CN212622159U - Tire surface defect information acquisition equipment - Google Patents
Tire surface defect information acquisition equipment Download PDFInfo
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- CN212622159U CN212622159U CN202020583614.8U CN202020583614U CN212622159U CN 212622159 U CN212622159 U CN 212622159U CN 202020583614 U CN202020583614 U CN 202020583614U CN 212622159 U CN212622159 U CN 212622159U
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Abstract
The utility model discloses a tire surface defect information acquisition device, which comprises a device supporting base, a mechanical arm, a flexible vision module and a controller; the utility model discloses equipment gathers the surface with the tire and divide into the triplex, and the bead is gathered, and inner wall and outer wall are gathered, gather the triplex simultaneously, and do not influence each other to can be to different model tires, the rotary camera, angle of adjustment carries out the image acquisition of excellence, has reduced the follow-up degree of difficulty to gathering in the aspect of image processing and analysis greatly, has high suitability and expansibility.
Description
Technical Field
The utility model belongs to the technical field of tire information acquisition, concretely relates to tire surface defect information acquisition equipment.
Background
The development of the automobile industry has greatly promoted the development of the tire industry, and the tire section profile is an important content of the tire outer edge dimension, which is not only related to the matching between the tire and the vehicle, but also directly influences the operation stability and the driving safety of the vehicle. Tire safety has become a critical issue for traffic safety and has received increasing attention.
The surface of the tire may have some tiny defects in the process of tire production, such as toe-out, bead unfilled rubber, bead deformation and other nearly 50 defects. The bed body is mainly used for detecting the surface defects of the tires through human eyes, however, the information of the surface defects of the tires is easily influenced by the outside, the cost is high, and the precision is low. Therefore, the defect detection of the surface of the tire needs a defect information acquisition device with automation, high efficiency and high precision.
At present, tire defect collection products of domestic and foreign industry companies such as American Arclone, MTS, Germany Coleman and Swedish LMI company mostly collect defect information of the tire surface by a non-contact measurement method, such as a laser triangulation method and a structured light triangulation method. The tire surface defect detection equipment is not widely applied so far, and three main reasons for restricting the market space are as follows: firstly, the application research of tire detection at home and abroad mostly focuses on visual detection elements provided for tire manufacturers, and almost no complete detection equipment exists; secondly, the existing equipment cannot be modified and added into a tire production line, cannot be suitable for tires of various models, and cannot check all positions of the tires; thirdly, the existing equipment can not efficiently analyze the types and reasons of the surface defects of the tires.
SUMMERY OF THE UTILITY MODEL
The aforesaid is not enough among the prior art, the utility model provides a tire surface defect information acquisition equipment has solved current artifical tire defect information of gathering problem with high costs, inefficiency and the effect is unsatisfactory.
In order to achieve the above object, the utility model adopts the following technical scheme: a tire surface defect information acquisition device comprises a device supporting base, a mechanical arm, a flexible vision module and a controller;
the equipment supporting base is connected with the flexible vision module through a mechanical arm, and the mechanical arm and the flexible vision module are both connected with the controller;
the equipment supporting base is used for fixing the bottom of the mechanical arm and the tire to be detected;
the mechanical arm is used for connecting the equipment supporting base and the flexible vision module, and the flexible vision module is used for wrapping all surfaces of the tire to be detected under the control of the mechanical arm;
the flexible vision module is used for acquiring images of all surfaces of the tire to be detected;
the controller is used for controlling the rotation of the tire to be collected, the movement of the mechanical arm and the position of the flexible vision module on the equipment supporting base.
Further, the equipment supporting base comprises a mechanical arm fixing frame and a tire fixing frame;
the mechanical arm fixing frame is fixedly connected with the bottom end of the mechanical arm;
the tire fixing frame is provided with a driving movable rolling shaft, a driven movable rolling shaft and two tire fixing baffles;
the driving movable rolling shaft and the driven movable rolling shaft are oppositely arranged, a central shaft of the driving movable rolling shaft is connected with a servo motor, the servo motor is connected with a controller, and the tire to be detected is vertically arranged on the driving movable rolling shaft and the driven movable rolling shaft;
the two tire fixed baffles are oppositely arranged and arranged between the driving movable rolling shaft and the driven movable rolling shaft, and the distance between the two tire fixed baffles is equal to the width of the tire to be tested.
Further, the robotic arm is at least a 14 degree of freedom robotic arm.
Furthermore, the flexible vision module comprises a module base, two seam allowance detection modules, two outer wall acquisition modules and two inner wall acquisition modules;
the surface of one side of the module base is movably connected with the top of the mechanical arm;
the two seam allowance detection modules are fixed on the surface of one side, connected with the mechanical arm, of the module base, and are arranged in the opposite direction;
two outer wall collection module and inner wall collection module are all fixed on the module base with be fixed with the vice mouthful of one side opposite of detection module on the surface, two inner wall collection module sets up in two between the outer wall collection module, two inner wall collection module sets up in reverse, two outer wall collection module is reverse also to set up.
Furthermore, each seam allowance detection module comprises a first camera fixing frame, a first rotating connecting plate, a first steering engine and a first base;
the first camera fixing frame is connected with a rotating shaft of the first steering engine through the first rotating connecting plate; the first base is fixedly arranged on the module base;
the camera is fixedly arranged in the first camera fixing frame, and the first steering engine is connected with the controller.
Furthermore, each inner wall acquisition module comprises a first inner wall detection unit, a second inner wall detection unit, a plurality of third inner wall detection units and a fourth inner wall detection unit;
one end of the first inner wall detection unit is fixedly connected with the module base, and the other end of the first inner wall detection unit, the second inner wall detection unit, the plurality of third inner wall detection units and the fourth inner wall detection unit are sequentially and movably connected;
the first inner wall detection unit comprises a second base, a pi-shaped fixing piece and a first steering engine; the first steering engine is fixed on the second base through a pi-shaped fixing piece, and a rotating shaft of the first steering engine is connected with the second inner wall detection unit;
the second inner wall detection unit comprises a second camera fixing frame, a pi-shaped fixing piece and a first steering engine; the first steering engine is fixed on a second camera fixing frame through a pi-shaped fixing piece, the second camera fixing frame is movably connected with the first steering engine in the first inner wall detection unit, a rotating shaft of the first steering engine is connected with a third inner wall detection unit, and a camera is fixedly arranged in the second camera fixing frame;
each third inner wall detection unit comprises a third camera fixing frame, a pi-shaped fixing piece and a first steering engine; the first steering engine is fixed on a third camera fixing frame through a pi-shaped fixing piece, the third camera fixing frame is connected with the first steering engine in the second inner wall detection unit, a rotating shaft of the first steering engine is connected with a next third inner wall detection unit or a fourth inner wall detection unit, and a camera is fixedly arranged in the third camera fixing frame;
the fourth inner wall detection unit comprises a fourth camera fixing frame, the fourth camera fixing frame is connected with the first steering engine in the third inner wall detection unit, and a camera is fixedly arranged in the fourth camera fixing frame;
the cameras in the second inner wall detection unit, the third inner wall detection unit and the fourth inner wall detection unit are arranged on the same horizontal line;
and a first steering engine in the first inner wall detection unit, a first steering engine in the second inner wall detection unit and a first steering engine in the third inner wall detection unit are all connected with the controller.
Furthermore, each outer wall acquisition module comprises a first outer wall detection unit, a second outer wall detection unit, a plurality of third outer wall detection units, a fourth outer wall detection unit and a fifth outer wall detection unit;
one end of the first outer wall detection unit is fixedly connected with the module base, and the first outer wall detection unit, the second outer wall detection unit, the third outer wall detection unit, the fourth outer wall detection unit and the fifth outer wall detection unit are sequentially and movably connected;
the first outer wall detection unit comprises a third base, a pi-shaped fixing piece and a second steering engine, the third base is fixed on the module base, the second steering engine is fixed on the third base through the pi-shaped fixing piece, and a rotating shaft of the second steering engine is movably connected with the second outer wall detection unit;
the second outer wall detection unit comprises a fifth camera fixing frame, a pi-shaped fixing piece and a first steering engine, the fifth camera fixing frame is connected with the second steering engine in the first outer wall detection unit, the first steering engine is fixed on the fifth camera fixing frame through the pi-shaped fixing piece, a camera is fixed on the fifth camera fixing frame, and a rotating shaft of the first steering engine is movably connected with the third outer wall detection unit;
the third outer wall detection unit comprises a sixth camera fixing frame, a pi-shaped fixing piece and a first steering engine, the sixth camera fixing frame is connected with the first steering engine in the second outer wall detection unit, the first steering engine is fixed on the sixth camera fixing frame through the pi-shaped fixing piece, a camera is fixed on the sixth camera fixing frame, and a rotating shaft of the first steering engine is connected with the next third outer wall detection unit or the fourth outer wall detection unit;
the fourth outer wall detection unit comprises a seventh camera fixing frame, a pi-shaped fixing piece and a first steering engine, the seventh camera fixing frame is connected with the first steering engine in the third outer wall detection unit, the first steering engine is fixed on the seventh camera fixing frame through the pi-shaped fixing piece, a camera is fixed on the seventh camera fixing frame, and a rotating shaft of the first steering engine is connected with the fifth outer wall detection unit;
the fifth outer wall detection unit comprises an eighth camera fixing frame, the eighth camera fixing frame is connected with the first steering engine in the fifth outer wall detection unit, and a camera is fixed on the eighth camera fixing frame;
the camera setting positions in the second outer wall detection unit, the third outer wall detection unit, the fourth outer wall detection unit and the fifth outer wall detection unit are all on the same horizontal line;
and a second steering engine in the first outer wall detection unit, a first steering engine in the second outer wall detection unit, a first steering engine in the third outer wall detection unit and a first steering engine in the fourth outer wall detection unit are all connected with the controller.
Further, the controller comprises a USB-to-RS485 TTL signal conversion board and a motion controller with the model of GTS-400-PVG-PCI;
the USB-to-RS485-TTL signal conversion plate is used for controlling the operation of all steering engines in the robot arm and the flexible vision module;
the motion controller is used for controlling the rotation of the servo motor and further controlling the rotation of the tire to be collected. Furthermore, a memory is arranged in each camera;
the torque of the first steering engine is 40 kg-cm, and the model is SCS 40-DS;
further, the torque of the second steering engine is 60kg · cm, and its model is SCS 560.
The utility model has the advantages that:
the utility model provides a tire surface defect information acquisition equipment divide into the triplex with tire detection surface, and the bead detects, and inner wall and outer wall detect, carry out information acquisition to the triplex simultaneously, and each other does not influence to can be to different model tires, the rotary camera, angle of adjustment carries out the image acquisition of excellence, has reduced the follow-up degree of difficulty to the aspect of gathering image processing and analysis greatly, has high suitability and expansibility.
Drawings
Fig. 1 is the utility model provides a tire surface defect information acquisition equipment overall structure chart.
Fig. 2 is the structure diagram of the supporting base of the device provided by the present invention.
Fig. 3 is a structural view of the mechanical arm provided by the present invention.
Fig. 4 is the structure diagram of the flexible visual module provided by the present invention.
Fig. 5 is a structure diagram of the seam allowance detection module provided by the present invention.
Fig. 6 is a structure view of the first inner wall detecting unit provided by the present invention.
Fig. 7 is a structural diagram of a second inner wall detection unit provided by the present invention.
Fig. 8 is a third inner wall detecting unit structure diagram provided by the present invention.
Fig. 9 is a structural diagram of a fourth inner wall detection unit provided by the present invention.
Fig. 10 is a structural diagram of a first outer wall detection unit provided by the present invention.
Fig. 11 is a structural diagram of a second outer wall detecting unit provided by the present invention.
Fig. 12 is a third outer wall detecting unit structure diagram provided by the present invention.
Fig. 13 is a structural view of a fourth outer wall detection unit according to the present invention.
Fig. 14 is a fifth outer wall detecting unit structure diagram provided by the present invention.
Wherein: 1. an equipment support base; 2. a flexible vision module; 3. a mechanical arm; 4. a first steering engine; 5. a second steering engine; 6. a pi-shaped fixing member; 7. a camera; 8. a tire to be collected; 11. a mechanical arm fixing frame; 12. a tire fixing frame; 12-1, a driving movable roller; 12-2, a servo motor; 12-3, tire fixing baffles; 12-4, driven movable rollers; 21. a bead acquisition module; 22. a module base; 23. an inner wall acquisition module; 24. an outer wall acquisition module; 21-1, a first camera mount; 21-2, a first rotating connecting plate; 21-3, a first base; 23-1, a second base; 23-2, a second camera fixing frame; 23-3, a third camera fixing frame; 23-4, a fourth camera fixing frame; 24-1, a third base; 24-2, a fifth camera mount; 24-3, a sixth camera fixing frame; 24-4, a seventh camera mount; 24-5 and an eighth camera fixing frame.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art within the spirit and scope of the present invention as defined and defined by the appended claims.
The utility model provides a tire surface defect information acquisition equipment, as shown in figure 1, comprising an equipment supporting base 1, a mechanical arm 3, a flexible vision module 2 and a controller;
the equipment supporting base 1 is connected with the flexible vision module 2 through the mechanical arm 3, and the mechanical arm 3 and the flexible vision module 2 are both connected with the controller;
the equipment supporting base 1 is used for fixing the bottom of the mechanical arm 3 and the tire 8 to be collected, and the tire 8 to be collected rotates on the equipment supporting base 1;
the mechanical arm 3 is used for connecting the equipment supporting base 1 and the flexible vision module 2, and the flexible vision module 2 is used for wrapping all surfaces of the tire 8 to be collected under the control of the mechanical arm 3;
the flexible vision module 2 is used for acquiring images of all surfaces of the tire 8 to be acquired;
the controller is used for controlling the rotation of the tire 8 to be collected on the equipment supporting base 1, the movement of the mechanical arm 3 and the position of the flexible vision module 2.
As shown in fig. 2, the apparatus supporting base 1 includes a robot arm holder 11 and a tire holder 12; the mechanical arm fixing frame 11 is fixedly connected with the bottom end of the mechanical arm 3; the tire fixing frame 12 is provided with a driving movable roller 12-1, a driven movable roller 12-4 and two tire fixing baffles 12-3; the driving movable roller 12-1 and the driven movable roller 12-4 are oppositely arranged, the central shaft of the driving movable roller 12-1 is connected with the servo motor 12-2, the servo motor 12-2 is connected with the controller, and the tire 8 to be collected is vertically arranged on the driving movable roller 12-1 and the driven movable roller 12-4; the two tire fixing baffles 12-3 are oppositely arranged and are arranged between the driving movable roller 12-1 and the driven movable roller 12-4, and the distance between the two tire fixing baffles 12-3 is equal to the width of the tire 8 to be collected.
The equipment supporting base 1 is mainly used for fixing a tire 8 to be collected and the mechanical arm 3, and the problems that the tire cannot be accurately fixed and the information on the surface of the collected tire is incomplete when the flexible vision module 2 collects the information on the surface defects of the tire are solved; after the tire 8 is placed between the driving movable roller 12-1 and the driven movable roller 12-4, the controller controls the servo motor 12-2 to work, so as to drive the tire 8 which is in direct contact with the driving movable roller to rotate, the rotation of the tire 8 drives the driven movable roller 12-4 to rotate, thereby realizing that the tire 8 rotates according to the requirement of information acquisition under the control of the controller, meanwhile, in order to prevent the tire 8 from toppling towards two sides, a tire fixing baffle 12-3 is also arranged between the driving movable roller 12-1 and the driven movable roller 12-4, and a plurality of small rollers are arranged on the fixing baffle to be in direct contact with the surface of the tire 8, so that the friction between the tire 8 and a fixing piece when the tire 8 rotates on the tire fixing frame 12 is reduced, and unnecessary defects are avoided when the information of the surface defects of.
As shown in fig. 3, the robot arm 3 has at least 14 degrees of freedom. The utility model adopts a space-Tai six-axis industrial mechanical arm, and because the tire detection is divided into an inner part and an outer part, the six-axis industrial mechanical arm with the highest degree of freedom is needed to be selected, so that the camera can be adjusted to be right opposite to the tire surface, and the complete tire surface image output is realized; other six-shaft mechanical arms bearing more than 12kg can be used instead.
As shown in fig. 4, the flexible vision module 2 includes a module base 22, two sub-opening collection modules 21, two outer wall collection modules 24, and two inner wall collection modules 23; one side surface of the module base 22 is movably connected with the top of the mechanical arm 3; the two sub-opening acquisition modules 21 are fixed on the surface of one side of the module base 22 connected with the mechanical arm 3, and the two sub-opening acquisition modules 21 are arranged in the reverse direction; two outer wall collection modules 24 and inner wall collection module 23 are all fixed on module base 22 and are fixed with the opposite side surface of rim of mouth collection module 21, and two inner wall collection modules 23 set up between two outer wall collection modules 24, and two inner wall collection modules 23 reverse setting, and two outer wall collection modules 24 are reverse setting too.
Each acquisition module in the flexible vision module 2 is movably connected with the inside, and the two outer wall acquisition units are arranged oppositely; during information acquisition, under the control of the controller, the two outer wall acquisition modules 24 completely wrap the outer surface of the tire 8, the controller controls the rotation of the tire 8 to enable the two outer wall acquisition modules 24 to acquire all information of the outer surface of the tire 8, meanwhile, the inner wall acquisition module 23 extends into the tire 8 under the control of the controller, all information of the inner surface of the tire 8 is acquired in the rotation process of the tire 8, and the bead acquisition module 21 acquires and detects the bead position of the tire and the surface of the tire on the outer side of a small bead.
As shown in fig. 5, each sub-aperture acquisition module 21 includes a first camera fixing frame 21-1, a first rotating connecting plate 21-2, a first steering engine 4 and a first base 21-3; the first steering engine 4 is fixedly arranged on the first base 21-3, and the first camera fixing frame 21-1 is connected with a rotating shaft of the first steering engine 4 through a first rotating connecting plate 21-2; the first base 21-3 is fixedly arranged on the module base 22; the camera 7 is fixedly arranged in the first camera fixing frame 21-1, and the first steering engine 4 is connected with the controller.
Each inner wall acquisition module 23 in the utility model comprises a first inner wall acquisition unit, a second inner wall acquisition unit, a plurality of third inner wall acquisition units and a fourth inner wall acquisition unit; one end of the first inner wall acquisition unit is fixedly connected with the module base 22, and the other end of the first inner wall acquisition unit, the second inner wall acquisition unit, the plurality of third inner wall acquisition units and the fourth inner wall acquisition units are sequentially and movably connected.
As shown in fig. 6, the first inner wall acquisition unit comprises a second base 23-1, a pi-shaped fixing piece 6 and a first steering engine 4; the first steering engine 4 is fixed on the second base 23-1 through a pi-shaped fixing piece 6, and a rotating shaft of the first steering engine 4 is connected with the second inner wall acquisition unit. The first inner wall acquisition unit is used for fixing one end of an inner wall acquisition module 23 on the module base 22, so that the mechanical arm 3 can drive the flexible vision module 2 to move integrally, and the first steering engine 4 is a small steering engine of 40 kg-cm;
as shown in fig. 7, the second inner wall acquisition unit includes a second camera fixing frame 23-2, a pi-shaped fixing member 6 and a first steering engine 4; the first steering engine 4 is fixed on a second camera fixing frame 23-2 through a pi-shaped fixing piece 6, the second camera fixing frame 23-2 is movably connected with the first steering engine 4 in the first inner wall acquisition unit, a rotating shaft of the first steering engine 4 is connected with a third inner wall acquisition unit, and a camera 7 is fixedly arranged in the second camera fixing frame 23-2.
As shown in fig. 8, each third inner wall acquisition unit includes a third camera fixing frame 23-3, a pi-shaped fixing member 6 and a first steering engine 4; the first steering engine 4 is fixed on a third camera fixing frame 23-3 through a pi-shaped fixing piece 6, the third camera fixing frame 23-3 is connected with the first steering engine 4 in the second inner wall acquisition unit, the rotating shaft of the first steering engine 4 is connected with the next third inner wall acquisition unit or the fourth inner wall acquisition unit, and a camera 7 is fixedly arranged in the third camera fixing frame 23-3.
The length is longer compared with the third inner wall acquisition unit to the second inner wall acquisition unit in fig. 7 and 8, mainly because 4 imaging surfaces of inner wall detection unilateral, second imaging surface is great with the third imaging surface, need go deep more can acquire more formation of image overlap positions, does benefit to image concatenation and tire surface defect and detects.
As shown in fig. 9, the fourth inner wall acquisition unit includes a fourth camera fixing frame 23-4, the fourth camera fixing frame 23-4 is connected to the first steering engine 4 in the third inner wall acquisition unit, and a camera 7 is fixedly disposed in the fourth camera fixing frame 23-4. Because the fourth inner wall acquisition unit is the outermost component in the inner wall acquisition module 23, a steering engine does not need to be arranged in the acquisition unit.
The cameras 7 in the second inner wall acquisition unit, the third inner wall acquisition unit and the fourth inner wall acquisition unit are arranged on the same horizontal line; and a first steering engine 4 in the first inner wall acquisition unit, a first steering engine 4 in the second inner wall acquisition unit and a first steering engine 4 in the third inner wall acquisition unit are connected with the controller. The controller makes each monitoring unit connected with it move to the assigned position through controlling each steering wheel, and then makes camera 7 on it can gather the continuous surface information of 8 inner walls of tire, improves the comprehensiveness of 8 surface information acquisition of tire.
Each outer wall acquisition module 24 in the utility model comprises a first outer wall acquisition unit, a second outer wall acquisition unit, a plurality of third outer wall acquisition units, a fourth outer wall acquisition unit and a fifth outer wall acquisition unit; one end of the first outer wall acquisition unit is fixedly connected with the module base 22, and the first outer wall acquisition unit, the second outer wall acquisition unit, the third outer wall acquisition unit, the fourth outer wall acquisition unit and the fifth outer wall acquisition unit are sequentially and movably connected.
As shown in fig. 10, the first outer wall acquisition unit includes a third base 24-1, a pi-shaped fixing member 6 and a second steering engine 5, the third base 24-1 is fixed on the module base 22, the second steering engine 5 is fixed on the third base 24-1 through the pi-shaped fixing member 6, and a rotation shaft of the second steering engine 5 is movably connected with the second outer wall acquisition unit. One end of an outer wall acquisition module 24 is fixed on a module base 22 by a first outer wall acquisition unit, so that the mechanical arm 3 can drive the flexible vision module 2 to move integrally, a second steering engine 5 is a large steering engine of 60 kg-cm,
as shown in fig. 11, the second outer wall acquisition unit includes a fifth camera fixing frame 24-2, a pi-shaped fixing member 6 and a first steering engine 4, the fifth camera fixing frame 24-2 is connected with a second steering engine 5 in the first outer wall acquisition unit, the first steering engine 4 is fixed on the fifth camera fixing frame 24-2 through the pi-shaped fixing member 6, a camera 7 is fixed on the fifth camera fixing frame 24-2, and a rotating shaft of the first steering engine 4 is movably connected with the third outer wall acquisition unit.
As shown in fig. 12, the third outer wall acquisition unit includes a sixth camera fixing frame 24-3, a pi-shaped fixing member 6 and a first steering engine 4, the sixth camera fixing frame 24-3 is connected with the first steering engine 4 in the second outer wall acquisition unit, the first steering engine 4 is fixed on the sixth camera fixing frame 24-3 through the pi-shaped fixing member 6, a camera 7 is fixed on the sixth camera fixing frame 24-3, and a rotation shaft of the first steering engine 4 is connected with the next third outer wall acquisition unit or the fourth outer wall acquisition unit.
As shown in fig. 13, the fourth outer wall acquisition unit includes a seventh camera fixing frame 24-4, a pi-shaped fixing member 6 and a first steering engine 4, the seventh camera fixing frame 24-4 is connected with the first steering engine 4 in the third outer wall acquisition unit, the first steering engine 4 is fixed on the seventh camera fixing frame 24-4 through the pi-shaped fixing member 6, a camera 7 is fixed on the seventh camera fixing frame 24-4, and a rotation shaft of the first steering engine 4 is connected with the fifth outer wall acquisition unit.
The second outer wall acquisition unit, the third outer wall acquisition unit and the fourth outer wall acquisition unit in fig. 11-13, wherein the length of the second outer wall detection unit is the smallest because the large steering engine is longer than the small steering engine, so the length of the second outer wall detection unit needs to be short, and the camera can be used for imaging the second imaging surface of the outer wall. The reason that the length of the third outer wall detection unit is long is that the third imaging surface of the outer wall is large, the camera needs to be far away from the third imaging surface to completely acquire an image, and the length of the second outer wall detection unit is determined according to the range of the fourth imaging surface.
As shown in fig. 14, the fifth outer wall acquisition unit includes an eighth camera fixing frame 24-5, the eighth camera fixing frame 24-5 is connected with the first steering engine 4 in the fifth outer wall acquisition unit, and the eighth camera fixing frame 24-5 is fixed with the camera 7; because the fifth outer wall acquisition unit is the outermost component in the outer wall acquisition module 24, a steering engine does not need to be arranged in the acquisition unit.
The arrangement positions of the cameras 7 in the second outer wall acquisition unit, the third outer wall acquisition unit, the fourth outer wall acquisition unit and the fifth outer wall acquisition unit are all on the same horizontal line; and a second steering engine 5 in the first outer wall acquisition unit, a first steering engine 4 in the second outer wall acquisition unit, a first steering engine 4 in the third outer wall acquisition unit and a first steering engine 4 in the fourth outer wall acquisition unit are all connected with the controller. The controller makes each monitoring unit connected with it move to the assigned position through controlling each steering wheel, and then makes camera 7 on it can gather the continuous surface information of 8 outer walls of tire, improves the comprehensiveness of 8 surface information acquisition of tire.
The controller in the utility model comprises a USB-RS485 TTL signal conversion board and a motion controller with the model of GTS-400-PVG-PCI; the USB-to-RS485-TTL signal conversion board is used for controlling the operation of all steering engines in the robot arm and the flexible vision module, so that the accurate collection of the surface defect information of the tire is realized; the motion controller is used for controlling the rotation of the servo motor and further controlling the rotation of the tire to be collected.
The utility model provides an all be provided with the memory in each camera 7 for the tire surface information that the storage camera was gathered provides data support when follow-up tire surface information carries out defect collection.
The torque of the small steering engine in the utility model is 40kg cm, and the model is SCS 40-DS; specifically, the utility model discloses in, the inside detection of tire divide into 8 imaging planes, each 4 imaging planes of the left and right sides, and each side need use the camera steering wheel module of 4 groups to shoot the tire inboard surface. The small steering engines are small and exquisite in appearance and light, the detection depth inside the tire is shallow, the small steering engines are suitable for being connected with a small number of small steering engines and go deep into the inner side of the tire to be detected, certain torque capacity is still needed, the maximum depth of the inner wall can be exceeded if the large steering engines are connected, or the internal detection imaging surface is reduced, and image output is finally influenced. A similar steering engine with a minimum torque of 40kg cm and a size of 25mm 40mm 60mm can be used instead. It should be emphasized, the utility model discloses first steering wheel in the scheme indicates that moment is 40kg cm's little steering wheel and does not indicate that what set up in the corresponding acquisition unit is same first steering wheel the utility model discloses the tang collection module in the equipment, first inner wall acquisition unit, second inner wall acquisition unit, third inner wall acquisition unit, fourth inner wall acquisition unit, second outer wall acquisition unit, third outer wall acquisition unit, fourth outer wall acquisition unit and fifth outer wall acquisition unit all are provided with the moment and are 40kg cm's first steering wheel, describe its position and relation of connection specifically, all describe in every first steering wheel setting place acquisition unit or adjacent acquisition unit scope, do not have for example the condition that first steering wheel in first inner wall acquisition unit and the third inner wall acquisition unit has the direct connection relation.
The torque of the large steering engine in the utility model is 60kg cm, and the model is SCS 560; specifically, in the present invention, the large steering engine is used for the first outer wall detection unit mainly because the unit needs to have a large enough torque to bear the weight of the following 5 units, and therefore at least 60 kg-cm steering engine is needed. Other steering engines with the same torque and the size of about 35mm 60mm 70mm can be used instead. It should be emphasized, the utility model discloses second steering wheel in the scheme indicates that moment is 60kg cm's big steering wheel and does not indicate that what set up in the corresponding acquisition unit is same second steering wheel the utility model discloses first outer wall acquisition unit and second outer wall acquisition unit in the equipment all are provided with the second steering wheel that moment is 60kg cm, describe its position and relation of connection specifically, all describe in every second steering wheel setting place acquisition unit or adjacent acquisition unit scope, do not have for example the condition that the first steering wheel in second steering wheel in the first outer wall acquisition unit and the third outer wall acquisition unit has the direct connection relation.
The utility model discloses an in the implementation, when providing tire information acquisition, to the tire of different models, need acquisition unit quantity reference in outer wall acquisition module and the inner wall acquisition module:
for the collection of the inner side and the outer side of a medium-large tire, 14-20 collection units are needed; 1) because the radian of the inner side of the tire is large and the tire is divided into two parts, each side can be clearly imaged by 4 cameras, the tire is suitable for the tire with the section width of more than 10in and the height-width ratio of more than 60 percent; 2) the inner side of the tire can be entered for collection due to the fact that the flexible module is required to deform, and the diameter of the rim needs to be more than 16 in.
For a small tire, only external acquisition can be carried out, and multi-surface acquisition cannot be simultaneously completed in the small tire, so that the number of required acquisition units is small, and 8-14 acquisition units are required; 1) the flexible structure is still required to deform and extend into the tire without internal collection, so that the wheel rim is suitable for the diameter of more than 11 in; 2) the outer tread can be captured with a single camera.
The utility model discloses an embodiment provides this collection equipment's working process:
1) starting servo preparation at an initial position by the equipment, and keeping a standby state;
2) under the control of the controller, the flexible visual module deforms and moves to an information acquisition initial position;
3) under the control of the controller, after the first half-circle of tire collection is carried out, the motor controls the tire to rotate for half a circle, the second half-circle of tire collection is carried out, and the whole collection of the tire surface information is completed;
4) after the acquisition is finished, the equipment exits to the initial position, and the operation is finished and the standby state is kept.
In the description of the present invention, it is to be understood that the terms "center", "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "radial", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the equipment or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or an implicit indication of the number of technical features. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or more of the features.
The utility model has the advantages that:
the utility model provides a tire surface defect information acquisition equipment gathers the surface with the tire and divide into the triplex, and the bead is gathered, and inner wall and outer wall are gathered, gather the triplex simultaneously, and do not influence each other to can be to different model tires, the rotary camera, angle of adjustment carries out the image acquisition of excellence, has reduced the follow-up degree of difficulty to gathering in the aspect of image processing and analysis greatly, has high suitability and expansibility. Because this equipment has flexible vision module, can easily gather other and have certain inner structure, or some have the complicated surface information of irregular surface object to and go deep inside internal surface information of gathering.
Claims (10)
1. The tire surface defect information acquisition equipment is characterized by comprising an equipment supporting base (1), a mechanical arm (3), a flexible vision module (2) and a controller;
the equipment supporting base (1) is connected with the flexible vision module (2) through a mechanical arm (3), and the mechanical arm (3) and the flexible vision module (2) are both connected with the controller;
the equipment supporting base (1) is used for fixing the bottom of the mechanical arm (3) and a tire (8) to be collected;
the mechanical arm (3) is used for connecting the equipment supporting base (1) and the flexible vision module (2), and the flexible vision module (2) is wrapped on all surfaces of the tire (8) to be collected under the control of the mechanical arm (3);
the flexible vision module (2) is used for collecting images of all surfaces of a tire (8) to be collected;
the controller is used for controlling the rotation of a tire (8) to be collected on the equipment supporting base (1), the movement of the mechanical arm (3) and the position of the flexible vision module (2).
2. The tyre surface defect information acquisition apparatus according to claim 1, wherein said apparatus support base (1) comprises a robot arm mount (11) and a tyre mount (12);
the mechanical arm fixing frame (11) is fixedly connected with the bottom end of the mechanical arm (3);
the tire fixing frame (12) is provided with a driving movable roller (12-1), a driven movable roller (12-4) and two tire fixing baffles (12-3);
the driving movable roller (12-1) and the driven movable roller (12-4) are oppositely arranged, a central shaft of the driving movable roller is connected with the servo motor (12-2), the servo motor (12-2) is connected with the controller, and the tire (8) to be collected is vertically arranged on the driving movable roller (12-1) and the driven movable roller (12-4);
the two tire fixing baffles (12-3) are oppositely arranged and are arranged between the driving movable roller (12-1) and the driven movable roller (12-4), and the distance between the two tire fixing baffles (12-3) is equal to the width of a tire (8) to be collected.
3. The apparatus for collecting information on surface defects of tire according to claim 1, wherein said robot arm (3) is a robot arm (3) with at least 14 degrees of freedom.
4. The tyre surface defect information acquisition apparatus according to claim 1, wherein said flexible vision module (2) comprises a module base (22), two bead acquisition modules (21), two outer wall acquisition modules (24) and two inner wall acquisition modules (23);
the surface of one side of the module base (22) is movably connected with the top of the mechanical arm (3);
the two sub-opening acquisition modules (21) are fixed on the surface of one side of the module base (22) connected with the mechanical arm (3), and the two sub-opening acquisition modules (21) are arranged in opposite directions;
two outer wall collection module (24) and inner wall collection module (23) are all fixed on module base (22) with be fixed with on the opposite side surface of rim of mouth collection module (21), two inner wall collection module (23) set up in two between outer wall collection module (24), two inner wall collection module (23) reverse setting, two outer wall collection module (24) also reverse setting.
5. The tire surface defect information acquisition device according to claim 4, wherein each of the bead acquisition modules (21) comprises a first camera fixing frame (21-1), a first rotating connecting plate (21-2), a first steering engine (4) and a first base (21-3);
the first steering engine (4) is fixedly arranged on the first base (21-3), and the first camera fixing frame (21-1) is connected with a rotating shaft of the first steering engine (4) through the first rotating connecting plate (21-2); the first base (21-3) is fixedly arranged on the module base (22);
a camera (7) is fixedly arranged in the first camera fixing frame (21-1), and the first steering engine (4) is connected with the controller.
6. The apparatus for collecting information on surface defects of tires according to claim 4, characterized in that each of the inner wall collecting modules (23) comprises a first inner wall collecting unit, a second inner wall collecting unit, a plurality of third inner wall collecting units and a fourth inner wall collecting unit;
one end of the first inner wall acquisition unit is fixedly connected with the module base (22), and the other end of the first inner wall acquisition unit, the second inner wall acquisition unit, the plurality of third inner wall acquisition units and the fourth inner wall acquisition unit are sequentially and movably connected;
the first inner wall acquisition unit comprises a second base (23-1), a pi-shaped fixing piece (6) and a first steering engine (4); the first steering engine (4) is fixed on the second base (23-1) through a pi-shaped fixing piece (6), and a rotating shaft of the first steering engine (4) is connected with the second inner wall acquisition unit;
the second inner wall acquisition unit comprises a second camera fixing frame (23-2), a pi-shaped fixing piece (6) and a first steering engine (4); the first steering engine (4) is fixed on a second camera fixing frame (23-2) through a pi-shaped fixing piece (6), the second camera fixing frame (23-2) is movably connected with the first steering engine (4) in the first inner wall acquisition unit, a rotating shaft of the first steering engine (4) is connected with a third inner wall acquisition unit, and a camera (7) is fixedly arranged in the second camera fixing frame (23-2);
each third inner wall acquisition unit comprises a third camera fixing frame (23-3), a pi-shaped fixing piece (6) and a first steering engine (4); the first steering engine (4) is fixed on a third camera fixing frame (23-3) through a pi-shaped fixing piece (6), the third camera fixing frame (23-3) is connected with the first steering engine (4) in the second inner wall acquisition unit, a rotating shaft of the first steering engine (4) is connected with the next third inner wall acquisition unit or the fourth inner wall acquisition unit, and a camera (7) is fixedly arranged in the third camera fixing frame (23-3);
the fourth inner wall acquisition unit comprises a fourth camera fixing frame (23-4), the fourth camera fixing frame (23-4) is connected with the first steering engine (4) in the third inner wall acquisition unit, and a camera (7) is fixedly arranged in the fourth camera fixing frame (23-4);
cameras (7) in the second inner wall acquisition unit, the third inner wall acquisition unit and the fourth inner wall acquisition unit are arranged on the same horizontal line;
and a first steering engine (4) in the first inner wall acquisition unit, a first steering engine (4) in the second inner wall acquisition unit and a first steering engine (4) in the third inner wall acquisition unit are all connected with the controller.
7. The tire surface defect information collecting apparatus according to claim 4, wherein each of said outer wall collecting modules (24) comprises a first outer wall collecting unit, a second outer wall collecting unit, a plurality of third outer wall collecting units, a fourth outer wall collecting unit and a fifth outer wall collecting unit;
one end of the first outer wall acquisition unit is fixedly connected with the module base (22), and the first outer wall acquisition unit, the second outer wall acquisition unit, the third outer wall acquisition unit, the fourth outer wall acquisition unit and the fifth outer wall acquisition unit are sequentially and movably connected;
the first outer wall acquisition unit comprises a third base (24-1), a pi-shaped fixing piece (6) and a second steering engine (5), the third base (24-1) is fixed on the module base (22), the second steering engine (5) is fixed on the third base (24-1) through the pi-shaped fixing piece (6), and a rotating shaft of the second steering engine is movably connected with the second outer wall acquisition unit;
the second outer wall acquisition unit comprises a fifth camera fixing frame (24-2), a pi-shaped fixing piece (6) and a first steering engine (4), the fifth camera fixing frame (24-2) is connected with a second steering engine (5) in the first outer wall acquisition unit, the first steering engine (4) is fixed on the fifth camera fixing frame (24-2) through the pi-shaped fixing piece (6), a camera (7) is fixed on the fifth camera fixing frame (24-2), and a rotating shaft of the first steering engine (4) is movably connected with the third outer wall acquisition unit;
the third outer wall acquisition unit comprises a sixth camera fixing frame (24-3), a pi-shaped fixing piece (6) and a first steering engine (4), the sixth camera fixing frame (24-3) is connected with the first steering engine (4) in the second outer wall acquisition unit, the first steering engine (4) is fixed on the sixth camera fixing frame (24-3) through the pi-shaped fixing piece (6), a camera (7) is fixed on the sixth camera fixing frame (24-3), and a rotating shaft of the first steering engine (4) is connected with the next third outer wall acquisition unit or the fourth outer wall acquisition unit;
the fourth outer wall acquisition unit comprises a seventh camera fixing frame (24-4), a pi-shaped fixing piece (6) and a first steering engine (4), the seventh camera fixing frame (24-4) is connected with the first steering engine (4) in the third outer wall acquisition unit, the first steering engine (4) is fixed on the seventh camera fixing frame (24-4) through the pi-shaped fixing piece (6), a camera (7) is fixed on the seventh camera fixing frame (24-4), and a rotating shaft of the first steering engine (4) is connected with the fifth outer wall acquisition unit;
the fifth outer wall acquisition unit comprises an eighth camera fixing frame (24-5), the eighth camera fixing frame (24-5) is connected with a first steering engine (4) in the fifth outer wall acquisition unit, and a camera (7) is fixed on the eighth camera fixing frame (24-5);
the arrangement positions of the cameras (7) in the second outer wall acquisition unit, the third outer wall acquisition unit, the fourth outer wall acquisition unit and the fifth outer wall acquisition unit are all on the same horizontal line;
and a second steering engine (5) in the first outer wall acquisition unit, a first steering engine (4) in the second outer wall acquisition unit, a first steering engine (4) in the third outer wall acquisition unit and a first steering engine (4) in the fourth outer wall acquisition unit are all connected with the controller.
8. The apparatus for collecting information on surface defects of a tire as set forth in claim 1, wherein said controller comprises a USB to rs485.ttl signal conversion board and a motion controller of model GTS-400-PVG-PCI;
the USB-to-RS485-TTL signal conversion plate is used for controlling the operation of all steering engines in the robot arm and the flexible vision module;
the motion controller is used for controlling the rotation of the servo motor and further controlling the rotation of the tire to be collected.
9. The tyre surface defect information collecting device according to any one of claims 5 to 7, wherein a memory is provided in each of said cameras (7);
the moment of the first steering engine (4) is 40kg cm, and the model is SCS 40-DS.
10. The apparatus for collecting information on surface defects of tire according to claim 7, wherein torque of said second steering engine (5) is 60 kg-cm, and its model is SCS 560.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020583614.8U CN212622159U (en) | 2020-04-17 | 2020-04-17 | Tire surface defect information acquisition equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020583614.8U CN212622159U (en) | 2020-04-17 | 2020-04-17 | Tire surface defect information acquisition equipment |
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| CN212622159U true CN212622159U (en) | 2021-02-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111307716A (en) * | 2020-04-17 | 2020-06-19 | 宁波积微速成智能科技有限公司 | Tire surface defect information acquisition equipment |
| CN113008900A (en) * | 2021-03-01 | 2021-06-22 | 创新奇智(上海)科技有限公司 | Tire flaw detection device |
| CN113418934A (en) * | 2021-08-24 | 2021-09-21 | 山东盛海橡胶有限公司 | Tire appearance detection device and using method thereof |
-
2020
- 2020-04-17 CN CN202020583614.8U patent/CN212622159U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111307716A (en) * | 2020-04-17 | 2020-06-19 | 宁波积微速成智能科技有限公司 | Tire surface defect information acquisition equipment |
| CN111307716B (en) * | 2020-04-17 | 2024-06-25 | 宁波积微速成智能科技有限公司 | Tire surface defect information acquisition equipment |
| CN113008900A (en) * | 2021-03-01 | 2021-06-22 | 创新奇智(上海)科技有限公司 | Tire flaw detection device |
| CN113418934A (en) * | 2021-08-24 | 2021-09-21 | 山东盛海橡胶有限公司 | Tire appearance detection device and using method thereof |
| CN113418934B (en) * | 2021-08-24 | 2021-11-05 | 山东盛海橡胶有限公司 | Tire appearance detection device and using method thereof |
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