CN204913908U - Mechanical hand position protection device moulds plastics based on machine vision - Google Patents
Mechanical hand position protection device moulds plastics based on machine vision Download PDFInfo
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- CN204913908U CN204913908U CN201520594445.7U CN201520594445U CN204913908U CN 204913908 U CN204913908 U CN 204913908U CN 201520594445 U CN201520594445 U CN 201520594445U CN 204913908 U CN204913908 U CN 204913908U
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- mechanical arm
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Abstract
The utility model provides a mechanical hand position protection device moulds plastics based on machine vision, the device include be used for obtaining moulding plastics mechanical hands movement route and real -time position the camera module, be used for control mould plastics mechanical hand position and executive command's position protection controller and human -computer interaction unit, the camera module with position protection controller is connected, position protection controller with the human -computer interaction unit connection, camera module, position protection controller and human -computer interaction unit all are connected with power module. The utility model provides a machine vision's that response speed is very fast, the commonality the is better mechanical hand position protection device that moulds plastics.
Description
Technical field
The utility model relates to injection machine finished product automation control area, especially a kind of injection molding mechanical arm guarded by location device based on machine vision.
Background technology
In recent years, the development of domestic consumption electronic industry was very fast, and a large amount of overseas-funded enterprises enters and sets up plastic processing factory interiorly, has driven the quick growth of interior ground plastics machinery sales volume; Injection moulding is that in plastic processing, accounting is heavy maximum, and be also a kind of technology type very high to efficiency requirements, the market demand of injection moulding pickup injection molding mechanical arm also starts to enter the quick rise period.Injection molding mechanical arm is the partial function that can imitate human upper limb, can carry out automatically controlling to make it carry out the automation equipment of pickup, conveying goods according to pre-provisioning request to it, to improve injection moulding machine production efficiency, stabilized product quality, rate of reducing the number of rejects and seconds, reduce production cost, strengthen the aspects such as the competitiveness of enterprise and play and important effect.
The composition of injection molding mechanical arm is generally made up of executive system, drive system, control system etc., these some problems of injection molding mechanical arm ubiquity on market, the instruction rear drive injection molding mechanical arm that the executive system of injection molding mechanical arm and drive system obtain control system moves, but injection machine arm may depart from the position will getting finished product in moving process, and the critical point of movable safety scope may be exceeded, injection molding mechanical arm can be caused like this to collide lathe, damage parts, increase cost, and may injury; In addition, injection machine arm is not doing retarded motion with certain acceleration in the process capturing finished product with certain speed in time reaching product, do not stop when arriving finished product position causing injection machine to point collision finished product, the damage parts that injection machine can be caused like this to point, can only change the increase that parts cause cost.
Utility model content
Depart from the deficiency of home to overcome injection molding mechanical arm in existing injection molding mechanical arm finished product crawl process, the utility model provides that a kind of response speed is very fast, versatility is preferably based on the injection molding mechanical arm guarded by location device of machine vision.
The utility model solves the technical scheme that its technical problem adopts:
A kind of injection molding mechanical arm guarded by location device based on machine vision; described device comprise obtaining injection molding mechanical arm motion path and real time position camera module, in order to control injection machine hand position and exectorial guarded by location controller and man-machine interaction unit; described camera module is connected with described guarded by location controller; described guarded by location controller is connected with described man-machine interaction unit, and described camera module, guarded by location controller are all connected with power module with man-machine interaction unit.
Further, the core control panel of single heterogeneous dual-core that is connected to form by ARMCortexA8 and FPGA of described guarded by location controller and external expanding plate form.
Further again, described core control panel comprise image capture module, image ratio compared with analysis module, in order to control injection machine hand position position control module, to exceed the alarm module and interface display interactive module that carry out reporting to the police in preset security position in order to injection molding mechanical arm, described external expanding plate comprises video image input interface and interface display interactive interface;
Video image input interface is connected with described image capture module, described image capture module and described image ratio comparatively analysis module are connected, described image ratio comparatively analysis module is connected with described position control module and described alarm module respectively, and described interface display interactive module is connected with described interface display interactive interface.
Further again, described camera module comprises camera and light source, and described man-machine interaction unit comprises liquid crystal display touch screen and keyboard for subsequent use; Described camera is connected with described video image input interface, and described liquid crystal display touch screen, keyboard for subsequent use are connected with described interface display interactive interface respectively.
Further again, described external expanding plate also comprises connecting the CAN interface of injection molding mechanical arm and the I/O interface be connected with injection molding mechanical arm by Signals Transfer Board, and described CAN interface is connected with described position control module respectively with described I/O interface.
Further again, described light source is provided with four, four light sources be distributed on camera be the center of circle circle on.
Further, described camera is infrared camera.
Further, described liquid crystal display touch screen is LCD touch screen.
The beneficial effects of the utility model are mainly manifested in: camera can monitor injection molding mechanical arm and in real time when injection molding mechanical arm departs from home, in guarded by location controller, the alarm module of ARMCortexA8 can produce warning, control injection molding mechanical arm emergent stopping, again path planning captures finished product, in order to avoid collide with other objects, cause parts damages; Modularized design, it is convenient to install, and directly can plug and separate maintenance; Injection molding mechanical arm guarded by location device adopts superposing type framework, guarded by location controller and external expanding plate is linked up by upper and lower two bus slots, reduces system bulk and improves stability; Guarded by location controller adopts high performance ARMCortexA8 external bus connection FPGA to form the processor of single heterogeneous dual-core, improve processing speed, abundant I/O interface can be provided, injection machine signal is 24V, and core control panel only provides and receive the level signal of 3.3V, completed the mutual conversion of 3.3V voltage and 24V by Signals Transfer Board; There is provided man-machine interaction mode, objective interface, simple to operate, the man-machine interaction demand under different operating mode can be met.
Accompanying drawing explanation
Fig. 1 is a kind of block architecture diagram of the injection moulding injection molding mechanical arm guarded by location device based on machine vision.
Fig. 2 is the schematic diagram of guarded by location controller.
Fig. 3 is injection molding mechanical arm protecting control flow chart.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further described.
With reference to Fig. 1 ~ Fig. 3; a kind of injection molding mechanical arm guarded by location device based on machine vision; described device comprise obtaining injection molding mechanical arm motion path and real time position camera module, in order to control injection machine hand position and exectorial guarded by location controller and man-machine interaction unit; described camera module is connected with described guarded by location controller; described guarded by location controller is connected with described man-machine interaction unit, and described camera module, guarded by location controller are all connected with power module with man-machine interaction unit.
Further, the core control panel of single heterogeneous dual-core that is connected to form by ARMCortexA8 and FPGA of described guarded by location controller and external expanding plate form.
Further again, described core control panel comprise image capture module, image ratio compared with analysis module, in order to control injection machine hand position position control module, to exceed the alarm module and interface display interactive module that carry out reporting to the police in preset security position in order to injection molding mechanical arm, described external expanding plate comprises video image input interface and interface display interactive interface;
Video image input interface is connected with described image capture module, described image capture module and described image ratio comparatively analysis module are connected, described image ratio comparatively analysis module is connected with described position control module and described alarm module respectively, and described interface display interactive module is connected with described interface display interactive interface.
Further again, described camera module comprises camera and light source, and described man-machine interaction unit comprises liquid crystal display touch screen and keyboard for subsequent use; Described camera is connected with described video image input interface, and described liquid crystal display touch screen, keyboard for subsequent use are connected with described interface display interactive interface respectively.
Further again, described external expanding plate also comprises connecting the CAN interface of injection molding mechanical arm and the I/O interface be connected with injection molding mechanical arm by Signals Transfer Board, and described CAN interface is connected with described position control module respectively with described I/O interface.
Further again, described light source is provided with four, four light sources be distributed on camera be the center of circle circle on.
Further, described camera is infrared camera.
Further, described liquid crystal display touch screen is LCD touch screen.
In the present embodiment, described infrared camera is connected with the video image input interface of external expanding plate by USB interface, by the Image Saving that collects in the image capture module of ARMCortexA8, by the external bus of ARMCortexA8, image is sent to the image ratio comparatively analysis module of FPGA simultaneously, and carry out pretreatment in FPGA; Described injection molding mechanical arm is connected with the CAN interface in described external expanding plate by CAN, is controlled the motion actuated and stopping of injection molding mechanical arm by ARMCortexA8; ARMCortexA8 external bus connects the core control panel that FPGA forms single heterogeneous dual-core, and injection molding mechanical arm guarded by location device adopts superposing type framework, the core control panel of heterogeneous dual-core and external expanding plate is linked up by upper and lower two bus slots.
Described camera adopts the OV9710 chip of Hong Chuan space company, and described CAN interface adopts TJA1050 chip can be connected with the injection molding mechanical arm of band CAN interface; Described I/O interface is connected with Signals Transfer Board by soft arranging wire (FFC), and described Signals Transfer Board is the mutual conversion optocoupler of 3.3V and the 24V level realizing signal input and output between injection machine and the core control panel of heterogeneous dual-core.
Operation principle of the present utility model: first external expanding plate is monitored injection moulding production process in real time by USB interface external camera, then gather Image Saving in the image capture module of ARMcortexA8, ARMcortexA8 is shown in LCD touch screen in real time by the image of Serial Port Line by camera real time monitoring simultaneously, then the image ratio sending image to FPGA by the external bus of ARMcortexA8 comparatively carries out pretreatment to image in analysis module, obtain the home coordinate range of injection molding mechanical arm movement, next step is obtained the image ratio that the is kept at FPGA position current compared with the image injection molding mechanical arm in analysis module and compares with home coordinate range calculated before, judge whether injection molding mechanical arm coordinate position exceeds home, if injection molding mechanical arm coordinate exceeds home scope, produced by the alarm module of ARMcortexA8 in guarded by location controller and report to the police, control injection molding mechanical arm to stop at once simultaneously, again path planning captures finished product, when injection molding mechanical arm arrives finished product position, calculate the current speed of injection molding mechanical arm by the position of injection molding mechanical arm, if injection molding mechanical arm speed does not reach zero, also produced by the alarm module of ARMcortexA8 and report to the police, stop injection molding mechanical arm at once, thus solve, in injection machine production process, whether the problem of preset security position is exceeded to shift position in the process of injection molding mechanical arm crawl finished product.
As shown in Figure 3, control flow of the present utility model is as follows: first gather image, determines injection molding mechanical arm home scope in image, simultaneously injection molding mechanical arm calculating machine hand position in searching image; The position of the position of injection molding mechanical arm and safety moving scope is compared; When the position of injection molding mechanical arm is beyond the home scope preset, then report to the police, think that injection molding mechanical arm has moved to the border easily collided, control injection molding mechanical arm stops, again path planning continues to grab finished product, otherwise continue to control injection molding mechanical arm toward the motion of finished product coordinate position, system continues to gather the real time position of new image update injection molding mechanical arm until arrive finished product position; Simultaneously when injection molding mechanical arm point to reach product position time, the current speed of injection molding mechanical arm is calculated by the position of injection molding mechanical arm, if injection molding mechanical arm speed does not reach zero, also warning is produced, stop injection machine hands movement at once, perform and capture finished product action, complete one-pass finished and capture process.
Claims (8)
1. the injection molding mechanical arm guarded by location device based on machine vision; it is characterized in that: described device comprise obtaining injection molding mechanical arm motion path and real time position camera module, in order to control injection machine hand position and exectorial guarded by location controller and man-machine interaction unit; described camera module is connected with described guarded by location controller; described guarded by location controller is connected with described man-machine interaction unit, and described camera module, guarded by location controller are all connected with power module with man-machine interaction unit.
2. a kind of injection molding mechanical arm guarded by location device based on machine vision as claimed in claim 1, is characterized in that: the core control panel of the single heterogeneous dual-core that described guarded by location controller is connected to form by ARMCortexA8 and FPGA and external expanding plate form.
3. a kind of injection molding mechanical arm guarded by location device based on machine vision as claimed in claim 2, it is characterized in that: described core control panel comprise image capture module, image ratio compared with analysis module, in order to control injection machine hand position position control module, to exceed the alarm module and interface display interactive module that carry out reporting to the police in preset security position in order to injection molding mechanical arm, described external expanding plate comprises video image input interface and interface display interactive interface;
Video image input interface is connected with described image capture module, described image capture module and described image ratio comparatively analysis module are connected, described image ratio comparatively analysis module is connected with described position control module and described alarm module respectively, and described interface display interactive module is connected with described interface display interactive interface.
4. a kind of injection molding mechanical arm guarded by location device based on machine vision as claimed in claim 3, it is characterized in that: described camera module comprises camera and light source, described man-machine interaction unit comprises liquid crystal display touch screen and keyboard for subsequent use; Described camera is connected with described video image input interface, and described liquid crystal display touch screen, keyboard for subsequent use are connected with described interface display interactive interface respectively.
5. a kind of injection molding mechanical arm guarded by location device based on machine vision as claimed in claim 3; it is characterized in that: described external expanding plate also comprises connecting the CAN interface of injection molding mechanical arm and the I/O interface be connected with injection molding mechanical arm by Signals Transfer Board, and described CAN interface is connected with described position control module respectively with described I/O interface.
6. a kind of injection molding mechanical arm guarded by location device based on machine vision as claimed in claim 4, is characterized in that: described light source is provided with four, four light sources be distributed on camera be the center of circle circle on.
7. a kind of injection molding mechanical arm guarded by location device based on machine vision as described in claim 4 or 6, is characterized in that: described camera is infrared camera.
8. a kind of injection molding mechanical arm guarded by location device based on machine vision as claimed in claim 4, is characterized in that: described liquid crystal display touch screen is LCD touch screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520594445.7U CN204913908U (en) | 2015-08-07 | 2015-08-07 | Mechanical hand position protection device moulds plastics based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520594445.7U CN204913908U (en) | 2015-08-07 | 2015-08-07 | Mechanical hand position protection device moulds plastics based on machine vision |
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| Publication Number | Publication Date |
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| CN204913908U true CN204913908U (en) | 2015-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520594445.7U Expired - Fee Related CN204913908U (en) | 2015-08-07 | 2015-08-07 | Mechanical hand position protection device moulds plastics based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112198514A (en) * | 2020-09-30 | 2021-01-08 | 山东理工职业学院 | Safety monitoring and early warning system based on mold design |
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2015
- 2015-08-07 CN CN201520594445.7U patent/CN204913908U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112198514A (en) * | 2020-09-30 | 2021-01-08 | 山东理工职业学院 | Safety monitoring and early warning system based on mold design |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151230 Termination date: 20180807 |