1, detection station 2.2;
Universal stage 2.2.1, camera system 2.2.2, slide block 2.2.3, slide rail 2.2.4;
Transport tape 3.1, blanking slide rail 3.2.
Embodiment
See Fig. 1, the one that the utility model relates to multi-functional quick high accuracy mechanical component detection system, described system includes the feeding structure 1 be installed on worktable, testing agency 2 and cutting agency 3, described feeding structure 1 includes vibrating disk 1.1, the discharge outlet of described vibrating disk 1.1 is provided with a positioning block 1.2, the end of this locating piece 1.2 is provided with the locating notch 1.3 with mechanical component mating shapes, when mechanical component move to locating notch 1.3 place, the existence due to locating notch 1.3 makes mechanical component to stop to be limited in herein;
Described testing agency 2 includes the orbital platform 2.1 be positioned at above worktable, described orbital platform 2.1 is provided with at least one group and detects station 2.2, it is other that described detection station 2.2 is positioned at above-mentioned feeding structure 1, described detection station 2.2 includes horizontal slip and is arranged at movable block on orbital platform 2.1, vertically downward suction nozzle (this pneumatic valve is used for carrying out absorption migration to mechanical component) is provided with bottom described movable block, described detection station 2.2 also includes the universal stage 2.2.1 be installed on worktable, preferred this universal stage 2.2.1 is a horizontal rotation mechanism, mechanical component placed thereon can be driven to carry out horizontal rotation, described detection station 2.2 includes one just to the camera system 2.2.2 of universal stage 2.2.1, this camera system 2.2.2 is just to the mechanical component on universal stage 2.2.1, preferably, this camera system 2.2.2 can adopt the one " the part dimension measurement system based on CCD " as shown in Chinese patent ZL201220542837.5, described detection station 2.2 also includes one and is installed on slide rail 2.2.4 on worktable, on described slide rail 2.2.4, slip is provided with slide block 2.2.3, and slide rail 2.2.4 has a rejected material hole, above-mentioned slide block 2.2.3 slides and is arranged on this rejected material hole, when camera system 2.2.2 detects that mechanical component are against regulation, the above-mentioned rejected material hole of slide block 2.2.3 slidingtype exposes, thus valve absorption mechanical component are to these mechanical component being abandoned the rejected material region be connected as this rejected material hole above it,
Concretely, above-mentioned detection station 2.2 at least arranges two groups, is respectively used to detect the outward appearance of mechanical component and size;
Preferably, described system is also provided with a wood properly test station for detecting material, for detecting some material for the mechanical component of special occasions, initiation security incident is mixed into prevent the material not conforming to rule, now wood properly test station includes horizontal slip and is arranged at movable block one on orbital platform, vertically downward suction nozzle is provided with bottom described movable block, described wood properly test station also includes the detection platform be installed on worktable, described wood properly test station also includes one just (preferred to the spectrometer of detection platform, the model of this spectrometer is X-MET7000), this spectrometer is used for carrying out analysis to the material of mechanical component and detects, described wood properly test station also includes one and is installed on slide rail on worktable, described slide rail slides and is provided with slide block, and slide rail has a rejected material hole, above-mentioned skid is arranged on this rejected material hole, when spectrometer detects that mechanical component are against regulation, the above-mentioned rejected material hole of skid formula exposes, thus valve absorption mechanical component are to these mechanical component being abandoned the rejected material region be connected as this rejected material hole above it,
Described cutting agency 3 includes the transport tape 3.1 being positioned at testing agency 2 side, and the discharge end of this transport tape 3.1 is provided with an oblique downward blanking slide rail 3.2; For the qualified machinery of detection is carried out transfer shipment;
Below, the concrete detection method setting forth a kind of multi-functional quick high accuracy mechanical component detection system of the utility model:
Method of the present utility model includes following step:
Step 1, feeding: utilize vibrating disk to arrange mechanical component, and by Pneumatic suction nozzle mechanical component are adsorbed to successively and detect station and detect;
Step 2, detection: utilize image processing techniques to detect mechanical component;
Step 3, rejected material: will detect that mechanical component against regulation are abandoned;
Step 4, discharging: carry out discharging by cutting agency;
In step 2 above, image processing techniques is adopted to detect with the manual detection of alternative routine to mechanical component, concretely:
The image (obtain this image by camera system and transfer to backstage computer and carry out analyzing and processing) of step 2-1, acquisition mechanical component;
The shape of step 2-2, acquisition mechanical component;
Step 2-3, size according to the shape calculating machine part of above-mentioned mechanical component;
Step 2-4, the size obtained by step 2-3 and parameter preset parameter of regularity are compared;
Before the image of acquisition mechanical component carrying out step 2-1, the illumination model of described worktable need be determined in advance, the steps include:
A: utilize the combination of many group apertures and shutter to obtain the dark figure of described worktable;
B: utilize the combination of described many group apertures and shutter to obtain the bright figure of described worktable;
C: select brightness value in described dark figure to be stabilized in the first particular range and in described bright figure, brightness value is stabilized in aperture corresponding in the second particular range and shutter group, to obtain the illumination model of described worktable;
After the illumination model determining above-mentioned worktable, also need the relative position relation determining image acquisition equipment and worktable, the steps include:
D: lay gridiron pattern chequered with black and white uniformly on described worktable;
E: adjust described image acquisition equipment, with the whole visual field making described gridiron pattern be full of described image acquisition equipment, and makes described image acquisition equipment can take area large as far as possible in described gridiron pattern;
F: three dimensions of stage coordinates system and image acquisition equipment coordinate system are mapped respectively;
G: take the coordinate that described gridiron pattern determines each point on described worktable by described image acquisition equipment, thus know the yardstick that each pixel is corresponding in real space;
Carry out above-mentioned steps and can obtain high-precision machine part image in step 2-2;
Concretely, for step 2-2, include following concrete steps:
Step 2-2a, utilize edge detection operator to carry out rim detection to obtain marginal point;
Step 2-2b, obtain described marginal point in described stage coordinates system locus vector;
Step 2-2c, the vectorial shape can drawing these mechanical component in the locus of marginal point in stage coordinates system obtained according to step 2-2b;
For step 2-2a, classical edge detection operator can be utilized to carry out the detection of part edge point; These rim detection can be sobel operator, prewitt operator, canny operator or LOG operator; What a preferred implementation of the present utility model adopted is that canny operator carries out rim detection.The precision of above-mentioned detection is pixel scale;
According to a preferred implementation of the present utility model, in order to improve the precision of detection further, on the basis can detected in pixel edge, realize sub-pixel edge to detect, namely utilize the characteristic of target image to be detected, this characteristic can be angle point, intersection point, round dot, straight line and curve, image is analyzed and understands, find the position the most similar to realistic objective characteristic, utilize floating-point operation in this process, the precision of target location can be made higher than the precision of integer pixel.The method that sub-pixel edge detects has Moment Methods (Gray Moment, spatial moment or zernike square) method of interpolation (linear interpolation or curve interpolation), fitting process (least-squares linear regression, curve or surface fitting), or the digital correlation based on the correlation properties of cross correlation function.Several Sub-pixel Edge Detection above, can accomplish other rim detection of sub-pixel and the refinement to pixel edge, and what this example adopted is the algorithm of spatial moment.
Simply say, compared by the pixel dimension obtained in the shape of machine part image that obtains and step g, thus draw the physical size of mechanical component;
Preferred: to be in and to simplify testing process, raising detection efficiency, also can adopt following detection mode:
Step 1 ', feeding: utilize vibrating disk to arrange mechanical component, and by Pneumatic suction nozzle mechanical component be adsorbed to successively and detect station and detect;
Step 2 ', detect: utilize image processing techniques to detect mechanical component;
Step 3 ', rejected material: will detect that mechanical component against regulation are abandoned;
Step 4 ', discharging: carry out discharging by cutting agency;
In above-mentioned steps 2 ', image processing techniques is adopted to detect with the manual detection of alternative routine to mechanical component, concretely:
The image (obtain this image by camera system and transfer to backstage computer and carry out analyzing and processing) of step 2-1 ', acquisition mechanical component;
The shape (when the CCD pixel that camera system adopts is enough high, the mode that can directly adopt image ratio right is carried out, and efficiency is higher) of step 2-2 ', acquisition mechanical component;
Step 2-3 ', the shape obtained by step 2-2 ' contrast with the master pattern prestored or design drawing;
Before the image of acquisition mechanical component carrying out step 2-1 ', the illumination model of described worktable need be determined in advance, the steps include:
A ': utilize the combination of many group apertures and shutter to obtain the dark figure of described worktable;
B ': utilize the combination of described many group apertures and shutter to obtain the bright figure of described worktable;
C ': select brightness value in described dark figure to be stabilized in the first particular range and in described bright figure, brightness value is stabilized in aperture corresponding in the second particular range and shutter group, to obtain the illumination model of described worktable;
After the illumination model determining above-mentioned worktable, also need the relative position relation determining image acquisition equipment and worktable, the steps include:
D': lay gridiron pattern chequered with black and white uniformly on described worktable;
E ': adjust described image acquisition equipment, with the whole visual field making described gridiron pattern be full of described image acquisition equipment, and makes described image acquisition equipment can take area large as far as possible in described gridiron pattern;
F ': three dimensions of stage coordinates system and image acquisition equipment coordinate system are mapped respectively;
G ': take the coordinate that described gridiron pattern determines each point on described worktable by described image acquisition equipment, thus know the yardstick that each pixel is corresponding in real space;
Carry out above-mentioned steps and can obtain high-precision machine part image in step 2-2 ';
Before the image of acquisition mechanical component carrying out step 2-1 ', also need the image pre-depositing design drawing or obtain a standard mechanical part;
Thus, only need contrast the shape of the mechanical component to be measured obtained and the above-mentioned image pre-depositing design drawing or obtain a standard mechanical part in step 2-3 ', thus can detect fast;
Concretely, for step 2-2 ', include following concrete steps:
Step 2-2a ', utilize edge detection operator to carry out rim detection to obtain marginal point;
Step 2-2b ', obtain described marginal point in described stage coordinates system locus vector;
Step 2-2c ', the vectorial shape can drawing these mechanical component in the locus of marginal point in stage coordinates system obtained according to step 2-2b ';
In addition: it should be noted that above-mentioned embodiment is only a prioritization scheme of this patent, any change that those skilled in the art does according to above-mentioned design or improvement, all within the protection domain of this patent.
Claims (4)
1. a multi-functional quick high accuracy mechanical component detection system, it is characterized in that: described system includes and is installed on feeding structure (1) on worktable and testing agency (2), described testing agency (2) includes the orbital platform (2.1) be positioned at above worktable, described orbital platform (2.1) is provided with at least one group and detects station (2.2), it is other that described detection station (2.2) is positioned at above-mentioned feeding structure (1), described detection station (2.2) includes horizontal slip and is arranged at the upper movable block of orbital platform (2.1), vertically downward suction nozzle is provided with bottom described movable block, described detection station (2.2) also includes the universal stage (2.2.1) be installed on worktable, described detection station (2.2) includes one just to the camera system (2.2.2) of universal stage (2.2.1), this camera system (2.2.2) is just to the mechanical component on universal stage (2.2.1), described detection station (2.2) also includes one and is installed on slide rail (2.2.4) on worktable, the upper slip of described slide rail (2.2.4) is provided with slide block (2.2.3), and slide rail (2.2.4) has a rejected material hole, above-mentioned slide block (2.2.3) slides and is arranged on this rejected material hole.
2. a kind of multi-functional quick high accuracy mechanical component detection system as claimed in claim 1, it is characterized in that: described feeding structure (1) includes vibrating disk (1.1), the discharge outlet of described vibrating disk (1.1) is provided with a positioning block (1.2), and the end of this locating piece (1.2) is provided with and the locating notch of mechanical component mating shapes (1.3).
3. a kind of multi-functional quick high accuracy mechanical component detection system as claimed in claim 1 or 2, it is characterized in that: described system also includes a cutting agency (3), described cutting agency (3) includes the transport tape (3.1) being positioned at testing agency (2) side, and the discharge end of this transport tape (3.1) is provided with an oblique downward blanking slide rail (3.2).
4. a kind of multi-functional quick high accuracy mechanical component detection system as claimed in claim 3, it is characterized in that: described system is also provided with a wood properly test station for detecting material, described wood properly test station includes the detection platform be installed on worktable, described wood properly test station also includes one just to the spectrometer of detection platform, described wood properly test station also includes one and is installed on slide rail on worktable, described slide rail slides and is provided with slide block, and slide rail having a rejected material hole, above-mentioned skid is arranged on this rejected material hole.
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| CN104236461A (en) * | 2014-09-26 | 2014-12-24 | 江阴市精成数控有限公司 | Multifunctional, quick and high-accuracy mechanical part detection system |
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| CN104236461A (en) * | 2014-09-26 | 2014-12-24 | 江阴市精成数控有限公司 | Multifunctional, quick and high-accuracy mechanical part detection system |
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