CN206405908U - A kind of online vision detection system polished for robot - Google Patents
A kind of online vision detection system polished for robot Download PDFInfo
- Publication number
- CN206405908U CN206405908U CN201720102525.5U CN201720102525U CN206405908U CN 206405908 U CN206405908 U CN 206405908U CN 201720102525 U CN201720102525 U CN 201720102525U CN 206405908 U CN206405908 U CN 206405908U
- Authority
- CN
- China
- Prior art keywords
- guide rail
- dimensional
- robot
- industrial computer
- dimensional laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model is related to for the detection technique field in robot bruting process, more particularly, to a kind of online vision detection system polished for robot.It is characterized in including three-dimensional laser measuring mechanism and two-dimensional motion mechanism, pose adjustment mechanism is additionally provided with two-dimensional motion mechanism, described three-dimensional laser measuring mechanism includes industrial computer, industrial computer is connected with signal processor, signal processor is connected with the three-dimensional laser camera on pose adjustment mechanism, industrial computer is connected with the X-direction guide rail of two-dimensional motion mechanism and the control variable-frequency motor of Y-direction guide rail respectively, and keyboard and display are connected with industrial computer；The X-direction guide rail of two-dimensional motion mechanism is installed on guide rail in the Y direction.It solves repositioning error and the time waste that artificial detection band is come, and processing and the test problems of robot polishing are solved well, polishing, the automation process of detection is realized, effectively raises crudy and efficiency.
Description
Technical field
The utility model is related to for the detection technique field in robot bruting process, is used for machine more particularly, to one kind
The online vision detection system of device people polishing.
Background technology
Machine vision technique had swift and violent development as an important branch of computer science in nearly 30 years.By
Data processing can be carried out automatically with quick obtaining bulk information in NI Vision Builder for Automated Inspection, it is easy to believe with design information and machining control
Breath it is integrated, therefore, in modern automation production process, NI Vision Builder for Automated Inspection be widely used in operating condition monitoring, product inspection and
The fields such as quality control.Traditional detection mode be the parts clamping that will be processed to test system, it is direct with measurement apparatus
Contact measurement, measurement accuracy is low, and efficiency is low, it is difficult to realize automation.Machine Vision Inspecting System can not contact workpiece, pass through
Camera absorbs detection image, is translated into data signal, then using advanced computer hardware and software engineering to image
Data signal is handled, so that required various target image characteristics values are obtained, and implementation pattern is recognized on this basis,
Coordinate is calculated, a variety of functions such as intensity profile figure.Machine Vision Inspecting System can rapidly show figure according to its testing result
As output data, issue instruction, executing agency can coordinate it to complete position adjustment, and quality is screened, the automation such as data statistics
Flow.Workpiece need to be only scanned, image is rapidly shown according to its testing result, output data, issue instruction performs machine
Structure can coordinate it to complete accordingly to adjust, the automatic flow such as data statistics, compared with traditional detection mode, machine vision
Great advantage is noncontact, accurately, quickly, reliably, and information digitalization.
In robot polishing system of the prior art, the surface quality detection of polishing part needs to use offline mode,
After robot working procedure setting, it is necessary to just know processing result when removing workpiece after process finishing and measuring, will go out
Now clamping repeatedly, both reduces machining accuracy, loses time again, reduces productivity ratio, it is impossible to the real automation for realizing processing, mesh
It is preceding also to have in polishing station increase three-coordinates measuring machine to realize on-line measurement, but this method is not only high to field requirement, and
And cost is high, detection speed is slow.
The content of the invention
The purpose of this utility model is the defect for avoiding prior art and provides a kind of for the online of robot polishing
Vision detection system, efficiently solves the problem of prior art is present.
To achieve the above object, the technical scheme that the utility model is taken is：It is described a kind of to polish for robot
Online vision detection system, is characterized in including in three-dimensional laser measuring mechanism and two-dimensional motion mechanism, two-dimensional motion mechanism also
Pose adjustment mechanism is provided with, described three-dimensional laser measuring mechanism includes industrial computer, and industrial computer is connected with signal processor, believes
Number processor is connected with the three-dimensional laser camera on pose adjustment mechanism, industrial computer respectively with two-dimensional motion mechanism
X-direction guide rail is connected with the control variable-frequency motor of Y-direction guide rail, and keyboard and display are connected with industrial computer；Two-dimensional motion mechanism
X-direction guide rail install in the Y direction on guide rail.
Described pose adjustment mechanism includes the base on the X-direction guide rail of two-dimensional motion mechanism, and support shaft is led to
Flange in the bottom is crossed on base, adapter is provided with support shaft, deck is arranged on adapter by card handle, on card handle
Rotating shaft is provided with, bearing is arranged in rotating shaft, and the connecting plate for installing three-dimensional laser camera is provided with bearing.
Described card pommel portion is additionally provided with the knob for fastening deck and card handle, screws knob and realizes that adapter is relative
Fixed in support shaft, while realizing the clamping and positioning of card handle countershaft；Described bearing is fixedly linked by screw with rotating shaft, even
Fishplate bar is fixedly linked by screw with bearing.
The three-dimensional laser camera of described three-dimensional laser measuring mechanism is fixed by screws in the company of pose adjustment mechanism
On fishplate bar, workpiece is placed in three-dimensional laser camera scanning range, and three-dimensional laser is realized by the adjustment of pose adjustment mechanism
Scanning Detction of the camera to the single test position of workpiece；When needing integrally to measure the multiple measurement positions of workpiece surface, lead to
The movement for crossing the X-direction guide rail and Y-direction guide rail of two-dimensional motion mechanism realizes, the X-direction guide rail of two-dimensional motion mechanism and Y side
The encoded signal of variable-frequency motor of the direction guiding rail in motion is implemented to gather by industrial computer, so as to obtain three-dimensional laser camera edge
The movement of workpiece two-dimensional surface carries out sampled measurements, and the information of scanning passes through the figure that is delivered to after signal processor processes in industrial computer
As in analysis software, obtaining the corresponding of workpiece surface quality by the analysis to scanning cloud data and evaluating, corresponding measurement knot
Fruit is transferred to robot control cabinet through industrial computer, and robot is adjusted correspondingly continuation according to measurement result and processed or stopping.
The beneficial effects of the utility model are：A kind of described online vision detection system polished for robot, its
By introducing vision-based detection mechanism in robot bruting process, robot polishing detection automation is realized, artificial detection is solved
The repositioning error brought and time waste.Monitored when the device is to polishing fructufy, when result of polishing is unqualified, machine
People's polishing system meeting adjustment programme continues to polish, until processing certified products.Well solve robot polishing processing with
Test problems, realize polishing, the automation process of detection, effectively raise crudy and efficiency.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the utility model principle schematic diagram；
Fig. 2 is two-dimensional motion mechanism structural representation of the present utility model；
Fig. 3 is the utility model Fig. 2 configuration schematic diagram；
Fig. 4 is pose adjustment mechanism structural representation of the present utility model；
Fig. 5 is the utility model Fig. 4 configuration schematic diagram.
Shown in figure：1.Y traversing guides；2.X traversing guides；3. base；4. flange in the bottom；5. support shaft；6. adapter；
7. deck；8. card handle；9. bearing；10. knob；11. rotating shaft；12. connecting plate；13. three-dimensional laser camera；14. keyboard；15.
Display；16. industrial computer；17. signal processor.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit scope of the present utility model.
As shown in Fig. 1 to 5, a kind of described online vision detection system polished for robot is characterized in including
Pose adjustment mechanism, described three-dimensional are additionally provided with three-dimensional laser measuring mechanism and two-dimensional motion mechanism, two-dimensional motion mechanism
Laser measurement mechanism includes industrial computer 16, and industrial computer 16 is connected with signal processor 17, and signal processor 17 is with being arranged on pose
Three-dimensional laser camera 13 on adjustment mechanism is connected, industrial computer 16 respectively with the X-direction guide rail 2 of two-dimensional motion mechanism and Y side
The control variable-frequency motor of direction guiding rail 1 is connected, and keyboard 14 and display 15 are connected with industrial computer 16；The X-direction of two-dimensional motion mechanism
Guide rail 2 is installed on guide rail 1 in the Y direction.
Further, described pose adjustment mechanism includes the base 3 on the X-direction guide rail 2 of two-dimensional motion mechanism,
Support shaft 5 is installed on the base 3 by flange in the bottom 4, and adapter 6 is provided with support shaft 5, and deck 7 is arranged on by card handle 8
On adapter 6, rotating shaft 11 is provided with card handle 8, bearing 9 is arranged in rotating shaft 11, is provided with bearing 9 three-dimensional sharp for installing
The connecting plate 12 of light video camera head 13.
Further, the described end of card handle 8 is additionally provided with the knob 10 for fastening deck 7 and card handle 8, screws knob 10
Realize that adapter 6 is fixed relative to support shaft 5, while realizing the clamping and positioning of the countershaft 11 of card handle 8；Described bearing 9 passes through
Screw is fixedly linked with rotating shaft 11, and connecting plate 12 is fixedly linked by screw with bearing 9.
Further, the three-dimensional laser camera 13 of described three-dimensional laser measuring mechanism is fixed by screws in pose adjustment
On the connecting plate 12 of mechanism, workpiece is placed in the scanning range of three-dimensional laser camera 13, passes through the adjustment of pose adjustment mechanism
Realize Scanning Detction of the three-dimensional laser camera to the single test position of workpiece；It is whole to the multiple measurement positions of workpiece surface when needing
During bulk measurement, realized by the movement of the X-direction guide rail 2 and Y-direction guide rail 1 of two-dimensional motion mechanism, two-dimensional motion mechanism
The encoded signal of the variable-frequency motor of X-direction guide rail 2 and Y-direction guide rail 1 in motion is implemented to gather by industrial computer 16, so as to obtain
Obtain three-dimensional laser camera 13 and move carry out sampled measurements along workpiece two-dimensional surface, the information of scanning passes through signal processor processes
It is delivered to afterwards in the image analysis software in industrial computer 16, workpiece surface quality is obtained by the analysis to scanning cloud data
Correspondence is evaluated, and corresponding measurement result is transferred to robot control cabinet through industrial computer, and robot carries out corresponding according to measurement result
Adjustment continue process or stop.
The three-dimensional laser camera 13 of described three-dimensional laser measuring mechanism is image acquisition equipment, and it is by being distributed in it
On each pixel photodiode linear array or rectangular array constitute, pass through the voltage of each diode of Sequential output
Pulse, realizes the purpose that image light signals are converted into electric signal.The sequence of voltage pulses of output can be directly with RS-170 systems
Formula inputs standard television display, or inputs the internal memory of computer, carries out the processing that quantizes.Image procossing is by picture signal
Manage device to complete, then signal processor passes the signal to COGNEX image analysis softwares, software can be absorbed by analysis
Picture obtain the related geometry physical message of testee.Output display is directly completed over the display.
To limit the utility model, all any modifications within spirit of the present utility model and principle, made, equally replace
Change, improve, should be included within protection domain of the present utility model.
Claims (4)
1. a kind of online vision detection system polished for robot, it is characterized in that including three-dimensional laser measuring mechanism and two dimension
Pose adjustment mechanism is additionally provided with motion, two-dimensional motion mechanism, described three-dimensional laser measuring mechanism includes industrial computer,
Industrial computer is connected with signal processor, and signal processor is connected with the three-dimensional laser camera on pose adjustment mechanism,
Industrial computer is connected with the X-direction guide rail of two-dimensional motion mechanism and the control variable-frequency motor of Y-direction guide rail respectively, keyboard and display
It is connected with industrial computer；The X-direction guide rail of two-dimensional motion mechanism is installed on guide rail in the Y direction.
2. a kind of online vision detection system polished for robot as claimed in claim 1, it is characterised in that：Described
Pose adjustment mechanism includes the base on the X-direction guide rail of two-dimensional motion mechanism, and support shaft is installed by flange in the bottom
On base, adapter is provided with support shaft, deck is arranged on adapter by card handle, and rotating shaft is provided with card handle, is propped up
Seat is arranged in rotating shaft, and the connecting plate for installing three-dimensional laser camera is provided with bearing.
3. a kind of online vision detection system polished for robot as claimed in claim 2, it is characterised in that：Described
Card pommel portion is additionally provided with the knob for fastening deck and card handle, screws knob and realizes that adapter is fixed relative to support shaft,
The clamping and positioning of card handle countershaft is realized simultaneously；Described bearing is fixedly linked by screw with rotating shaft, and connecting plate passes through screw
It is fixedly linked with bearing.
4. a kind of online vision detection system polished for robot as claimed in claim 1, it is characterised in that：Described
The three-dimensional laser camera of three-dimensional laser measuring mechanism is fixed by screws on the connecting plate of pose adjustment mechanism, and workpiece is placed
In three-dimensional laser camera scanning range, realize that three-dimensional laser camera is single to workpiece by the adjustment of pose adjustment mechanism
The Scanning Detction of test position；When needing integrally to measure the multiple measurement positions of workpiece surface, pass through the X of two-dimensional motion mechanism
The movement of traversing guide and Y-direction guide rail realizes, the X-direction guide rail and Y-direction guide rail of two-dimensional motion mechanism are in motion
The encoded signal of variable-frequency motor is implemented to gather by industrial computer, is moved so as to obtain three-dimensional laser camera along workpiece two-dimensional surface
Sampled measurements are carried out, the information of scanning is led to by being delivered to after signal processor processes in the image analysis software in industrial computer
The correspondence evaluation that the analysis to scanning cloud data obtains workpiece surface quality is crossed, corresponding measurement result is transferred to through industrial computer
Robot control cabinet, robot is adjusted correspondingly continuation according to measurement result and processed or stopping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720102525.5U CN206405908U (en) | 2017-01-31 | 2017-01-31 | A kind of online vision detection system polished for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720102525.5U CN206405908U (en) | 2017-01-31 | 2017-01-31 | A kind of online vision detection system polished for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206405908U true CN206405908U (en) | 2017-08-15 |
Family
ID=59557635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720102525.5U Withdrawn - After Issue CN206405908U (en) | 2017-01-31 | 2017-01-31 | A kind of online vision detection system polished for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206405908U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584273A (en) * | 2017-01-31 | 2017-04-26 | 西北工业大学 | Online visual detecting system for robot polishing |
| CN110253437A (en) * | 2019-05-14 | 2019-09-20 | 重庆市合川区均恒金属加工厂 | A kind of intelligent work piece sanding and polishing detection device |
| CN110421436A (en) * | 2019-08-29 | 2019-11-08 | 四川智能创新铸造有限公司 | The removal system of robot machining steel-casting increasing meat and riser root |
| CN114918679A (en) * | 2022-06-24 | 2022-08-19 | 沈阳建筑大学 | Continuous machining and heat treatment production line and data acquisition and processing system |
-
2017
- 2017-01-31 CN CN201720102525.5U patent/CN206405908U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584273A (en) * | 2017-01-31 | 2017-04-26 | 西北工业大学 | Online visual detecting system for robot polishing |
| CN106584273B (en) * | 2017-01-31 | 2019-02-15 | 西北工业大学 | A kind of online vision detection system for robot polishing |
| CN110253437A (en) * | 2019-05-14 | 2019-09-20 | 重庆市合川区均恒金属加工厂 | A kind of intelligent work piece sanding and polishing detection device |
| CN110421436A (en) * | 2019-08-29 | 2019-11-08 | 四川智能创新铸造有限公司 | The removal system of robot machining steel-casting increasing meat and riser root |
| CN114918679A (en) * | 2022-06-24 | 2022-08-19 | 沈阳建筑大学 | Continuous machining and heat treatment production line and data acquisition and processing system |
| CN114918679B (en) * | 2022-06-24 | 2024-04-12 | 沈阳建筑大学 | Continuous machining and heat treatment production line and data acquisition and processing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106584273B (en) | A kind of online vision detection system for robot polishing | |
| CN206405908U (en) | A kind of online vision detection system polished for robot | |
| US20200150055A1 (en) | Automatic detection device and method for detecting surface detects of large caliber cambered optical element | |
| CN110146019B (en) | Workpiece size online detection and automatic compensation method based on industrial camera | |
| CN107037130B (en) | Monocular vision three-D ultrasonic nondestructive detection system and detection method | |
| CN110355607A (en) | A kind of vision detection system of the lathe tool state of wear of machining center | |
| CN108489394A (en) | A kind of large-scale sheet metal works almost T-stable automatic detection device and method | |
| CN108917594A (en) | A kind of machine vision device measuring household board size | |
| CN110260790A (en) | A kind of detection device and its detection method of the punching angle steel based on 3D vision | |
| CN208042989U (en) | A kind of large-scale sheet metal works almost T-stable automatic detection device | |
| CN210720188U (en) | Rapid automatic optical detection system | |
| CN108759676A (en) | Based on tessellated transmission case end face large scale geometric tolerance detection device and method | |
| CN110017783A (en) | Plate is displaced on-line measuring device and conveyer system | |
| CN106197515B (en) | A kind of detecting system and its detection method of instrument pointer amount of jitter | |
| CN104215171A (en) | Noncontact laser ray measuring method for internal threads | |
| CN109030508A (en) | A kind of plug detection device | |
| CN209247652U (en) | Rivet surface defect on-line measuring device on a kind of big shell | |
| CN114354633B (en) | Ceramic bathroom appearance quality detection system and detection method | |
| CN201917325U (en) | Off-line detection device for optical deflection angle of float glass | |
| CN216988673U (en) | Six visual inspection device of inductance | |
| Lei et al. | Automated vision inspection system for the size measurement of workpieces | |
| CN114740084A (en) | Detection method and system for steel surface coating | |
| CN208238727U (en) | A kind of machine vision device measuring household board size | |
| CN105403163A (en) | Printing ink thickness detection method | |
| CN207487601U (en) | High-precision breadth on-line measurement device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170815 Effective date of abandoning: 20190215 |
|
| AV01 | Patent right actively abandoned |