CN214354981U - Color spray machine precision control system - Google Patents
Color spray machine precision control system Download PDFInfo
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- CN214354981U CN214354981U CN202022956996.7U CN202022956996U CN214354981U CN 214354981 U CN214354981 U CN 214354981U CN 202022956996 U CN202022956996 U CN 202022956996U CN 214354981 U CN214354981 U CN 214354981U
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Abstract
The utility model relates to a color spray machine precision control system, including main encoder, location camera, main photoelectricity and a plurality of auxiliary photoelectricity, main encoder installs on the hold-in range driven wheel of circular orbit and is used for detecting the movement distance of the slip table on the circular orbit in X direction; the positioning camera is arranged at the inlet of the printer head and used for collecting image information of the coin to be jet-printed; the main photoelectricity is arranged below the positioning camera, the auxiliary photoelectricity is installed at a sprayer module of the printer head, and the main photoelectricity and the auxiliary photoelectricity are sequentially triggered when a coin to be subjected to spray printing moves to the printer head along the annular track. The utility model has the advantages that adopt supplementary photoelectricity to carry out the secondary location to the coin, can effectively improve the printing precision of coin direction of motion, make the coin can control within 0.1mm at the printing precision of X direction.
Description
Technical Field
The utility model relates to a color spray machine precision control system.
Background
When the color spraying machine prints the coins, the positioning accuracy of the coins is higher, however, the prior art does not have an effective printing and positioning means, the movement accuracy of the color spraying machine is difficult to guarantee, and the accuracy deviation is larger. The existing color spray machine mainly depends on a main encoder to record position information of the main encoder in the X direction, the main encoder is limited by installation conditions and can only be installed on a synchronous belt driven wheel, the motion track of each sliding table of 78 sliding tables on an annular guide rail cannot be directly fed back, considering that the sliding tables and the synchronous belt are in flexible connection, gaps exist between the sliding tables and the synchronous belt, and the synchronous belt also has slipping and plastic deformation phenomena on the driven wheel, so that the motion position information of coins on the sliding tables recorded by the main encoder has large errors, although the synchronous belt is controlled to drive to move at a constant speed after being set by a servo motor, displacement deviation of about +/-1 mm in the X motion direction of a single sliding table still exists, the errors are directly fed back to the printing precision, and the printing precision can only be controlled to be about +/-1 mm.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: aiming at the defects in the prior art, the precision control system of the color spray machine is provided, and the motion error of the color spray machine can be corrected, so that the precision of the color spray machine is controlled within 0.1 mm.
In order to achieve the above object, the utility model provides a color spray machine precision control system, including main encoder, location camera, main photoelectricity and a plurality of auxiliary photoelectricity, the main encoder is installed on the hold-in range driven wheel of the circular track and is used for detecting the movement distance of the sliding table on the circular track in the X direction; the positioning camera is arranged at the inlet of the printer head and used for collecting image information of the coin to be jet-printed; the main photoelectricity is arranged below the positioning camera, the auxiliary photoelectricity is installed at a sprayer module of the printer head, and the main photoelectricity and the auxiliary photoelectricity are sequentially triggered when a coin to be subjected to spray printing moves to the printer head along the annular track.
The utility model discloses a main encoder that secondary location was used and the supplementary photoelectricity that sets up in the shower nozzle department of locomotive carry out the relocation to the coin on the slip table. Therefore, after the main encoder counts, the main encoder needs to count again every time the coin passes through the auxiliary photoelectric device once so as to correct the calculation error and control the movement precision deviation of the coin within 0.1 mm.
Preferably, the auxiliary photoelectric device is arranged below the spray head of the spray head module.
Preferably, the positioning camera and the printer head are both arranged above the annular track.
Preferably, the printing head comprises seven nozzle modules, one or two nozzles are arranged on each nozzle module, and an auxiliary photoelectric device is correspondingly arranged below each nozzle.
Preferably, the main encoder, the positioning camera, the main photoelectric device and the auxiliary photoelectric device are all connected with a PC.
Preferably, a group of sliding tables for bearing coins are arranged on the annular track, and the sliding tables can move along the annular track.
The utility model discloses in, because the distance S from the main photoelectric to the supplementary photoelectric X direction of motion of every shower nozzle below is fixed, whole annular orbit' S velocity of motion V1 is also invariable moreover, triggers the positional information X1 of record behind the main photoelectric according to the coin, can predict that the coin passes through supplementary photoelectric positional information S1 ═ X1+ S. In addition, because the coins are flatly placed on the sliding table of the annular track, the precision of the annular track in the Y motion direction is kept within plus or minus 0.02mm, the coins can be ignored, and meanwhile, the coins move on the sliding table at a constant speed along with the sliding table, and the rotation angle theta of the coins is also kept unchanged, so that the motion precision error of the coins is mainly generated in the X motion direction, and therefore, an auxiliary photoelectric device is required to be arranged at each spray head for secondary positioning, so that the error is reduced.
The utility model has the advantages that adopt supplementary photoelectricity to carry out the secondary location to the coin, can effectively improve the printing precision of coin direction of motion, make the coin can control within 0.1mm at the printing precision of X direction.
Drawings
The present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of the precision control process of the medium color spray machine of the present invention.
Fig. 2 is a schematic block diagram of the precision control system of the medium color spray machine of the present invention.
Fig. 3 is the installation schematic diagram of the middle ring rail and the printer head of the utility model.
Fig. 4 is a logic block diagram of the precision control process of the medium color spray machine of the present invention.
Fig. 5 is a logic block diagram of the coin positioning algorithm of the present invention.
Detailed Description
The electronic components related to the present embodiment are all commercially available, and are not described in detail herein.
Example one
As shown in fig. 2, a precision control system for a color spray machine includes a main encoder, a positioning camera (i.e., an industrial area-array camera), a main photo and 12 auxiliary photo, wherein the main encoder, the positioning camera, the main photo and the auxiliary photo are all connected to a PC. The main encoder is arranged on a synchronous belt driven wheel of the annular track and used for detecting the movement distance of the sliding table on the annular track in the X direction; the positioning camera is arranged at the inlet of the printer head and used for collecting image information of the coins to be jet-printed; the main photoelectricity is arranged below the positioning camera, the auxiliary photoelectricity is arranged at the sprayer module of the printer head and below the sprayer of the sprayer module, and the main photoelectricity and the auxiliary photoelectricity are sequentially triggered when a coin to be sprayed and printed moves to the printer head along with the annular track. The main photoelectricity and the auxiliary photoelectricity adopt opposite laser photoelectricity.
In addition, the positioning camera and the printer head are both arranged above the annular track (see fig. 3). A group of sliding tables for bearing coins are arranged on the annular track, and the sliding tables can move along the annular track. The printer head comprises seven sprayer modules, one or two sprayers are arranged on each sprayer module, the total number of the sprayers is 12, and an auxiliary photoelectric device is correspondingly arranged below each sprayer.
A method for controlling the precision of a color spray machine is shown in figures 1 and 4 and comprises the following steps:
the method comprises the steps that firstly, coins are arranged on a sliding table and move along an annular track, the coins trigger a positioning camera through main photoelectricity to acquire coin images so as to obtain a relative position difference value between the coin images and a coin template, and meanwhile, the numerical value of a main encoder is recorded as position information of the coins in the X direction when the coins pass through the main photoelectricity;
secondly, the coins continuously follow the annular track to move along with the sliding table, and when the coins enter the lower part of the spray head module, the coins pass through a first auxiliary photoelectric trigger main encoder of the spray head module to record the numerical value of the coins as position information of the coins in the X direction when the coins pass through the first auxiliary photoelectric trigger main encoder;
thirdly, determining printing parameters according to the relative position difference between the coin image and the coin template and the position information of the coin in the X direction when the coin passes through the main photoelectricity and the first auxiliary photoelectricity, and spraying and printing patterns on the coin by a first nozzle on the nozzle module, which corresponds to the first auxiliary photoelectricity, according to the printing parameters;
and fourthly, the coin follows the sliding table to continue to follow the annular track to move, the operation of the second step and the operation of the third step are repeated when the coin passes through the second auxiliary photoelectric part of the nozzle module, and the operation is circulated until the coin passes through the printer head.
In the first step, the main photoelectricity is triggered when the coin passes through the main photoelectricity, the main photoelectricity sends a trigger signal to a PC (personal computer), then the PC controls a positioning camera to photograph and collect images of the coin in motion, the positioning camera transmits the collected images to the PC, the PC compares the collected images of the coin in motion with a coin template stored in the PC, and further compares the position information of the coin collected by the positioning camera with the position information of the template prestored in the PC to obtain a relative position difference value between the coin in motion and the coin template prestored in the PC, wherein the relative position difference value comprises a relative difference value of the coin in the horizontal X, Y direction and a rotation angle difference value of the coin, and the relative position difference values are respectively marked as delta X, delta Y and delta theta; when the coin passes through the main photoelectric sensor, the PC controls the main encoder to record the value of the coin as position information in the X direction when the coin passes through the main photoelectric sensor, and the position information is recorded as X1.
The embodiment selects the coaxial light source with good imaging consistency on the metal surface by matching the industrial area-array camera with a proper industrial lens, and performs imaging reduction on the coin appearance and the pattern outline. After imaging is finished, the industrial area-array camera transmits acquired image data information to an image processing unit of a PC through high-speed data transmission, and the image processing unit processes and analyzes the received image data information through an image processing algorithm to calculate X offset, Y offset and angle offset theta of the coin. The image processing algorithm (i.e. the positioning algorithm) matches each image to be positioned with a standard template pre-stored in the image processing unit by a template matching technique, calculates a deviation value thereof, and realizes high-precision positioning, and a logic block diagram of the algorithm is shown in fig. 5 ("the detection template" refers to the aforementioned "standard template").
In the first step, the specific method for acquiring the relative position difference between the coin in motion and the coin template prestored in the PC is as follows:
the center positions x, y of the coin in the inspection image are compared with the center positions x1, y1 of the coin in the template image to calculate X, Y shifts, i.e. deltax, deltay,
Δx＝x-x1
Δy＝y-y1
meanwhile, the image characteristic region converts two-dimensional data into one-dimensional data through image polar coordinate conversion, then carries out NCC template matching with the similarly processed one-dimensional template data, calculates the horizontal deviation thereof, and the deviation value represents the angular deviation delta theta (namely delta theta is NCC),
wherein Nrows and Ncoles respectively represent the row and column numbers of the detection image and the template image, and v1(k，l)、v2(k, l) respectively represent pixel values of the detection image and the template image at a point (k, l),
respectively representing the mean gray values, σ, of the inspection image and the template image2(v1)、σ2(v2) Respectively representing the variance of the pixel values of the detection image and the template image.
The image polar coordinate conversion is to convert the circular ring area with representative features of the coin into a long strip image, so that the angle information of the coin is converted into the horizontal direction deviation of the image, and the relationship between the converted image and the image before conversion can be calculated by Cartesian coordinate
The polar coordinate as the center is transformed by (theta, r), and the calculation formula is as follows:
where r represents a radius and θ represents an angle.
The traditional template matching algorithm solves the rotation problem, expects to obtain a high-precision positioning result and needs more matching times. If the angular positioning precision is 0.1 degree, 3600 times of rotation and matching of the image are needed, and the algorithm efficiency is poor. The positioning system of the embodiment converts the image information from a plane coordinate to a polar coordinate system, successfully reduces two-dimensional operation to one-dimensional operation, greatly reduces the operation time of the positioning algorithm, has higher algorithm efficiency, can realize the positioning requirement with higher precision, reaches the positioning precision of 0.02mm, and meets the requirement of continuous online operation of equipment.
In the second step, the first auxiliary photoelectric device is triggered when the coin passes through the first auxiliary photoelectric device, the first auxiliary photoelectric device sends a trigger signal to the PC, and then the PC controls the main encoder to record the value of the coin at the moment as the position information of the coin in the X direction when the coin passes through the first auxiliary photoelectric device, and the position information is recorded as X2.
In the third step, the first nozzle starts to print the pattern according to the values of Δ X, Δ Y and Δ θ obtained in the first step and in combination with the value X2 of the main encoder when the first auxiliary photo-electricity is triggered in the second step.
The expected position information of the coin passing through the auxiliary photoelectric sensor is S1 and the actual position information is S2, the expected position and the actual position of the coin passing through the auxiliary photoelectric sensor are calculated according to the following formula,
S1＝X1+S (1)
S2＝X2 (2)
when the first auxiliary photoelectric sensor is triggered, the actual position S2 (X2) when the coin passes through the auxiliary photoelectric sensor is compared with the expected position S1 (X1 + S) to obtain the difference Delta S between the actual position and the expected position, the difference between the actual position and the expected position is calculated according to the following formula,
ΔS＝S2-S1 (3)
the difference Δ S is due to motion accuracy errors and cannot be eliminated. Judging whether the value of the delta S is in a design range, if the delta S is in the design range (the design range generally takes the value of +/-2.6 mm), adopting a numerical value X2 recorded by a main encoder as a printing initial position point in the X direction, issuing printing position data to a nozzle printing board card by combining the delta X, the delta Y and the delta theta, controlling the nozzle to start printing, and starting printing by adopting X2 as a starting point at the moment so as to effectively improve the printing precision in the movement direction; if the Δ S is not within the design range, that is, the difference Δ S is too large, the predicted position S1 is used as the starting point of the print starting position in the X direction, and print position data is issued to the head print board card in combination with Δ X, Δ Y, and Δ θ, so that the head is controlled to start printing.
The coin is in keeping flat on annular guide's little slip table after advancing coin graduated disk, and little slip table moves along the guide rail X direction along with the synchronous belt this moment, and its Y direction relies on guide rail self precision to keep can reaching 0.02mm, and the coin is in the synchronization state on little slip table, does not have relative displacement, and its motion state is equal to the motion state of little slip table. When the coins pass through the main photoelectric sensor, the positioning camera is triggered to take a picture, at the moment, the relative position data delta X, delta Y and delta theta of the coins are obtained through comparison between a template prestored in the upper computer and an actual picture taking position, the three data are used as basic data of a later nozzle printing draft position and are issued to a nozzle printing board card of a printer head, and then the initial position is printed by combining the nozzle, so that the overall printing precision can be controlled. Except that direction of motion X, its Y to and rotatory Z to acquiescence do not change, and X is to owing to receive the hold-in range to pull, and the hold-in range has flexible tensioning deformation, and because the velocity of motion is not absolute at the uniform velocity, has certain error, need carry out secondary trigger with supplementary photoelectricity to the printing position that is closest to the shower nozzle is as printing the initial point, can effectively reduce the accumulative error that long distance X direction motion caused.
In addition, because camera installation can not guarantee to be on a parallel with the direction of motion and perpendicular to horizontal direction totally, and the rotation angle also can not guarantee to be 0 degree, so can compensate these errors when guaranteeing to print whole pattern, can set up certain compensation parameter, through the finished product that prints out for the first time, adjust these parameter vision basis X, Y, angle compensation, will print the accurate overprinting of pattern and coin surface metal pattern. There is the error in y direction and theta, and the reason that the error produced is mainly because the coin produces relative displacement in the motion process with little slip table between, consequently the accessible is at the upper surface paste anti-skidding sticker of little slip table with the coin contact, increases frictional force, avoids the coin to produce the displacement on single slip table.
In addition to the above embodiments, the present invention can also have other embodiments. All the technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope claimed by the present invention.
Claims (7)
1. The utility model provides a color spray machine accuracy control system which characterized in that: the system comprises a main encoder, a positioning camera, a main photoelectric sensor and a plurality of auxiliary photoelectric sensors, wherein the main encoder is arranged on a synchronous belt driven wheel of an annular track and is used for detecting the movement distance of a sliding table on the annular track in the X direction; the positioning camera is arranged at the inlet of the printer head and used for collecting image information of the coin to be jet-printed; the main photoelectricity is arranged below the positioning camera, the auxiliary photoelectricity is installed at a sprayer module of the printer head, and the main photoelectricity and the auxiliary photoelectricity are sequentially triggered when a coin to be subjected to spray printing moves to the printer head along the annular track.
2. The accuracy control system of the color spray machine according to claim 1, characterized in that: the auxiliary photoelectric device is arranged below the spray head of the spray head module.
3. The accuracy control system of the color spray machine according to claim 2, characterized in that: the positioning camera and the printer head are both arranged above the annular track.
4. The accuracy control system of the color spray machine according to claim 3, characterized in that: the printing head comprises seven spray head modules, and one or two spray heads are arranged on each spray head module.
5. The accuracy control system of the color spray machine according to claim 4, characterized in that: an auxiliary photoelectric device is correspondingly arranged below the spray head.
6. The accuracy control system of the color spray machine according to claim 5, characterized in that: the main encoder, the positioning camera, the main photoelectric device and the auxiliary photoelectric device are all connected with a PC.
7. The accuracy control system of the color spray machine according to claim 6, characterized in that: and a group of sliding tables for bearing coins are arranged on the annular track and can move along the annular track.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497933A (en) * | 2020-12-09 | 2021-03-16 | 南京中钞长城金融设备有限公司 | Precision control system and process for color spray machine |
| CN114454637A (en) * | 2021-12-27 | 2022-05-10 | 深圳市汉森软件有限公司 | Method, device and equipment for controlling image color register printing and storage medium |
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2020
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497933A (en) * | 2020-12-09 | 2021-03-16 | 南京中钞长城金融设备有限公司 | Precision control system and process for color spray machine |
| CN112497933B (en) * | 2020-12-09 | 2023-10-13 | 南京中钞长城金融设备有限公司 | Precision control system and process for color spraying machine |
| CN114454637A (en) * | 2021-12-27 | 2022-05-10 | 深圳市汉森软件有限公司 | Method, device and equipment for controlling image color register printing and storage medium |
| CN114454637B (en) * | 2021-12-27 | 2022-12-09 | 深圳市汉森软件有限公司 | Image color register printing control method, device, equipment and storage medium |
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