CN205120043U - Vulnerable part tip position vision calibrating device - Google Patents
Vulnerable part tip position vision calibrating device Download PDFInfo
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- CN205120043U CN205120043U CN201520934941.2U CN201520934941U CN205120043U CN 205120043 U CN205120043 U CN 205120043U CN 201520934941 U CN201520934941 U CN 201520934941U CN 205120043 U CN205120043 U CN 205120043U
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- consumable accessory
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- reflecting surface
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Abstract
The utility model relates to a vulnerable part tip position vision calibrating device. Calibrating device has vision sensor, light reflection element, light compensation arrangement and signal processing device, and light reflection element has a plane of reflection, and vision sensor has the sensing face, and light reflection element's plane of reflection is located the front end of sensing face, and plane of reflection and sensing personally submit an acute angle, one side that the plane of reflection setting was held in face of the sensing, light compensation arrangement is close to plane of reflection setting, signal processing device and vision sensor signal connection. The utility model discloses a calibrating device only need adopt a vision sensor can realize the triaxial omnidirectional and survey, after changing the vulnerable part, can realize the automatic identification and the movement track's of image compensation, need not artifical manual participation to having saved the process that the vulnerable part calibration was removed, having eliminated the error of these two processes promptly, the calibration accuracy is high, and the calibration time is short, the vulnerable part can be the syringe needle of point gum machine, the first -class part of spot welding of spot welder.
Description
Technical field
The utility model relates to a kind of consumable accessory end position vision alignment device.
Background technology
In the technical field of automatic machines and equipment, the coordinate position of concrete a certain device or parts is very important, the syringe needle of such as point gum machine, spot welding head of spot welder etc., once the coordinate generation deviation of these parts, the track of whole flowing water work will offset.But these critical components are often again parts the most used in whole equipment, easily damage, therefore, often need to change.
Usually, these parts are all manual replacings, and the coordinate of these consumable accessorys is also aimed at by human eye, therefore often with change before coordinate can there is deviation, calibration accuracy is not high.
In order to improve calibration accuracy, some manually moves consumable accessory by the position of vision sensor shooting consumable accessory by the artificial image taken with reference to vision sensor, thus the position of calibration consumable accessory.Consumable accessory is just passed through Nonlinear magnify by this mode, reduces the error that human eye is aimed at, and does not eliminate this error.Further, the error regulated manually still exists.
In addition; because consumable accessory is generally three-axis moving mechanism; and a vision sensor only can take the two axle movement of consumable accessory in a plane; therefore; in order to take the moving image of the other axle of consumable accessory; usually also need to set up a vision sensor again, namely need two vision sensors can realize the shooting of three-axis moving, and the application of two vision sensors must cause increase to equipment cost.
Utility model content
The technical problems to be solved in the utility model is: in order to overcome the deficiency of consumable accessory end position calibration in prior art, the utility model provides a kind of consumable accessory end position vision alignment device.
The utility model solves the technical scheme that its technical matters adopts: a kind of consumable accessory end position vision alignment device, there is vision sensor, light reflection element, light compensation device and signal processing apparatus, described light reflection element has a reflecting surface, described vision sensor has sensitive face, the reflecting surface of described light reflection element is positioned at the front end of described sensitive face, and reflecting surface and sensitive face are an acute angle, described reflecting surface is arranged on the side of sensitive face front end; Described light compensation device is arranged near described reflecting surface, and described signal processing apparatus is connected with described visual sensor signal.In the utility model, only just can realize the shooting of consumable accessory three-axis moving with a vision sensor, the sensitive face half of vision sensor takes the image of the syringe needle movement of being returned by reflective surface, the image of the actual movement of second half shooting syringe needle of sensitive face.
Described reflecting surface and sensitive face are 45° angle.Because image when 45 ° just reflexes in vision sensor, not distortion and convergent-divergent, there is distortion and convergent-divergent in the image that other angle cameras photographed.Therefore, now, the precision of images of the syringe needle movement of being returned by reflective surface that photographs of the sensitive face of vision sensor is the highest.
Vision sensor is arranged on a pedestal, and sensitive face and reflecting surface are all vertical with base-plates surface.Moving forward and backward of consumable accessory end, after reflective surface, be converted into and move left and right, the image that moves left and right after this reflection is received by the side of vision sensor, and the opposite side of vision sensor receives moving up and down of consumable accessory reality and side-to-side movement image.
Described vision sensor is camera, and the sensitive face of vision sensor is the shooting face of camera.
In prior art, after vision sensor shooting image, by eye-observation consumable accessory location drawing picture.And when adopting vision sensor and the automatic recognition image of signal processing apparatus, often there is the phenomenon of image erroneous judgement, computing machine None-identified consumable accessory position in the picture, in order to realize image automatic identification, described light compensation device comprises at least one light source.The setting of light source ensure that and the sharpness of vision sensor shooting image prevents image misjudgment phenomenon from occurring.
In order to save light source, reduce wiring, and reduce equipment cost, described light compensation device is made up of a light source and a light reflecting mirror.
In order to improve the effect of light compensation, described light reflection element is arranged between vision sensor and light reflecting mirror, and described reflecting surface is towards vision sensor and light source.
With a reflecting surface in reflecting element, as preferably, described light reflection element is prism or plane mirror.
A kind of calibration steps adopting described consumable accessory end position vision alignment device, described consumable accessory is driven by driving mechanism, the direction of motion of driving mechanism comprises x-axis, y-axis and z-axis three directions, x-axis, y-axis and z-axis are mutually vertical between two, the plane at wherein diaxon place in x-axis, y-axis and z-axis and the sensitive face of described vision sensor are parallel to each other, and described calibration steps comprises the following steps:
(1) in the visual range of described vision sensor, determine a calibration coordinate, and this calibration coordinate is in vision sensor front end, and lays respectively at the both sides of described vision sensor front end with light reflection element;
(2) choosing the center, consumable accessory end before a replacing is caliberator, first by driving mechanism, the end of consumable accessory is moved to the calibration coordinate of step (1), the image obtaining now consumable accessory end by vision sensor and the image of consumable accessory end be reflected back by light reflection element;
(3) change after consumable accessory, by driving mechanism, the end of consumable accessory is moved to the calibration coordinate of step (1), the image obtaining now consumable accessory end by vision sensor and the image of consumable accessory end be reflected back by light reflection element;
(4) the error of coordinate value in the image that in obtaining step (3) and step (2), consumable accessory end obtains at vision sensor;
(5) the error of coordinate value of step (4) is compensated in the consumable accessory movement locus of step (2), and using the movement locus of the consumable accessory of the movement locus after compensation in step (3) after replacing.
Described light compensation device comprises at least one light source, and during described vision sensor shooting image, described light source is open mode.When namely only need ensure vision sensor shooting image, light source is the state opened, and when not taking image, can be open, also can be closed condition.
The beneficial effects of the utility model are, consumable accessory end position vision alignment device of the present utility model and calibration steps thereof, the structure of calibrating installation is simple, small volume, only a vision sensor need be adopted can to realize the omnibearing detection of three axles, reduce cost; Can calibrating after replacing consumable accessory, realizing the automatic identification of image and the compensation of movement locus, without the need to participating in manually by device, and eliminate the process of consumable accessory calibration movement, namely eliminate the error of these two processes, calibration accuracy is high, and the time of calibration is short; Described consumable accessory can be the syringe needle of point gum machine, the first-class parts of spot welding of spot welder.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the structural representation of the optimum embodiment of consumable accessory end position vision alignment device of the present utility model.
In figure 1, vision sensor, 2, light reflection element, 21, reflecting surface, 3, signal processing apparatus, 4, light source, 5, light reflecting mirror, 6, syringe needle.
Embodiment
By reference to the accompanying drawings the utility model is described in further detail now.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present utility model are described in a schematic way, and therefore it only shows the formation relevant with the utility model.
As shown in Figure 1, a kind of consumable accessory end position vision alignment device of the present utility model, have vision sensor 1, light reflection element 2, light compensation device and signal processing apparatus 3, described vision sensor 1 is camera, and the sensitive face of vision sensor 1 is the shooting face of camera.Described light reflection element 2 is prism or plane mirror.
Described light reflection element 2 has a reflecting surface 21, described vision sensor 1 has sensitive face, the reflecting surface 21 of described light reflection element 2 is positioned at the front end of described sensitive face, and reflecting surface 21 and sensitive face are 45° angle, and described reflecting surface 21 is arranged on the side of sensitive face front end.Certainly, reflecting surface 21 and sensitive face also can be other acute angles, the proportionate relationship of the image that the reflecting surface 21 that only need convert is reflected back and real image.
Described light compensation device comprises at least one light source 4.In the present embodiment, described light compensation device is made up of a light source 4 and a light reflecting mirror 5, certainly, only also can be met the photographing request of vision sensor 1 by a light source 4.Described light reflection element 2 is arranged between vision sensor 1 and light reflecting mirror 5, and described reflecting surface 21 is towards vision sensor 1 and light source 4.Described light compensation device is arranged near described reflecting surface 21, and described signal processing apparatus 3 is connected with described vision sensor 1 signal.
In the present embodiment, vision sensor 1 is arranged on a pedestal, and sensitive face is all vertical with base-plates surface with reflecting surface 21.Certainly can also be that other are arranged, such as, sensitive face be vertical with base-plates surface, and reflecting surface 21 and sensitive face and base-plates surface are all in 45° angle.
Described consumable accessory is driven by driving mechanism, the direction of motion of driving mechanism comprises x-axis, y-axis and z-axis three directions, x-axis, y-axis and z-axis are mutually vertical between two, the plane at wherein diaxon place in x-axis, y-axis and z-axis and the sensitive face of described vision sensor 1 are parallel to each other, in the present embodiment, consumable accessory is the syringe needle 6 of point gum machine, and syringe needle one end is connected with driving mechanism, the other end of syringe needle 6 is unsettled, and unsettled one end is the end of syringe needle 6.
Adopt a calibration steps for described consumable accessory end position vision alignment device, comprise the following steps:
(1) in the visual range of described vision sensor 1, determine a calibration coordinate, and this calibration coordinate is in vision sensor 1 front end, and lays respectively at the both sides of described vision sensor 1 front end with light reflection element 2;
(2) choosing the center, consumable accessory end before a replacing is caliberator, first by driving mechanism, the end of consumable accessory is moved to the calibration coordinate of step (1), the image obtaining now consumable accessory end by vision sensor 1 and the image of consumable accessory end be reflected back by light reflection element 2;
(3) after changing consumable accessory, by driving mechanism, the end of consumable accessory is moved to the calibration coordinate of step (1), the image obtaining now consumable accessory end by vision sensor 1 and the image of consumable accessory end be reflected back by light reflection element 2;
(4) the error of coordinate value in the image that in obtaining step (3) and step (2), consumable accessory end obtains at vision sensor 1;
(5) the error of coordinate value of step (4) is compensated in the consumable accessory movement locus of step (2), and using the movement locus of the consumable accessory of the movement locus after compensation in step (3) after replacing.
When image taken by described vision sensor 1, described light source 4 is open mode.
In addition, needed first to demarcate the relation between the pixel of vision sensor 1 and driving mechanism pulse before calibration steps, the pulsed drive consumable accessory end of driving mechanism produces displacement to certain direction, namely the relation between the pixel coordinate of vision sensor 1 and the drive displacement corresponding to the pulse of driving mechanism, thus in step (5), utilize this corresponding relation the consumable accessory end pixel error of coordinate value identified to be added in driving mechanism pulse track.
With above-mentioned according to desirable embodiment of the present utility model for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this utility model technological thought, can carry out various change and amendment completely.The technical scope of this utility model is not limited to the content on instructions, must determine its technical scope according to right.
Claims (8)
1. a consumable accessory end position vision alignment device, it is characterized in that: there is vision sensor (1), light reflection element (2), light compensation device and signal processing apparatus (3), described light reflection element (2) has a reflecting surface (21), described vision sensor (1) has sensitive face, the reflecting surface (21) of described light reflection element (2) is positioned at the front end of described sensitive face, and reflecting surface (21) and sensitive face are an acute angle, described reflecting surface (21) is arranged on the side of sensitive face front end; Described light compensation device is arranged near described reflecting surface (21), and described signal processing apparatus (3) is connected with described vision sensor (1) signal.
2. consumable accessory end position vision alignment device as claimed in claim 1, is characterized in that: described reflecting surface (21) and sensitive face are 45° angle.
3. consumable accessory end position vision alignment device as claimed in claim 1, it is characterized in that: vision sensor (1) is arranged on a pedestal, sensitive face is all vertical with base-plates surface with reflecting surface (21).
4. consumable accessory end position vision alignment device as claimed in claim 1, it is characterized in that: described vision sensor (1) is camera, the sensitive face of vision sensor (1) is the shooting face of camera.
5. consumable accessory end position vision alignment device as claimed in claim 1, is characterized in that: described light compensation device comprises at least one light source (4).
6. consumable accessory end position vision alignment device as claimed in claim 5, is characterized in that: described light compensation device is made up of a light source (4) and a light reflecting mirror (5).
7. consumable accessory end position vision alignment device as claimed in claim 6, it is characterized in that: described light reflection element (2) is arranged between vision sensor (1) and light reflecting mirror (5), described reflecting surface (21) is towards vision sensor (1) and light source (4).
8. consumable accessory end position vision alignment device as claimed in claim 1, is characterized in that: described light reflection element (2) is prism or plane mirror.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520934941.2U CN205120043U (en) | 2015-11-20 | 2015-11-20 | Vulnerable part tip position vision calibrating device |
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|---|---|---|---|
| CN201520934941.2U CN205120043U (en) | 2015-11-20 | 2015-11-20 | Vulnerable part tip position vision calibrating device |
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| CN205120043U true CN205120043U (en) | 2016-03-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105318837A (en) * | 2015-11-20 | 2016-02-10 | 常州铭赛机器人科技股份有限公司 | A visual calibration device for end portions of quick-wear parts and a calibration method thereof |
| CN109877007A (en) * | 2019-03-20 | 2019-06-14 | 广东奥普特科技股份有限公司 | A kind of calibrating installation and calibration method of dispensing needle head |
-
2015
- 2015-11-20 CN CN201520934941.2U patent/CN205120043U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105318837A (en) * | 2015-11-20 | 2016-02-10 | 常州铭赛机器人科技股份有限公司 | A visual calibration device for end portions of quick-wear parts and a calibration method thereof |
| CN105318837B (en) * | 2015-11-20 | 2018-04-17 | 常州铭赛机器人科技股份有限公司 | Vulnerable part end position vision alignment device and its calibration method |
| CN109877007A (en) * | 2019-03-20 | 2019-06-14 | 广东奥普特科技股份有限公司 | A kind of calibrating installation and calibration method of dispensing needle head |
| CN109877007B (en) * | 2019-03-20 | 2023-10-27 | 广东奥普特科技股份有限公司 | Calibration device and calibration method for dispensing needle |
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