CN205861568U - A kind of hexahedro vision inspection apparatus - Google Patents
A kind of hexahedro vision inspection apparatus Download PDFInfo
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- CN205861568U CN205861568U CN201620766125.XU CN201620766125U CN205861568U CN 205861568 U CN205861568 U CN 205861568U CN 201620766125 U CN201620766125 U CN 201620766125U CN 205861568 U CN205861568 U CN 205861568U
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Abstract
The utility model discloses a kind of hexahedro vision inspection apparatus, including the first sucker connecting gear, second sucker connecting gear, image collecting device, first synchronous transfer mechanism, second synchronous transfer mechanism and for control workpiece for measurement transmission control system, first synchronous transfer mechanism is arranged at below the first sucker connecting gear, second synchronous transfer mechanism is arranged at above the second sucker connecting gear, first sucker connecting gear and the second sucker connecting gear are connected L-shaped setting, image collecting device includes multiple photographic head, photographic head is respectively provided in the first synchronous transfer mechanism and the second synchronous transfer mechanism.This utility model when detection can quickly, accurately and efficiently dimensional accuracy or outward appearance to workpiece carry out Precision measurement.
Description
Technical field
This utility model relates to a kind of detection device, is specifically related to a kind of hexahedro vision inspection apparatus.
Background technology
Vision-based detection replaces human eye to detect with photographic head exactly, and it refers to will be detected by the photographic head of machine
The profile of object is converted into analogue signal, sends special image processing system to, and then this system is divided pixel in image again
Cloth and the information such as brightness, color, be transformed into digitized signal；Picture system carries out various computing to extract target to these signals
Feature, and then according to differentiate result control scene device action.Use which to the dimensional accuracy of workpiece or
The aspects such as outward appearance detect, and relatively conventional manual detection has the advantages such as quick, accurate, efficient.
At present in field of visual inspection, typically take following two method when the dimensional accuracy of workpiece is detected:
1, static measurement.When using this kind of mode to detect, it is necessary to workpiece is fixed on immediately below detection photographic head, takes the photograph
As head remains stationary with workpiece；Then photographic head takes pictures workpiece, the most again by image processing system shot image
It is analyzed drawing testing result, finally workpiece has been removed detection immediately below photographic head.Adopt and detect in this way
Effective, precision is high, but there is the speed shortcoming slow, inefficient of detection.
2, dynamically detect.When using this kind of mode to detect, detection photographic head is fixed in the frame of machine, by passing
Sending mechanism that workpiece is moved in the past successively below photographic head, photographic head and workpiece have relative displacement, and photographic head is to immediately below it
The workpiece of movement is scanned detection, by image processing system, scanogram is analyzed drawing testing result the most again.
Adopting the speed that detects in this way fast, efficiency is high, but due to during detection photographic head have relative displacement with workpiece, cause shooting
The picture signal that head gathers is unstable, there is the weak effect of detection, shortcoming that precision is low.
When the open defect of workpiece is detected, typically carefully to detect the color on each surface of workpiece, size, integrity degree
Etc. details.At present, if wanting high-speed and continuous online a hexahedro square or cuboid packing crates to be carried out open defect inspection
During survey, can't use vision-based detection that it is measured at present, can only manually with human eye, each face be entered with hand-held workpiece
Row observation.Because the photographic head of vision-based detection can only detect a hexahedral face, by configuring multiple photographic head, at most can only
Detect 4 faces.Six the most online detections in face cannot be realized.The process speed using manual detection is slow, weak effect, efficiency
Low, far cannot meet the job requirement of reality.
Utility model content
For technical problem present in prior art, the purpose of this utility model is: provide a kind of hexahedro vision-based detection
Device.
The purpose of this utility model is achieved through the following technical solutions: a kind of hexahedro vision inspection apparatus, including the first suction
Dish connecting gear, the second sucker connecting gear, image collecting device, the first synchronous transfer mechanism, the second synchronous transfer mechanism with
And for controlling the control system of workpiece for measurement transmission, the first synchronous transfer mechanism is arranged at below the first sucker connecting gear,
Second synchronous transfer mechanism is arranged at above the second sucker connecting gear, the first sucker connecting gear and the second sucker connecting gear
Be connected L-shaped setting, and image collecting device is for gathering the view data of the hexahedro view of workpiece for measurement, including multiple photographic head,
Photographic head is respectively provided in the first synchronous transfer mechanism and the second synchronous transfer mechanism, and wherein the first synchronous transfer mechanism gathers
Workpiece for measurement downside, workpiece for measurement left surface and the view data of workpiece for measurement right flank, the second synchronous transfer mechanism adopts
Collection workpiece for measurement leading flank and the view data of workpiece for measurement trailing flank, the view data of workpiece for measurement upper side is synchronized by first
Transmission mechanism or the second synchronous transfer mechanism are acquired.
Preferably, described first synchronous transfer mechanism and the second synchronous transfer mechanism all include servomotor, sprocket wheel, conveying
Chain and frame, servomotor is rotated by chain wheel drive chain, and frame is installed on chain, image collector
Put and be arranged in frame.
Preferably, the first synchronous transfer mechanism and the second synchronous transfer mechanism are additionally provided with sub-scanning mechanism, auxiliary
Sweep mechanism includes driving motor, leading screw slide unit and connection sliding block, drives motor to be used for driving the screw turns of leading screw slide unit,
Connection sliding block is connected on the leading screw of leading screw slide unit, and connection sliding block moving direction is parallel with workpiece for measurement transmission direction, described machine
Frame is connected with connection sliding block；
Described frame takes the shape of the letter U setting, and the photographic head of image collecting device is separately positioned on the first synchronous transfer mechanism and the
Frame both ends that two synchronous transfer mechanisms take the shape of the letter U and/or middle part.
Preferably, it is additionally provided with workpiece auxiliary gatherer, workpiece auxiliary gatherer delivery outlet and the first sucker transmission
Mechanism or the second sucker connecting gear connect, and workpiece auxiliary gatherer includes conveyer device, left importing plate and right importing plate,
Left importing plate and right importing plate are separately positioned on the support body of conveyer belt both sides of conveyer device, left importing plate and right importing plate it
Between formed and ajust passage along transmission direction diminishing workpiece.
Preferably, described first sucker connecting gear and the second sucker connecting gear all include conveyer belt, electromagnetic valve and
Multiple suckers, sucker is respectively arranged on conveyer belt, and sucker all protrudes from the zone face of conveyer belt, and electromagnetic valve is multiple, respectively with
Sucker connects, and is used for controlling sucker and is turned on and off；
Control system is for making sucker open when workpiece enters by each electromagnetic valve of control and closing when workpiece exports.
Preferably, described sucker becomes multiple rows of and is uniformly arranged on a moving belt, the sucker between two rows apart from equal, electromagnetic valve
For multiple, respectively with often arrange sucker and be connected, be turned on and off for controlling often row's sucker；
Control system includes control equipment, workpiece detector and sucker sensor, workpiece detector and sucker sensor
Being connected with control equipment respectively, each electromagnetic valve is connected with control equipment respectively, and workpiece detector and sucker sensor are arranged on
Conveyer belt porch；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, and according to sucker sensor
Distance between detection data and two row's suckers, obtain below workpiece after the displacement of sucker with the workpiece transmission range set
Compare and judge whether workpiece arrives required position of transmitting, the most then control the closed electromagnetic valve of corresponding sucker.
Preferably, described control system includes that control equipment, entrance workpiece detector, outlet workpiece detector, entrance are inhaled
Dish sensor and go out oral sucker sensor, entrance workpiece detector, exports workpiece detector, enters oral sucker sensor and go out
Oral sucker sensor is connected with control equipment respectively, and each electromagnetic valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Outlet workpiece detector and go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Outlet workpiece detector is for detecting whether there is workpiece to arrive conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is used for receiving entrance workpiece detector, exports workpiece detector, enters oral sucker sensor and outlet
The data that sucker sensor sends, and make sucker open when workpiece enters according to the data received by controlling each electromagnetic valve
Close with when workpiece exports.
Preferably, the first synchronous transfer mechanism, the second synchronous transfer mechanism are equipped with alignment sensor, control system bag
Include control equipment；
The servomotor of the first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism, the second synchronous transfer machine
The servomotor of structure, the driving motor of the second synchronous transfer mechanism and alignment sensor are connected with control equipment respectively；
Alignment sensor is respectively used to detect the position of workpiece；
Control equipment is for receiving the detection information of two alignment sensors, and starts correspondence according to the detection information received
The first synchronous transfer mechanism and the second synchronous transfer mechanism.
Preferably, the first sucker connecting gear includes the 3rd sucker connecting gear and the 4th sucker connecting gear, the 3rd
Sucker connecting gear and the 4th sucker connecting gear are that in-line connects, the 4th sucker connecting gear and the second sucker connecting gear
Be connected L-shaped setting, and the first synchronous transfer mechanism is two, the respectively the 3rd synchronous transfer mechanism and the 4th synchronous transfer machine
Structure, the 3rd synchronous transfer mechanism is arranged at above the 3rd sucker connecting gear, and the 4th synchronous transfer mechanism is arranged at the 4th sucker
Below connecting gear, the 4th synchronous transfer mechanism is for gathering the view data of workpiece for measurement downside, workpiece for measurement left surface
And the view data of workpiece for measurement right flank is acquired by the 3rd synchronous transfer mechanism or the 4th synchronous transfer mechanism；
The view data of workpiece for measurement upper side is acquired by the 3rd synchronous transfer mechanism or the second synchronous transfer mechanism.
This utility model has such advantages as relative to prior art and effect:
1, this utility model when detection can quickly, accurately and efficiently dimensional accuracy or outward appearance to workpiece carry out essence
Close detection, this utility model collection static detection and the advantage of dynamically detection, reject its shortcoming, is passed by the second synchronization when detection
Transfer mechanism, the 3rd synchronous transfer mechanism and the 4th synchronous transfer mechanism make image collecting device do synchronous transport together with workpiece
Motion so that it is both keep the most motionless in doing motion the most in the same direction, or controlled relative motion, it is achieved image collecting device
All workpiece being admitted to the second sucker connecting gear, the 3rd sucker connecting gear and the 4th sucker connecting gear are transported
The static detection of disorder of internal organs or Scanning Detction.Image collecting device can return to again initial position and enter next workpiece after completing detection
Row detection, thus can enable image collecting device detect the workpiece of conveying continuously, image when can guarantee that again detection
Harvester opposite piece is static or does controlled relative motion, so can draw Static Detection effective high with precision
Benefit, can guarantee that again it has kinetic measurement speed fast, the advantage that efficiency is high, can reach both concentrated static detection and dynamically examined
The advantage surveyed, rejects again the purpose of its shortcoming.Second sucker connecting gear of the present utility model, the 3rd sucker connecting gear and
4th sucker connecting gear coordinates special Multi-angle camera, can examine the outward appearance on each surface of workpiece in detail
Survey, to ensure high speed, Detection results efficient, high-precision.
2, the second sucker connecting gear, the 3rd sucker connecting gear and the 4th sucker conveyer that this utility model uses
Structure is by one of them surface of sucker suction workpiece thus realizes transmitting, and wherein the 3rd sucker connecting gear is by absorption workpiece
End face, is suspended in workpiece and carries out vision-based detection in the air, it is possible to ensure that image collecting device can when carrying out Video Detection
The whole bottom surface of complete scan workpiece and side, and the second sucker connecting gear, the 3rd sucker connecting gear and the 4th sucker
Sucker on connecting gear all protrudes from the zone face of conveyer belt, and this can be avoided when directly using flat belt conveying, due to
The vision-based detection error that the refraction on flat belt surface causes, makes the view data collected more accurate.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation that this utility model is lateral.
Fig. 3 is the 3rd synchronous transfer mechanism of the present utility model or the second synchronous transfer mechanism three camera collections of drive
The schematic diagram of view data.
Fig. 4 is the schematic diagram that the 4th synchronous transfer mechanism of the present utility model drives three camera collection view data.
Fig. 5 is the 3rd synchronous transfer mechanism of the present utility model or the second synchronous transfer mechanism two camera collections of drive
The schematic diagram of view data.
Fig. 6 is the structural representation of sub-scanning mechanism of the present utility model.
Fig. 7 is the structural representation of workpiece of the present utility model auxiliary gatherer.
Fig. 8 is schematic diagram when the 3rd sucker connecting gear of the present utility model and the work of the 3rd synchronous transfer mechanism.
Fig. 9 is schematic diagram when the 4th sucker connecting gear of the present utility model and the work of the 4th synchronous transfer mechanism.
Figure 10 is the second sucker connecting gear of the present utility model and the structural representation of the second synchronous transfer mechanism.
Figure 11 is schematic diagram during workpiece entrance conveyer belt of the present utility model.
Figure 12 is the 3rd sucker connecting gear and the 4th sucker connecting gear schematic diagram when work delivery.
Figure 13 be workpiece on sucker time carry out the schematic diagram of image data acquiring.
Figure 14 is that the vision-based detection that workpiece causes due to refraction when flat belt surface transport carries out image data acquiring is missed
The schematic diagram of difference.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, this utility model is described in further detail, but enforcement of the present utility model
Mode is not limited to this.
Embodiment one:
A kind of hexahedro vision inspection apparatus, including the first sucker connecting gear, the second sucker connecting gear 1, image acquisition
Device, the first synchronous transfer mechanism, the second synchronous transfer mechanism 2 and for controlling the control system of workpiece for measurement transmission, the
One synchronizes transmission mechanism is arranged at below the first sucker connecting gear, and the second synchronous transfer mechanism is arranged at the second sucker conveyer
Above structure, the first sucker connecting gear and the second sucker connecting gear are connected L-shaped setting, and image collecting device is treated for collection
Surveying the view data of the hexahedro view of workpiece, including six or at least six photographic head 3, photographic head is respectively provided to the first synchronization and passes
On transfer mechanism and the second synchronous transfer mechanism, wherein the first synchronous transfer mechanism gathers workpiece for measurement downside, a workpiece for measurement left side
Side and the view data of workpiece for measurement right flank, the second synchronous transfer mechanism gathers workpiece for measurement leading flank and workpiece for measurement
The view data of trailing flank, the view data of workpiece for measurement upper side is by the first synchronous transfer mechanism or the second synchronous transfer mechanism
It is acquired.
Preferably, described first synchronous transfer mechanism and the second synchronous transfer mechanism all include servomotor 4, sprocket wheel 5, defeated
Sending chain 6 and frame 7, servomotor is rotated by chain wheel drive chain, and frame is installed on chain, and image is adopted
Acquisition means is arranged in frame.
Preferably, the first synchronous transfer mechanism and the second synchronous transfer mechanism are additionally provided with sub-scanning mechanism 8, auxiliary
Sweep mechanism includes driving motor 9, leading screw slide unit 10 and connection sliding block 11, drives motor for driving the leading screw of leading screw slide unit
Rotating, connection sliding block is connected on the leading screw of leading screw slide unit, and connection sliding block moving direction is parallel with workpiece for measurement transmission direction, institute
State frame to be connected with connection sliding block.
Preferably, described frame takes the shape of the letter U setting, and the photographic head of image collecting device is separately positioned on the first synchronous transfer machine
Frame both ends that structure and the second synchronous transfer mechanism take the shape of the letter U and/or middle part.
For improving efficiency, multiple first can be arranged on the first sucker connecting gear and the second sucker connecting gear and synchronize
Transmission mechanism and the second synchronous transfer mechanism, and arrange auxiliary in each first synchronous transfer mechanism and the second synchronous transfer mechanism
Help sweep mechanism, so can take turns to operate with multiple first synchronous transfer mechanisms and the second synchronous transfer mechanism, improve work effect
Rate.
Preferably, being additionally provided with workpiece auxiliary gatherer 12, workpiece auxiliary gatherer delivery outlet and the first sucker pass
Sending mechanism or the second sucker connecting gear to connect, workpiece auxiliary gatherer includes conveyer device 13, left importing plate 14 and the right side
Importing plate 15, left importing plate and right importing plate be separately positioned on the support body of conveyer belt both sides of conveyer device, left importing plate and
Formed between right importing plate and ajust passage 16 along the diminishing workpiece in transmission direction.
The front end of left importing plate and right importing plate importing direction is bolt-connected to the conveyer belt of conveyer device respectively
On the support body of both sides.
Preferably, described first sucker connecting gear and the second sucker connecting gear all include conveyer belt 17, electromagnetic valve with
And multiple sucker 18, sucker is respectively arranged on conveyer belt, and sucker all protrudes from the zone face of conveyer belt, and electromagnetic valve is multiple, point
It is not connected with sucker, is used for controlling sucker and is turned on and off；
Control system is for making sucker open when workpiece enters by each electromagnetic valve of control and closing when workpiece exports.
Preferably, described sucker becomes multiple rows of and is uniformly arranged on a moving belt, the sucker between two rows apart from equal, electromagnetic valve
For multiple, respectively with often arrange sucker and be connected, be turned on and off for controlling often row's sucker；
Control system includes that control equipment, workpiece detector 19 and sucker sensor 20, workpiece detector and sucker pass
Sensor is connected with control equipment respectively, and each electromagnetic valve is connected with control equipment respectively, and workpiece detector and sucker sensor set
Put in conveyer belt porch；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, and according to sucker sensor
Distance between detection data and two row's suckers, obtain below workpiece after the displacement of sucker with the workpiece transmission range set
Compare and judge whether workpiece arrives required position of transmitting, the most then control the closed electromagnetic valve of corresponding sucker.
Preferably, the first synchronous transfer mechanism, the second synchronous transfer mechanism are equipped with alignment sensor；
The servomotor of the first synchronous transfer mechanism, the driving motor of the first synchronous transfer mechanism, the second synchronous transfer machine
The servomotor of structure, the driving motor of the second synchronous transfer mechanism and alignment sensor are connected with control equipment respectively；
Alignment sensor is respectively used to detect the position of workpiece；
Control equipment is for receiving the detection information of two alignment sensors, and starts correspondence according to the detection information received
The first synchronous transfer mechanism and the second synchronous transfer mechanism.
Preferably, the first sucker connecting gear is two, and the respectively the 3rd sucker connecting gear 21 and the 4th sucker pass
Sending mechanism 22, the 3rd sucker connecting gear and the 4th sucker connecting gear is that in-line connects, the 4th sucker connecting gear and the
Two sucker connecting gears are connected L-shaped setting, and the first synchronous transfer mechanism is two, the respectively the 3rd synchronous transfer mechanism 23 with
And the 4th synchronous transfer mechanism 24, the 3rd synchronous transfer mechanism is arranged at above the 3rd sucker connecting gear, the 4th synchronous transfer
Mechanism is arranged at below the 4th sucker connecting gear, and the 4th synchronous transfer mechanism is for gathering the picture number of workpiece for measurement downside
According to, the view data of workpiece for measurement left surface and workpiece for measurement right flank is by the 3rd synchronous transfer mechanism or the 4th synchronous transfer
Mechanism is acquired；
The view data of workpiece for measurement upper side is acquired by the 3rd synchronous transfer mechanism or the second synchronous transfer mechanism.
Work process of the present utility model and operation principle: workpiece 25 is respectively put into the defeated of workpiece auxiliary gatherer
Sending on band, workpiece transmits with conveyer belt, ajusts logical then into the workpiece formed between left importing plate and right importing plate
In road, if workpiece is ajusted the most on request or do not puts setting position, workpiece enters into after workpiece ajusts passage, due to work
Part is ajusted passage and is gradually reduced along transmission direction, and workpiece ajusts the outlet size of passage equal to the width of workpiece or more than workpiece
Width 1-5mm, therefore, workpiece advance during contact with left importing plate and/or right importing plate, while by means of conveyer belt before
The power entered, left importing plate and right importing plate make workpiece rotate and/or generation is moved thus correct workpiece, it is ensured that postorder
Image collecting device energy accurate acquisition in program is to the view data of six outer surfaces of workpiece.
Workpiece enters into the 3rd sucker connecting gear after passage output ajusted by workpiece；
The work process of the 3rd sucker connecting gear and operation principle:
After workpiece detector detects that workpiece enters, send signal to control equipment；
When control equipment receives the signal that workpiece detector sends, judge according to the feedback signal of sucker sensor
Being now placed in the sucker below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece is opened, this sucker air-breathing, to work
Part adsorbs；
Sucker distance between two rows is set to less than workpiece bottom length, it is ensured that at least two row's suckers can be the most right
Workpiece adsorbs, it is achieved the stable transmission of workpiece.
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
Control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being triggered by sucker sensor time
Number is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement, then is passed by the workpiece of the workpiece displacement obtained with setting
Defeated distance is compared and is judged whether workpiece arrives desired location, the most then control the closed electromagnetic valve of sucker below this workpiece, inhales
Dish stops suction, and now workpiece arrival the 3rd sucker connecting gear and the junction of the 4th sucker connecting gear, i.e. workpiece are now
Enter into the conveyer belt porch of the 4th sucker connecting gear；
The work process of the 3rd synchronous transfer mechanism and operation principle:
When workpiece transmits at the 3rd sucker connecting gear, workpiece can trigger the location of the first synchronous transfer mechanism and pass
Sensor.
Owing to the photographic head of frame now and image collecting device is respectively positioned on the orientation sensing of the first synchronous transfer mechanism
The surface of device, therefore when alignment sensor detects that workpiece moves in its front, control equipment controls the first synchronous transfer
Photographic head in the frame of driven by servomotor the first synchronous transfer mechanism of mechanism moves with identical speed with workpiece, in shooting
In head moving process, the image information of camera collection workpiece；
Owing to being provided with sub-scanning mechanism in the 3rd synchronous transfer mechanism, when workpiece is longer, and photographic head can not be once
When gathering workpiece image information completely, the driving electric motor starting of the sub-scanning mechanism of the 3rd synchronous transfer mechanism, passes through leading screw
Slide unit and connection sliding block make frame move along outer surface of workpiece, and photographic head carries out image information collecting to workpiece simultaneously, i.e. reaches
To the effect of Scanning Detction, thus gather the image information that workpiece is complete.Further, it is also possible to by the 3rd synchronous transfer mechanism
The driving motor driven carriage of sub-scanning mechanism repeatedly moves, and takes pictures work, so after often moving a segment distance
After move again and again another part of workpiece taken pictures, until clapping complete outer surface of workpiece, complete the image information of workpiece
Gather.
4th sucker connecting gear and the operation principle of the second sucker connecting gear and work process and the 3rd sucker transmission
Mechanism is similar, the 4th synchronous transfer mechanism and the operation principle of the second synchronous transfer mechanism and work process and the 3rd synchronous transfer
Mechanism is similar, additionally, be also equipped with sub-scanning mechanism in the 4th synchronous transfer mechanism.
It should be noted that workpiece is when the 3rd sucker connecting gear sends into the 4th sucker connecting gear, workpiece is from the 4th
The bottom surface of sucker connecting gear is transmitted, thus by unsettled for the bottom surface of workpiece, the 3rd synchronous transfer mechanism passes from the 4th sucker
Send and below mechanism, drive photographic head that the bottom surface of workpiece is carried out image information collecting.
Workpiece when the 4th sucker connecting gear sends into the second sucker connecting gear, due to, the 4th sucker connecting gear with
Second sucker connecting gear is connected L-shaped setting, and therefore, workpiece is when entering the second sucker connecting gear, and direction of transfer produces
The break-in of 90 degree, forms the effect of commutation, i.e. the end face of workpiece and remaining do not have collected two outer surface to be respectively facing the
Photographic head in two synchronous transfer mechanisms, therefore, the second synchronous transfer mechanism can drive camera collection workpiece to be left not adopted
The image information of two outer surfaces of collection, thus the image information of the six of workpiece outer surfaces is collected.
And photographic head can be 9, the frame of the second synchronous transfer mechanism, the frame of the 3rd synchronous transfer mechanism and
It is respectively provided with three in the frame of the 4th synchronous transfer mechanism；
Photographic head can be 6, and one of them photographic head is arranged on the central rack that the 4th synchronous transfer mechanism takes the shape of the letter U,
For gathering the view data of workpiece for measurement downside；
Two photographic head are separately positioned on the frame both ends that the second synchronous transfer mechanism takes the shape of the letter U, and are used for gathering work to be measured
The view data of part downside；
Two photographic head are separately positioned on frame both ends or the 4th synchronous transfer machine that the 3rd synchronous transfer mechanism takes the shape of the letter U
The frame both ends that structure takes the shape of the letter U, for gathering workpiece for measurement left surface and the view data of workpiece for measurement right flank；
One photographic head is arranged on central rack that the 3rd synchronous transfer mechanism takes the shape of the letter U or the second synchronous transfer mechanism is U
The central rack of shape, for gathering the view data of workpiece for measurement upper side.
Embodiment two:
Preferably, described control system also includes entrance workpiece detector, exports workpiece detector, enters oral sucker sensor
And go out oral sucker sensor, entrance workpiece detector, export workpiece detector, enter oral sucker sensor and go out oral sucker and pass
Sensor is connected with control equipment respectively, and each electromagnetic valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Outlet workpiece detector and go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Outlet workpiece detector is for detecting whether there is workpiece to arrive conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is used for receiving entrance workpiece detector, exports workpiece detector, enters oral sucker sensor and outlet
The data that sucker sensor sends, and make sucker open when workpiece enters according to the data received by controlling each electromagnetic valve
Close with when workpiece exports.
Embodiment three:
The first sucker connecting gear described in a kind of embodiment one and the control method of the second sucker connecting gear, including with
Lower step:
Sucker identification:
Total for sucker row parameter and two interambulacrum distance parameters are input to control equipment；
S1: conveyer belt rotates and drives often row's sucker to move from sucker sensor front；
S2: often arrange the sucker from sucker sensor front process and trigger sucker sensor once, sucker sensor will be by
The signal triggered feeds back to control equipment successively；
S3: control the equipment feedback signal according to sucker sensor, by the sequencing of feedback, feedback signal is entered successively
Line number, until it reaches stop during the total row of sucker being numbered, thus each sucker is numbered, and by numbering to each row
Sucker is identified；
Control to carry:
After S4: workpiece detector detects that workpiece enters, send signal to control equipment；
S5: when control equipment receives the signal that workpiece detector sends, according to the feedback signal of sucker sensor
Judge the sucker being now placed in below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece opened, this sucker air-breathing,
Workpiece is adsorbed；
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
S6: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being touched by sucker sensor
Send out number of times to be multiplied by adjacent two row's interambulacrum distances and obtain workpiece displacement, then the work by the workpiece displacement that obtains with setting
Part transmission range is compared and is judged whether workpiece arrives desired location, the most then the electromagnetic valve controlling the sucker below this workpiece closes
Closing, sucker stops suction, and completes the transmission of workpiece.
Above-described embodiment is this utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The restriction of embodiment, other any without departing from the change made under spirit of the present utility model and principle, modify, replace
In generation, combine, simplify, all should be the substitute mode of equivalence, within being included in protection domain of the present utility model.
Claims (9)
1. a hexahedro vision inspection apparatus, it is characterised in that: include the first sucker connecting gear, the second sucker connecting gear,
Image collecting device, the first synchronous transfer mechanism, the second synchronous transfer mechanism and for control workpiece for measurement transmission control
System, the first synchronous transfer mechanism is arranged at below the first sucker connecting gear, and the second synchronous transfer mechanism is arranged at the second suction
Above dish connecting gear, the first sucker connecting gear and the second sucker connecting gear are connected L-shaped setting, and image collecting device is used
In the view data of the collection hexahedro view of workpiece for measurement, including multiple photographic head, photographic head is respectively provided to the first synchronous transfer
In mechanism and the second synchronous transfer mechanism, wherein the first synchronous transfer mechanism gathers on the left of workpiece for measurement downside, workpiece for measurement
Face and the view data of workpiece for measurement right flank, after the second synchronous transfer mechanism gathers workpiece for measurement leading flank and workpiece for measurement
The view data of side, the view data of workpiece for measurement upper side is entered by the first synchronous transfer mechanism or the second synchronous transfer mechanism
Row gathers.
Hexahedro vision inspection apparatus the most according to claim 1, it is characterised in that: described first synchronous transfer mechanism and the
Two synchronous transfer mechanisms all include servomotor, sprocket wheel, chain and frame, and servomotor passes through chain wheel drive carrier chain
Bar rotates, and frame is installed on chain, and image collecting device is arranged in frame.
Hexahedro vision inspection apparatus the most according to claim 2, it is characterised in that: the first synchronous transfer mechanism is same with second
Being additionally provided with sub-scanning mechanism on step transmission mechanism, sub-scanning mechanism includes driving motor, leading screw slide unit and connecting sliding
Block, drives motor for driving the screw turns of leading screw slide unit, and connection sliding block is connected on the leading screw of leading screw slide unit, connection sliding block
Moving direction is parallel with workpiece for measurement transmission direction, and described frame is connected with connection sliding block；
Described frame takes the shape of the letter U setting, the photographic head of image collecting device be separately positioned on the first synchronous transfer mechanism with second with
Walk frame both ends and/or middle part that transmission mechanism takes the shape of the letter U.
Hexahedro vision inspection apparatus the most according to claim 1, it is characterised in that: it is additionally provided with workpiece auxiliary and imports dress
Putting, workpiece auxiliary gatherer delivery outlet and the first sucker connecting gear or the second sucker connecting gear connect, and workpiece auxiliary is led
Enter device and include that conveyer device, left importing plate and right importing plate, left importing plate and right importing plate are separately positioned on conveyer device
Conveyer belt both sides support body on, formed between left importing plate and right importing plate and ajust logical along transmission direction diminishing workpiece
Road.
Hexahedro vision inspection apparatus the most according to claim 1, it is characterised in that: described first sucker connecting gear and
Two sucker connecting gears all include conveyer belt, electromagnetic valve and multiple sucker, and sucker is respectively arranged on conveyer belt, and sucker is the most convex
For the zone face of conveyer belt, electromagnetic valve is multiple, is connected with sucker respectively, is used for controlling sucker and is turned on and off；
Control system is for making sucker open when workpiece enters by each electromagnetic valve of control and closing when workpiece exports.
Hexahedro vision inspection apparatus the most according to claim 5, it is characterised in that: described sucker becomes multiple rows of and is uniformly arranged on
On conveyer belt, the sucker between two rows is apart from equal, and electromagnetic valve is multiple, respectively with often arrange sucker and be connected, often arrange for controlling
Sucker is turned on and off；
Control system includes that control equipment, workpiece detector and sucker sensor, workpiece detector and sucker sensor are respectively
Being connected with controlling equipment, each electromagnetic valve is connected with control equipment respectively, and workpiece detector and sucker sensor are arranged on transmission
At tape entry；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, and detects according to sucker sensor
Distance between data and two row's suckers, obtains below workpiece after the displacement of sucker compared with the workpiece transmission range set
Judge whether workpiece arrives required position of transmitting, the most then control the closed electromagnetic valve of corresponding sucker.
Hexahedro vision inspection apparatus the most according to claim 5, it is characterised in that: described control system includes that control sets
Standby, entrance workpiece detector, exporting workpiece detector, enter oral sucker sensor and go out oral sucker sensor, entrance workpiece is examined
Survey device, export workpiece detector, enter oral sucker sensor and go out oral sucker sensor and be connected with control equipment respectively, each electromagnetism
Valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Outlet workpiece detector and go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Outlet workpiece detector is for detecting whether there is workpiece to arrive conveyer belt outlet；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is used for receiving entrance workpiece detector, exports workpiece detector, enter oral sucker sensor and go out oral sucker
Sensor send data, and according to the data received by control each electromagnetic valve make sucker open when workpiece enters and
Close during workpiece output.
Hexahedro vision inspection apparatus the most according to claim 3, it is characterised in that: the first synchronous transfer mechanism, second with
Being equipped with alignment sensor on step transmission mechanism, control system includes control equipment；
The servomotor of the first synchronous transfer mechanism, the first synchronous transfer mechanism drive motor, the second synchronous transfer mechanism
Servomotor, the driving motor of the second synchronous transfer mechanism and alignment sensor are connected with control equipment respectively；
Alignment sensor is respectively used to detect the position of workpiece；
Control equipment is for receiving the detection information of two alignment sensors, and starts corresponding the according to the detection information that receives
One synchronizes transmission mechanism and the second synchronous transfer mechanism.
9. according to the arbitrary described hexahedro vision inspection apparatus of claim 1-8, it is characterised in that: the first sucker connecting gear bag
Including the 3rd sucker connecting gear and the 4th sucker connecting gear, the 3rd sucker connecting gear and the 4th sucker connecting gear are one
Font connects, and the 4th sucker connecting gear and the second sucker connecting gear are connected L-shaped setting, and the first synchronous transfer mechanism is two
Individual, the respectively the 3rd synchronous transfer mechanism and the 4th synchronous transfer mechanism, the 3rd synchronous transfer mechanism is arranged at the 3rd sucker
Above connecting gear, the 4th synchronous transfer mechanism is arranged at below the 4th sucker connecting gear, and the 4th synchronous transfer mechanism is used for
Gathering the view data of workpiece for measurement downside, the view data of workpiece for measurement left surface and workpiece for measurement right flank is by the 3rd
Synchronous transfer mechanism or the 4th synchronous transfer mechanism are acquired；
The view data of workpiece for measurement upper side is acquired by the 3rd synchronous transfer mechanism or the second synchronous transfer mechanism.
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| CN201620766125.XU CN205861568U (en) | 2016-07-19 | 2016-07-19 | A kind of hexahedro vision inspection apparatus |
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| CN205861568U true CN205861568U (en) | 2017-01-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106018430A (en) * | 2016-07-19 | 2016-10-12 | 广东水利电力职业技术学院 | Six-surface vision detecting device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106018430A (en) * | 2016-07-19 | 2016-10-12 | 广东水利电力职业技术学院 | Six-surface vision detecting device and control method thereof |
| CN116698858A (en) * | 2017-07-11 | 2023-09-05 | 深圳宜美智科技股份有限公司 | Second transmission mechanism and corresponding PCB automatic detection machine |
| CN116698858B (en) * | 2017-07-11 | 2024-01-30 | 深圳宜美智科技股份有限公司 | Second transmission mechanism and corresponding PCB automatic detection machine |
| CN107991318A (en) * | 2017-12-01 | 2018-05-04 | 西南交通大学 | A kind of high-precision detection device |
| CN107991318B (en) * | 2017-12-01 | 2024-01-05 | 西南交通大学 | High-precision detection device |
| CN108333186A (en) * | 2018-04-03 | 2018-07-27 | 南京理工大学 | Go mouldy detecting system and its detection method based on the surfaces Yan Duo |
| CN111530764A (en) * | 2020-05-09 | 2020-08-14 | 郑昊 | Express delivery data acquisition device that leaves warehouse based on slider is spacing |
| CN112378926A (en) * | 2020-10-10 | 2021-02-19 | 天津中科智能识别产业技术研究院有限公司 | Flexible film visual detection device and method |
| CN112362667A (en) * | 2020-11-04 | 2021-02-12 | 广东鑫光智能系统有限公司 | Improved six-surface detection device for plate production and detection method thereof |
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Effective date of registration: 20221227 Address after: Room 501, Building 5, No. 18, Dalingshan Road, Tianhe District, Guangzhou, Guangdong 510665 Patentee after: GUANGZHOU ZHENGHAI TECHNOLOGY DEVELOPMENT CO.,LTD. Address before: No.122 Tianshou Road, Tianhe District, Guangzhou City, Guangdong Province Patentee before: GUANGDONG TECHNICAL College OF WATER RESOURCES AND ELECTRIC ENGINEERING |