CN218931028U - Biaxial rotation device for detecting limited angle through multiaxial linkage - Google Patents
Biaxial rotation device for detecting limited angle through multiaxial linkage Download PDFInfo
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- CN218931028U CN218931028U CN202320260262.6U CN202320260262U CN218931028U CN 218931028 U CN218931028 U CN 218931028U CN 202320260262 U CN202320260262 U CN 202320260262U CN 218931028 U CN218931028 U CN 218931028U
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Abstract
The invention relates to the field of visual detection, in particular to a biaxial rotation device for detecting a limited angle in a multiaxial linkage manner. Aiming at the technical defects in the prior art, the invention provides a biaxial rotation device for detecting a limited angle in a multiaxial linkage manner; the device comprises a device main body, wherein the device main body comprises a mounting plate which is used for being mounted in a matched mode with the triaxial platform, a first shaft rotating plate which rotates around a first shaft is movably arranged at the mounting plate, and a plurality of tool assemblies which are used for placing detection objects and rotate around a second shaft are arranged at intervals along the length direction of the first shaft rotating plate. The mounting plate can be adjusted and adapted according to the triaxial platform to be mounted, and the device main body and the triaxial platform can be combined fast through the mounting plate; meanwhile, a user can keep a unified output interface between the device main body and the triaxial platform, so that the visual detection equipment with a five-axis linkage function and unified control and management can be built.
Description
Technical Field
The invention relates to the field of visual detection, in particular to a biaxial rotation device for detecting a limited angle in a multiaxial linkage manner.
Background
Along with the characteristics of multiple detection surfaces and large curved surface change of products, the current detection equipment adopts a method of respectively detecting each surface by adopting a method of respectively additionally arranging cameras, lenses, light sources and detected workpiece tools (used for adjusting the direction of a certain detection surface on a product and facing the cameras) on multiple stations, and meets the requirements through the combination of the multiple stations. However, the line body is huge, the equipment cost is high, and the X, Y and Z axis movement mechanisms of the camera, the lens and the light source on each station are equivalent to repeated construction, and the number of axes is wasted.
Therefore, in recent years, a visual inspection apparatus with multi-axis (more than 5 axes) linkage is provided, by additionally installing a plurality of cameras, lenses and light sources on the Z axis, and simultaneously, additionally installing motors capable of rotating independently on each station on the corresponding rotating shafts in the vertical direction of the Z axis, the movement of each inspection surface to the position of the camera in the forward direction is satisfied, and the inspection efficiency is improved.
Most of the multi-axis linkage visual detection equipment in the prior art is integrally built, so that on one hand, production and installation processes are complex, and on the other hand, when the multi-axis linkage visual detection equipment is used for different types of detection objects, the whole structure is difficult to adjust, and the detection effect is possibly influenced. Therefore, the prior art lacks a biaxial rotation device which can be universally installed on various triaxial platforms so as to ensure that the whole multi-axis visual detection equipment has better adjustment flexibility.
Disclosure of Invention
Aiming at the technical defects in the prior art, the invention provides a biaxial rotation device for detecting a limited angle in a multiaxial linkage manner; the device comprises a device main body, wherein the device main body comprises a mounting plate which is used for being mounted in a matched mode with the triaxial platform, a first shaft rotating plate which rotates around a first shaft is movably arranged at the mounting plate, and a plurality of tool assemblies which are used for placing detection objects and rotate around a second shaft are arranged at intervals along the length direction of the first shaft rotating plate.
It can be understood that the mounting plate can be adjusted and adapted according to the triaxial platform to be mounted, and the device main body can be combined with the triaxial platform quickly through the mounting plate; meanwhile, a user can keep a unified output interface between the device main body and the triaxial platform, so that the visual detection equipment with a five-axis linkage function and unified control and management can be built. Moreover, when different detection objects are needed, a detector can assemble and install the device main body at the triaxial platform which is matched with the detection objects, so that a better visual acquisition effect is achieved, and further, higher accuracy of image acquisition analysis results is ensured.
Compared with the prior art, the device body can be stably and conveniently assembled and is suitable for various triaxial platforms, and the device body has better universality. Compared with the integrally-built five-axis detection equipment, the invention can better reduce the cost, is convenient for disassembly and assembly adjustment, and has better flexibility.
Preferably, mounting plates perpendicular to the mounting plate are formed at both ends of the mounting plate in the length direction; the first shaft rotating plate is arranged between the assembly plates at the two ends, and the first axial direction is a straight line direction perpendicular to the assembly plates at the two sides.
Preferably, the tooling assembly comprises a second axis rotation station; the second shaft rotating stations are uniformly arranged at intervals along the length direction of the first shaft rotating plate, the second shaft rotating stations rotate around the second shaft relative to the first shaft rotating plate, the second shaft is in a straight line direction perpendicular to the rotating plate, the second shaft rotating stations rotate around the first shaft along with the first shaft rotating plate to serve as a first rotating direction of the tool assembly, and the second shaft rotating stations rotate around the second shaft to serve as a second rotating direction of the tool assembly.
Preferably, the rotation angle of the second axis rotation station about the second axis is limited to a limited angle.
Preferably, a side DD motor connected with the first shaft rotating plate is arranged at the mounting plate at one end of the mounting plate; the side DD motor drives the first shaft rotating plate to rotate so as to realize the rotation of the tool assembly in a first rotating direction; the first shaft rotating plate is provided with a plurality of station motors along the length direction at intervals, and each station motor is used for driving each second shaft rotating station to rotate so as to realize the rotation of the tool assembly in the second rotating direction.
Specifically, the side DD motor controls the rotation angle through an external control signal; thereby stably driving the first shaft rotating plate to rotate by a corresponding angle; each second shaft rotation station arranged at the first shaft rotation plate can rotate along with the first shaft rotation station in the first rotation direction, so that gesture adjustment can be carried out according to detection requirements in a detection flow, and a detection object is located at a better angle suitable for camera shooting and image acquisition.
The station motors of each station control the rotation angle through external control signals. Thereby make each station can drive each rotatory station rotation determination's angle more stably, and then cooperate the first direction of rotation of frock subassembly so that be fixed in the detection object of each station department can have two axial degree of freedom, and then cooperate the angle needs in the testing process better.
Preferably, the second shaft rotating station comprises a placing disc, a sucker base plate is arranged at the surface of one side of a motor of the placing disc far station, and a sucker placing plate is arranged at one side of the sucker base plate far from the placing disc; the suction cup placement plate is uniformly distributed with a plurality of positioning suction cups which are used for adsorbing and fixing detection objects and are oriented to one side of the far suction cup bottom plate in the suction direction.
Specifically, detection objects can be adsorbed and positioned at each station rapidly and conveniently through the positioning sucker, so that the feeding speed of staff during feeding the detection objects can be improved better, and the proceeding rate of the whole detection process is improved. In addition, the installation positions of the positioning suckers can be more conveniently installed and distributed according to the shape of the detection object to be detected, so that the device main body can be ensured to be better suitable for different detection objects.
Preferably, the bottom wall of the placing plate far away from the sucker placing plate is provided with a screw hole for installing a screw, and the outer edge of the placing plate is provided with a vertical baffle towards one side of the mounting plate.
Preferably, a limiting plate matched with the vertical partition plate to limit the second rotary station to pass through is arranged at the bottom of the second shaft rotary station, and a limiting protrusion matched with the screw to form hard limit is formed on one side of the limiting plate, which is close to the placing plate.
Preferably, when the station motor is in a zero position, the included angle between the limiting protrusion and the screw along the circumferential direction of the placing disc is one hundred eighty degrees; the screw and the limit protrusion themselves have a width that limits the unidirectional rotation angle of the station motor to within one hundred eighty degrees.
Specifically, the second rotating station is driven by the station motor to have a zero position and a positive direction and a reverse direction, and the air pipe is cut off when the station motor rotates to one hundred eighty degrees, so that the rotation angle of the second rotating station can be limited preferably through the baffle plate, the limiting plate, the screw and the limiting boss formed at the limiting plate, and the condition of cutting off the air pipe is avoided while the detection requirement is met.
Preferably, a photoelectric switch for distinguishing the rotation direction of the station motor is arranged at the outer wall of the limiting plate.
According to the invention, the rotation direction of the station motor can be preferably identified through the photoelectric switch so as to determine whether the station motor works normally under external control in real time, so that the station motor can be timely identified and found when abnormal work occurs, and further, a detector can timely process the station motor so as to avoid serious consequences.
Drawings
Fig. 1 is a schematic structural view of a main body of the apparatus in embodiment 1;
FIG. 2 is a schematic structural diagram of the vision acquisition assembly in embodiment 1;
FIG. 3 is a schematic structural diagram of a triaxial stage in embodiment 1;
FIG. 4 is a schematic view of the horizontal platform of FIG. 3;
FIG. 5 is a schematic view of the mounting bracket of FIG. 3;
FIG. 6 is a schematic view of the movable mounting plate of FIG. 5;
FIG. 7 is a schematic diagram of a two-axis rotating device in embodiment 2;
FIG. 8 is a schematic view of the mounting plate of FIG. 7;
FIG. 9 is a schematic view of the first and second axis rotating stations of FIG. 7;
FIG. 10 is a schematic view of the second axis rotation station of FIG. 9;
FIG. 11 is a schematic view of the second axis rotation station of FIG. 9 from another perspective;
FIG. 12 is a schematic view of the limiting plate of FIG. 10;
FIG. 13 is a schematic view showing the structure of the calibration block main body in embodiment 3;
FIG. 14 is a schematic view showing the structure of the calibration block body in accordance with another view angle of the embodiment 3;
fig. 15 is a schematic diagram of a mobile phone middle frame in embodiment 8.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.
Example 1
Referring to fig. 1 to 6, the present embodiment provides a multi-axis linkage vision inspection apparatus, which includes an apparatus main body 100, a space where the apparatus main body 100 is located establishes a space coordinate system of XYZ axes, a Z axis is formed along a vertical direction, and an X axis and a Y axis are formed along a horizontal plane in mutually orthogonal manner; the device main body 100 comprises a tool assembly 140 for placing a detection object and a vision acquisition assembly 120 for acquiring a detection image of the detection object, wherein a detection area is formed at the vision acquisition assembly 120, and the tool assembly 140 can be positioned at the detection area;
The tool assembly 140 has a first rotation direction and a second rotation direction which are independent of each other, and the first rotation direction and the second rotation direction are used for jointly realizing gesture adjustment of the detection object; the rotation axes of the first rotation direction and the second rotation direction of the tool assembly 140 are orthogonal to each other.
It can be understood that the mutually orthogonal rotation shafts can be conveniently built on one hand, and on the other hand, the setting and the calculation of the position and posture adjustment can be convenient.
In this embodiment, the vision collection assembly 120 has a first moving direction and a second moving direction that are independent of each other, the first moving direction and the second moving direction of the vision collection assembly 120 are orthogonal to each other, and the tool assembly 140 has a third moving direction; the first moving direction, the second moving direction and the third moving direction are used for jointly realizing adjustment of the relative spatial position between the vision acquisition component 120 and the detection object.
The rotation axis of the tooling assembly 140 in the second rotation direction corresponds to the second movement direction of the vision collection assembly 120; the third moving direction of the tooling assembly 140 is further used for realizing the movement of the tooling assembly 140 and a detection object placed at the tooling assembly 140 between a feeding area and a detection area;
The first moving direction, the second moving direction and the third moving direction in this embodiment are respectively an X-axis direction, a Z-axis direction and a Y-axis direction, which are described by the above-mentioned spatial coordinate system.
Specifically, the tool assembly 140 and the vision collecting assembly 120 can be moved or rotated in various directions to adjust the relative position between the detected object and the vision detecting assembly, so as to achieve a better detection image collecting effect, and further ensure the accuracy of the detection result obtained by analyzing and detecting the collected image.
Specifically, the apparatus body 100 includes a triaxial platform 130 and a mobile loading mechanism 110 mounted on a single side of the triaxial platform 130, and the mobile loading mechanism 110 includes a biaxial rotation device 710 on which the tooling assembly 140 is disposed; the triaxial platform 130 includes a platform body including a horizontal platform 131 horizontally arranged and a mounting bracket 132 vertically arranged at the horizontal platform 131; the movable loading mechanism 110 and the horizontal platform 131 of the triaxial platform 130 form a movable fit to realize the movement of the tool assembly 140 in the third movement direction.
The mounting frame 132 of the platform body is movably provided with a movable mounting plate 510 along a first moving direction, and the vision collecting assembly 120 is movably provided with the movable mounting plate 510 along a second moving direction. The movable arrangement between the movable setting plate 510 and the mounting frame 132 can be realized by a linear motor and a guide rail; the movable arrangement between the vision collection assembly 120 and the movable mounting plate 510 can be accomplished by a lead screw module.
Specifically, the apparatus main body 100 constituting the five-axis linkage can be constructed by installing the mobile loading mechanism 110, that is, the two-axis rotating device 710, at the three-axis platform 130 having the three-axis linkage function; the visual detection equipment capable of realizing the five-axis linkage function can better meet the detection requirement of the detected workpiece. In addition, in the embodiment, the overall structure of the device main body 100 obtained by building is compact, the space utilization is efficient, and the triaxial platform 130 and the biaxial rotation device 710 can not cause excessive ineffective space after being built in a combined manner, so that the device main body 100 can not occupy excessive use space in a working area, and further the influence on staff and other equipment in the working area can be reduced better.
Example 2
Referring to fig. 7-12, the present embodiment provides a two-axis rotating device 710 applicable to the apparatus main body 100 in embodiment 1, which includes a device main body, the device main body includes a mounting plate 711 for being mounted in a matching manner with the three-axis platform 130, a first axis rotating plate 712 that rotates around a first axis is movably disposed at the mounting plate 711, and the tool assemblies 140 are arranged at intervals along the length direction of the first axis rotating plate 712; the tooling assembly 140 is provided with a plurality of stations and sequentially forms a first station, a second station, and the remaining stations arranged in this order.
It can be appreciated that the mounting plate 711 can be adapted according to the triaxial platform 130 to be mounted, and the device body can be preferably quickly combined with the triaxial platform 130 through the mounting plate 711; meanwhile, a user can keep a unified output interface between the device main body and the triaxial platform 130, so that the visual detection equipment with a five-axis linkage function and unified control and management can be built. Moreover, when different detection objects are needed, the detection personnel can assemble and install the device body at the triaxial platform 130 which is matched with the detection objects, so that a better visual acquisition effect is achieved, and further, the accuracy of a higher image acquisition analysis result is ensured, and therefore, the device body in the embodiment can better improve the operation flexibility of the five-axis platform built by the detection personnel aiming at the different detection objects.
Compared with the prior art, the device body in the embodiment can be stably and conveniently assembled and is suitable for various triaxial platforms 130, and has better universality. And then compare in the five check out test set of integration construction this embodiment can reduce cost and be convenient for dismouting adjustment better, the flexibility is preferred.
Mounting plates 7111 perpendicular to the mounting plate 711 are formed at both ends of the mounting plate 711 in the length direction; the first shaft rotating plate 712 is disposed between the mounting plates 7111 at both ends, and the first axial direction is a straight direction perpendicular to the both-side mounting plates 7111.
A side DD motor 713 connected with the first shaft rotating plate 712 is arranged at the mounting plate 7111 at one end of the mounting plate 711; the side DD motor 713 drives the first shaft rotating plate 712 to rotate so as to realize the rotation of the tool assembly 140 in the first rotating direction;
specifically, the side DD motor 713 controls the rotation angle by an external control signal; thereby being capable of stably driving the first shaft rotating plate 712 to rotate by a corresponding angle; each second shaft rotating station 910 disposed at the first shaft rotating plate 712 can also rotate in the first rotating direction, so that in the detection process, gesture adjustment can be performed according to the detection requirement, so that the detection object is at a preferred angle suitable for the camera to capture images.
The first shaft rotating plate 712 is provided with a plurality of station motors 911 along the length direction thereof at intervals, and each station motor 911 is respectively used for driving each second shaft rotating station 910 to rotate so as to realize the rotation of the tool assembly 140 in the second rotating direction.
The station motors 911 of the respective stations control the rotation angles by external control signals. Therefore, each station motor 911 can stably drive each rotating station to rotate by a determined angle, and the first rotating direction of the tool assembly 140 is matched, so that the detection object fixed at each station can have two degrees of freedom in the axial direction, and the angle requirement in the detection process can be matched better.
The second shaft rotary station 910 comprises a placing plate 912, a sucker base plate 913 is arranged on the surface of one side of the placing plate 912 far away from the station motor 911, and a sucker placing plate is arranged on one side of the sucker base plate 913 far away from the placing plate 912; the suction cup setting plate is uniformly distributed with a plurality of positioning suction cups 915 which are used for adsorbing and fixing the detection objects and are oriented to one side of the far suction cup bottom plate 913 in the suction direction.
Specifically, through positioning chuck 915 can be fast convenient with the detection object adsorb the location in each station department to can improve the material loading speed of staff when carrying out the material loading to the detection object better, and then improve the progress rate of whole testing process. In addition, the mounting positions of the positioning suction cups 915 can be more conveniently mounted and distributed according to the shape of the detection object to be detected, so that the device body in the embodiment can be ensured to be better suitable for different detection objects.
The bottom wall of the placement plate 912 far from the suction cup mounting plate side is provided with a screw hole 916 for mounting a screw, and the outer edge of the placement plate 912 is provided with a vertical partition 917 facing to the mounting plate 711 side.
The second shaft rotation station 910 is provided with a limiting plate 918 at a bottom position for cooperating with the vertical partition 917 to limit the rotation of the second rotation station, and a limiting protrusion 9181 for cooperating with a screw to form a hard limit is formed on a side of the limiting plate 918 near the placement tray 912.
When the station motor 911 is at a zero position, an included angle between the limiting protrusion 9181 and the screw along the circumferential direction of the placement tray 912 is one hundred eighty degrees; the screw and stop tab 9181 itself has a width that limits the angle of unidirectional rotation of the station motor 911 to within one hundred eighty degrees.
Specifically, the second rotating station in this embodiment has a zero position and two rotation directions of the forward direction and the reverse direction under the driving of the station motor 911, and cuts off the air pipe when the station motor 911 rotates to one hundred eighty degrees, so the rotation angle of the second rotating station can be preferably limited by the partition plate, the limiting plate 918, the screw and the limiting protrusion 9181 formed at the limiting plate 918 in this embodiment, so that the condition of cutting off the air pipe is avoided while meeting the detection requirement is ensured.
The limit plate 918 is provided with a photoelectric switch 9182 at an outer wall thereof for discriminating a rotation direction of the station motor 911.
Specifically, in this embodiment, the rotation direction of the station motor 911 can be preferably identified through the photoelectric switch 9182 to determine in real time whether the station motor 911 works normally under external control, so that the station motor 911 can be identified and found in time when abnormal working occurs, and then a inspector can process in time to avoid serious consequences.
Example 3
Referring to fig. 13-14, the present embodiment provides a multi-station consistency calibration block on a multi-axis linkage visual inspection device, which can be placed at the tooling assembly 140 in embodiment 1 or embodiment 2 and coordinate with the visual acquisition assembly 120 to calibrate the device main body 100 in embodiment 1 or the device main body in embodiment 2; the device comprises a calibration block main body 1300, wherein the calibration block main body 1300 has a length L and a width W consistent with a detection object; a rectangular reference block 1310 having a length l is formed at the calibration block body 1300.
Specifically, the length L and the width W of the calibration block body 1300 may be adjusted to be adapted according to the detection objects to be detected, so that errors existing in the calibration process before detecting different detection objects can be preferably reduced. Furthermore, a reference block 1310 having a length l and a width w can be preferred as a reference during calibration.
The thickness of the calibration block body 1300 corresponds to the detection object. Thereby reducing the influence of the deviation of the movement positions on the X, Y and Z axes.
The bottom surface of the calibration block body 1300 is used for positioning and matching with a station to be calibrated. A groove 1320 is formed at the top surface of the calibration block body 1300, and a reference block 1310 is formed protruding from the middle of the groove 1320; the length l and width w of the reference block 1310 can be used as references in the calibration process.
A plurality of ribs 1330 are formed in the recess 1320 between the reference block 1310 and the inner side wall of the recess 1320. It will be appreciated that the ribs 1330 preferably ensure the strength of the calibration block body 1300 to improve durability.
The calibration block body 1300 is made of invar steel. The invar steel has a small linear expansion coefficient, so that the influence of temperature on the size of the calibration block can be reduced better.
Example 4
This embodiment provides a calibration method for the device body of embodiment 1 or embodiment 2, which when used in combination with the vision acquisition assembly 120 and the calibration block of embodiment 3, performs calibration by the following steps; the space where the device main body is located establishes a space coordinate system of XYZ axes, the Z axes are formed along the vertical direction, and the X axes and the Y axes are formed along the horizontal plane in a mutually orthogonal manner; the second moving direction is the Z-axis direction; the rectangular reference block 1310 at the calibration block has a length l;
Step S1: camera calibration
Correcting the distortion of the corresponding lens on each station sequentially by using a conventional camera calibration method such as checkerboard, dots and the like;
step S2: performing consistency calibration of a multi-station motor 911; (second rotation direction calibration)
Step S3: the side DD motor 713 is calibrated for consistency (first rotational direction calibration).
The device body to which the calibration method is applied in this embodiment includes a tool assembly 140 for placing a detection object and having a first rotation direction and a second rotation direction; the tooling assembly 140 can be provided with a calibration block, and a rectangular reference block 1310 is formed at the calibration block;
the tooling assembly 140 is provided with a plurality of rest stations which are sequentially arranged to form a first station, a second station and a third station; the tooling assemblies 140 at each station are driven by a side DD motor 713 to effect rotation in a first rotational direction; the tooling assemblies 140 at each station are driven by the station motors 911 of the corresponding stations respectively to realize rotation in the second rotation direction;
the device body 100 further includes a vision collecting assembly 120 having a second moving direction, and a rotation axis of the tool assembly 140 in the first rotating direction is orthogonal to the second moving direction of the vision collecting assembly 120; the rotation axis of the tooling assembly 140 in the second rotation direction corresponds to the second movement direction of the vision collection assembly 120; the vision collecting assembly 120 is provided with a plurality of vision collecting assemblies and corresponds to the tool assembly 140 one by one.
The tooling assembly 140 can be located within a detection region formed at the vision acquisition assembly 120. The side DD motor 713 and the station motor 911 at each station are controlled in rotation angle by external control signals.
Specifically, in this embodiment, firstly, through step S1, it can be better ensured that each detection surface is not distorted when moving to the forward camera position, so as to ensure consistency of the lens collected image of each station at the same vision collecting position.
Further, the errors generated in the installation process and the errors generated in the machining and assembling of the workpiece can be obtained through the calibration processes in the step S2 and the step S3 preferably through corresponding references; therefore, in the subsequent visual image acquisition process, staff can counteract the errors through a program setting or mechanical adjustment method, and adverse effects such as differences among detected image defect characteristics acquired at each station and the like generated by detection results due to the errors can be effectively avoided; and further improves the accuracy of the detection result.
Meanwhile, in the calibration method of the embodiment, except for the device main body to be calibrated and the triaxial platform 130 for constructing the multiaxial detection device; the whole calibration process can be completed completely by using the calibration block body 1300, so that the calibration process in the embodiment is convenient and stable to operate and has lower cost compared with the prior art. In addition, it is worth noting that the calibration block main body 1300 adopted by the calibration personnel can be manufactured according to the detection object to be detected, so that the real detection situation can be better simulated in the calibration process, the optimal calibration effect suitable for the detection object can be realized, and the higher calibration precision is ensured, so that the error in the actual detection process is reduced.
Example 5
The present embodiment provides a method for calibrating consistency of a multi-station motor 911 suitable for step S2 in embodiment 4, in this embodiment, the vision acquisition component 120 is a light source and a camera, which specifically includes the following steps:
s21, placing and fixing the calibration block at a first station;
step S22, the vision acquisition component 120 corresponding to the first station is adjusted along the Z axis to make the acquired images clear, and then the first station is subjected to image acquisition to obtain an image i of the station motor 911 at the first station on the zero position 0 ；
Step S23: the station motor 911 at the first station rotates in the positive direction by an angle θ, n×θ=180°;the vision acquisition component 120 acquires the image i of the station motor 911 at the first station on the angle theta by processing 1， And is connected with i 0 Comparing and obtaining a comparison result;
step S24: according to the step S23, the station motor 911 at the first station is sequentially rotated to the position of (n-1) ×θ to obtain the image i of 2×θ to (n-1) ×θ on the station 2 To i (n-1) And all are identical to image i 0 Comparing and obtaining a comparison result;
step S25: the station motor 911 at the first station returns to the origin;
step S26: repeating steps S22 to S24N times to obtain the relative i of each image 0 The comparison result in (2);
step S27: taking the average value of the comparison results of a plurality of times as a reference value of a first station in the positive direction under each (n-1) theta angle;
Step S28: inverting the station motor 911 at the first station according to the steps S23 to S27 to obtain the reference value of the first station in the opposite direction;
step S29: resetting a station motor 911 at the first station, wherein the first station corresponds to the rising return of the camera along the Z axis; the calibration block is loosened, taken down and placed on a second station;
step S210: the camera on the second station obtains reference values in the forward direction and the reverse direction under each (n-1) theta angle of the second station according to steps S22 to S28;
step S211: completing reference values in the forward direction and the reverse direction under the (n-1) theta angles of the rest stations according to the steps S29 to S210;
step S212: and calculating compensation values of the other stations in the forward direction and the reverse direction under the (n-1) theta angles by taking the first station as a reference to finish the calibration of the consistency of the station motor 911.
Specifically, in this embodiment, a calibration block is used as a reference for image comparison to obtain compensation values of the rest stations in the second rotation direction relative to the first station; thereby enabling staff to take measures with the compensation value as a reference to counteract the error; thereby ensuring the consistency of the station motor 911 at the multiple stations in rotation, that is, the rotation consistency of the multiple stations in the second rotation direction; thereby ensuring consistency and accuracy of the inspection images acquired by the vision acquisition assembly 120 at each station.
Further, the θ angle in step S23 in this embodiment may be selected according to different detection objects, so that it is ensured that the condition of excessive calibration is avoided while the detection accuracy required by the detection objects is satisfied, and further the calibration efficiency is improved and the cost is saved.
In addition, the calibration block in step S21 is sucked and fixed at the first station by the positioning suction cup 915 at the first station. Because the positioning suckers 915 at each station are installed and arranged according to the detection objects to be detected, the calibration blocks which are consistent with the length, the width and the thickness of the detection objects can be firmly adsorbed and fixed at the stations through the positioning suckers 915; therefore, the condition that the calibration accuracy is influenced due to the fact that the calibration block is not fixed firmly and is deviated in the calibration process can be effectively avoided.
In step S23 and step S24, the comparison amount is i 1 、i 2 To i (n-1) Relative to i 0 Middle l side centerline angle change s 11 、s 21 S to s (n-1)1 。
The reference value in step S27 and step S28 is the angle value of the line in the l side, and the reference value in the positive direction is calculated by the formula
The reference value in the opposite direction is calculated as +.>
The compensation value calculation method in step S212 is positive direction compensation value S mz ＝S mz(n-1) -S 1z(n-1) And a reverse direction compensation value S mf ＝S mf(n-1) -S 1f(n-1) . The forward direction compensation value and the reverse direction compensation value obtained by the steps can be used as references, so that a detection personnel can control and adjust the rotation angle of the corresponding motor to realize multi-station consistency.
Specifically, the present embodiment uses the l-edge centerline angle of the reference block 1310 at the calibration block body 1300 as a reference for comparison; on the one hand, when the images are compared, the variation of the line angle in the side I can be clearly identified in the acquired images; on the other hand, the change of the line angle in the l side can be directly corresponding to the rotation angle of the station motor 911 as a reference quantity, so that the error is small and the change sensitivity is high.
It can be understood that the deviation of other stations and the first station in different angles of rotation can be obtained preferably by obtaining the compensation values in the forward direction and the reverse direction, so that a detector can eliminate the deviation by taking the compensation value as a reference and then setting by a program to ensure the consistency of multiple stations, and further ensure the synchronous and stable operation of the whole detection flow. Therefore, the situation that the image acquisition and the contrast analysis are affected due to the difference of the rotation angles of the stations can be effectively avoided.
In addition, the calibration ranges of one hundred eighty degrees in the forward and backward directions in the embodiment are considered as the complete maximum calibration angles; when the device is specifically applied to different device main bodies 100, the specific values of the rotation range, the theta angle and the n calibrated in the forward and backward directions can be adjusted according to the rotation angle of the applied device main body 100; as long as the rotation angle in the detection process can be satisfied.
Example 6
The present embodiment provides a calibration method for a multi-axis linkage vision inspection apparatus suitable for step S3 in embodiment 4, which includes the following steps:
s31, placing and fixing the calibration block at the first station;
step S32, the vision acquisition component 120 corresponding to the first station is adjusted along the Z axis to make the acquired images clear, and then the first station is subjected to image acquisition to obtain an image i of the station motor 911 at the first station on the zero position 0 ；
Step S33, the side DD motor 713 rotates forward by an angle θ to drive the tool assembly 140 at each station to rotate therewith, where n=180°; the vision acquisition component 120 acquires a graph; and obtains an image i of the side DD motor 713 at the first station at the angle theta 1 And is connected with i 0 Comparing and obtaining a comparison result;
step S34, according to the step S33, the side DD motor 713 sequentially rotates to the position of (n-1) θ to obtain an image i of 2×θ to (n-1) θ on the station 2 To i (n-1) And all are identical to image i 0 Comparing and obtaining a comparison result;
step S35, the side DD motor 713 returns to the original point;
step S36, repeating steps S32 to S34N times to obtain the relative i of each image 0 The comparison result in (2);
step S37, taking an average value of a plurality of comparison results as a reference value of a first station in the positive direction under each (n-1) angle;
Step S38, rotating the side DD motor 713 in the reverse direction according to the steps S33 to S37 to obtain a reference value of the first station in the reverse direction;
step S39, the side DD motor 713 is reset, and the first station corresponds to the ascending reset of the camera along the Z axis; loosening and taking down the calibration block, and placing the calibration block on a second station;
step S310, the camera on the second station obtains reference values in the forward direction and the reverse direction under each (n-1) theta angle of the second station according to the steps S32 to S38;
step S311, completing the reference values in the forward direction and the reverse direction at each (n-1) θ angle of the remaining stations according to steps S39 to S310;
and step S312, calculating compensation values of the other stations in the forward direction and the reverse direction under the (n-1) angle theta by taking the first station as a reference, and completing the calibration of the consistency of each station through the compensation values.
In step S33 and step S34, the comparison amount is i 1 、i 2 To i (n-1) Relative to i 0 Length change d of middle l edge 11 、d 21 To d (n-1)1 。
The reference value in step S37 and step S38 is selected as the length value of the l side, and the calculation formula of the positive direction reference value is as follows
The calculation formula of the opposite direction reference value is +.>
The compensation value calculation formula of the positive direction in step S312 is d mz ＝d mz(n-1) -d 1z(n-1) The calculation formula of the compensation value in the opposite direction is d mf ＝d mf(n-1) -d 1f(n-1) 。
Specifically, in the calibration method in this embodiment, the length change of the l side is used as the comparison amount to obtain the reference value and the compensation value, on one hand, since the projection length l' =l×cos θ of the l side of the reference block 1310l in the calibration block main body 1300 on the imaging plane of the camera in the rotation process of the side DD motor 713, that is, the projection length and the rotation angle have a certain functional correspondence, the length change of the l side is used as the calibration reference of the rotation angle, so that the calibration accuracy can be ensured stably and reliably; on the other hand, the length of l in the image acquired by the camera can be clearly identified, so that the situation that the calibration difficulty is increased due to the fact that the selected reference quantity is difficult to identify can be preferably avoided.
It can be understood that by obtaining the compensation value of each station relative to the first station when rotating forward and backward by different angles, the deviation existing between different stations can be counteracted by program setting by taking the compensation value as a reference, thereby ensuring consistent and stable operation of the whole detection flow.
In addition, it is worth noting that, compared with the laser interferometer commonly used in the prior art, the calibration method in the embodiment does not need dimming, is fast in speed, small in size, stable and convenient in calibration process and low in cost.
In addition, the calibration ranges of one hundred eighty degrees in the forward and backward directions in the embodiment are considered as the complete maximum calibration angles; when the device is specifically applied to different device main bodies 100, the specific values of the rotation range, the theta angle and the n calibrated in the forward and backward directions can be adjusted according to the rotation angle of the applied device main body 100; as long as the rotation angle in the detection process can be satisfied.
Example 7
The present embodiment provides a detection image acquisition method of a multi-axis linkage vision detection apparatus realized based on the apparatus main body 100 in embodiment 1, and the apparatus main body 100 has completed calibration by the calibration method in embodiment 3 to reduce errors so as to ensure detection accuracy; in this embodiment, the space in which the apparatus main body 100 is located establishes a space coordinate system of XYZ axes, the Z axis is formed in the vertical direction, and the X axis and the Y axis are formed orthogonal to each other along the horizontal plane; the first moving direction, the second moving direction and the third moving direction are respectively an X-axis direction, a Z-axis direction and a Y-axis direction, in this embodiment, the vision acquisition component 120 is a light source and a camera;
The detection image acquisition method specifically comprises the following steps:
step S1, placing a detection object at a tool assembly 140 positioned in a detection area;
step S2, detecting image acquisition is carried out on four inner diagonal angles and four inner sides of the detected object one by one through rotation of the tool assembly 140 in the first rotation direction and the second rotation direction and movement of the vision acquisition assembly 120 in the first movement direction and the second movement direction;
step S3, after detection image acquisition is completed on four inner diagonal angles and four inner sides of the detection object, carrying out detection image acquisition on four sides on the plane of the detection object;
and S4, after the whole image acquisition is completed, the detection object is dismounted from the tool assembly 140.
Further, in this embodiment, the step S2 specifically includes the following steps:
the step S2 specifically comprises the following steps:
step S21, the tool assembly 140 rotates by 70 degrees in the positive direction in the first rotation direction and rotates by 35 degrees in the opposite direction in the second rotation direction, so that the first inner diagonal position of the detection object is opposite to the vision acquisition assembly 120; adjusting the vision acquisition component 120 along the Z-axis to make the acquired images clear, and then performing detection image acquisition on a first inner diagonal position of the detection object;
Step S22, after the detection image acquisition of the first inner diagonal of the detection object is completed, the tool assembly 140 rotates 35 degrees in the positive direction in the second rotation direction, the vision acquisition assembly 120 is adjusted along the Z axis to make the acquired image clear, the vision acquisition assembly 120 is moved along the X axis in the opposite direction until the vision acquisition assembly 120 is opposite to one end of the first inner side of the detection object, then the vision acquisition assembly 120 is moved along the X axis in the positive direction until the vision acquisition assembly is opposite to the other end of the first inner side, and the detection image acquisition is completely carried out on the first inner side of the detection object in the moving process;
step S23, after the detection image acquisition of the first inner side edge is completed, the tool assembly 140 rotates 35 degrees in the positive direction in the second rotation direction, and the vision acquisition assembly 120 is moved along the X axis so that the second inner side diagonal angle is opposite to the vision acquisition assembly 120 and the vision acquisition assembly 120 is adjusted along the Z axis to make the acquired image clear; then, carrying out detection image acquisition on a second inner diagonal of the detection object;
step S24, after the second inner diagonal detection image acquisition is completed, the tool assembly 140 rotates 55 degrees in the second rotation direction in the positive direction, the vision acquisition assembly 120 is moved along the negative X-axis direction so that one end of the second inner side edge faces the vision acquisition assembly 120, the vision acquisition assembly 120 is adjusted along the Z-axis to make the acquired image clear, and then the vision acquisition assembly 120 is moved along the positive X-axis direction until the vision acquisition assembly 120 faces the other end of the second inner side edge, and the detection image acquisition is completely carried out on the second inner side edge in the moving process of the vision acquisition assembly 120 along the X-axis;
Step S25, after the detection image acquisition of the second inner side edge is completed, the tool assembly 140 rotates by 35 degrees in the positive direction again in the second rotation direction, the vision acquisition assembly 120 is moved along the X axis so as to be opposite to the third inner diagonal angle of the detection object, the vision acquisition assembly 120 is adjusted along the Z axis so as to make the acquisition image clear, and then the detection image acquisition is carried out on the third inner diagonal angle of the detection object;
step S26, after the detection image acquisition of the third inner diagonal angle is completed, the tool assembly 140 rotates 55 degrees in the second rotation direction in the positive direction again, the vision acquisition assembly 120 is moved along the negative X-axis direction so that one end of the third inner side edge faces the vision acquisition assembly 120, the vision acquisition assembly 120 is adjusted along the Z-axis to make the acquired image clear, and then the vision acquisition assembly 120 is moved along the positive X-axis direction until the vision acquisition assembly 120 faces the other end of the third inner side edge, and the detection image acquisition is completely carried out on the third inner side edge in the movement process of the vision acquisition assembly 120 along the X-axis;
step S27, after the detection image acquisition of the third inner side edge is completed, the tool assembly 140 rotates by 35 degrees in the positive direction again in the second rotation direction, the vision acquisition assembly 120 is moved along the X axis so as to be opposite to the fourth inner diagonal angle of the detection object, the vision acquisition assembly 120 is adjusted along the Z axis so as to make the acquisition image clear, and then the detection image acquisition is carried out on the fourth inner diagonal angle of the detection object;
Step S28, after completing the detection image acquisition of the fourth inner diagonal, the tool assembly 140 rotates 55 ° in the second rotation direction in the positive direction again, moves the vision acquisition assembly 120 along the negative X-axis direction so that one end of the fourth inner side faces the vision acquisition assembly 120, adjusts the vision acquisition assembly 120 along the Z-axis to make the acquired image clear, and moves the vision acquisition assembly 120 along the positive X-axis direction until it faces the other end of the fourth inner side, and completely acquires the detection image of the fourth inner side during the movement of the vision acquisition assembly 120 along the X-axis.
In particular, in this embodiment, step S3 specifically includes the following steps,
step S31, the vision acquisition assembly 120 is lifted up along the Z-axis, the tool assembly 140 is reversely rotated for 70 degrees in the first rotation direction and is reset, and the tool assembly 140 is reversely rotated for 90 degrees in the second rotation direction;
step S32, moving the vision acquisition assembly 120 along the X axis and the tool assembly 140 along the Y axis so that one end of the first side of the detected object is opposite to the vision acquisition assembly 120, adjusting the vision acquisition assembly 120 along the Z axis to make the acquired image clear, and moving the vision acquisition assembly 120 along the X axis until the other end of the first side of the detected object is opposite to the other end of the first side of the detected object, and completely acquiring the detected image of the first side in the moving process;
Step S33, at this time, the vision acquisition component 120 is opposite to one end of the second edge of the detection object, and then the tool component 140 is moved along the Y axis until the vision acquisition component 120 is opposite to the other end of the second edge, and the detection image acquisition is completely performed on the second edge in the moving process;
step S34, at this time, the vision acquisition component 120 is opposite to one end of the third edge of the detected object, and then the vision acquisition component 120 is moved along the X axis until the vision acquisition component is opposite to the other end of the third edge, and the detected image is completely acquired for the third edge in the moving process;
in step S35, the vision collecting assembly 120 is opposite to one end of the fourth side of the test object, and then the tool assembly 140 is moved along the Y axis until the vision collecting assembly 120 is opposite to the other end of the fourth side, and the fourth side is completely subjected to detection image collection during the movement process.
It can be understood that, the detection image acquisition method in this embodiment can preferably detect four sides and four opposite angles, which are easy to have defects, of the detection object and detect four sides on the plane; therefore, the method has a wider detection range while keeping higher detection efficiency, and further ensures higher defective product detection rate.
Specifically, the detection image acquisition method in the embodiment can synchronously acquire a plurality of detection objects placed at each station at the same time; in addition, in the image acquisition process of each part, the detection object to be acquired is always positioned at the station, and the image is photographed and acquired through the camera corresponding to the station. In the process of drawing, the camera does not need to be adjusted after the focal length and the shooting position are adjusted, and a detection object also only needs to follow the set rotation angles of the station motor 911 and the side DD motor 713 to sequentially finish the shooting and drawing of each part; therefore, visual image acquisition can be stably, conveniently and rapidly carried out on key positions of the detection object in the whole image acquisition process, the image acquisition efficiency is improved better, and further, the follow-up analysis processing can be carried out on the acquired images more efficiently so as to obtain the appearance defect detection result of the detection object.
In addition, in the process of drawing, the rotation angles and the rotation sequence of the angles set by the station motor 911 and the side DD motor 713 can preferably ensure that all key positions of the detection object can be covered, so that the condition of missing defect detection can be preferably avoided. The rotation angle and the rotation sequence of each angle in the process can better ensure that the whole detection process is smooth and efficient in operation, less in invalid rotation, and the detection visual image acquisition of each key position can be stably and sequentially completed in the rotation process.
In addition, after the station motors 911 and the side DD motors 713 are calibrated by the calibration method in the foregoing embodiment 3, it can be better ensured that each station can keep synchronous in the detection process, so that good preconditions can be provided for synchronous and stable acquisition of multi-station detection images; therefore, the visual acquisition effect of the detection images of the detection objects at each station can be well ensured to be maintained at a higher consistent level, and the accuracy of the subsequent analysis and detection of the acquired images is further ensured.
Example 8
Referring to fig. 15, this embodiment provides an application of the detection image acquisition method in embodiment 7 to visual image acquisition of a mobile phone center 1400; it can be appreciated that, by the method, the detection image acquisition can be preferably performed on the part of the mobile phone middle frame 1400 where the visual defect is easy to occur, so as to detect and exclude the defective products in cooperation with the subsequent analysis.
It is to be understood that, based on one or several embodiments provided herein, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, which do not exceed the protection scope of the present application.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (10)
1. A diaxon rotary device for multiaxis linkage detects limited angle, its characterized in that: including the device main part, the device main part is including being used for with triaxial platform assorted installation mounting panel (711), mounting panel (711) department activity is provided with around first axial pivoted first axle rotor plate (712), and first axle rotor plate (712) have a plurality of frock subassemblies (140) that are used for placing the test object and rotate around the second axial along its length direction interval arrangement.
2. The two-axis rotating device for multi-axis linkage detection of a limited angle according to claim 1, wherein both ends of the mounting plate (711) in the length direction are formed with fitting plates (7111) perpendicular to the mounting plate (711); the first shaft rotating plate (712) is arranged between the assembly plates (7111) at the two ends, and the first axial direction is a straight line direction perpendicular to the assembly plates (7111) at the two sides.
3. The two-axis rotation device for multi-axis linkage detection of limited angles of claim 1, wherein the tooling assembly (140) comprises a second axis rotation station (910); the second shaft rotating stations (910) are uniformly arranged at intervals along the length direction of the first shaft rotating plate (712), the second shaft rotating stations (910) rotate around the second shaft relative to the first shaft rotating plate (712), the second shaft is in a straight line direction perpendicular to the rotating plate, the second shaft rotating stations (910) rotate around the first shaft along with the first shaft rotating plate (712) to serve as a first rotating direction of the tool assembly (140), and the second shaft rotating stations rotate around the second shaft to serve as a second rotating direction of the tool assembly (140).
4. A two-axis rotation device for multi-axis linkage detection of limited angles according to claim 3 wherein the rotation angle of the second axis rotation station (910) about the second axis is limited to a limited angle.
5. The two-axis rotating device for multi-axis linkage detection of a limited angle according to claim 2, wherein a side DD motor (713) connected to the first axis rotating plate (712) is provided at a mounting plate (7111) at one end of the mounting plate (711); the side DD motor (713) drives the first shaft rotating plate (712) to rotate so as to realize the rotation of the tool assembly (140) in the first rotating direction; the first shaft rotating plate (712) is provided with a plurality of station motors (911) at intervals along the length direction, and each station motor (911) is used for driving each second shaft rotating station (910) to rotate so as to realize the rotation of the tool assembly (140) in the second rotating direction.
6. The multi-axis linkage limited angle two-axis rotation device according to claim 5, wherein: the second shaft rotating station (910) comprises a placing disc (912), a sucker base plate (913) is arranged at one side surface of the placing disc (912) far from the station motor (911), and a sucker placing plate (914) is arranged at one side of the sucker base plate (913) far from the placing disc (912); the suction cup placement plate (914) is uniformly distributed with a plurality of positioning suction cups (915) which are used for adsorbing and fixing the detection objects and are oriented to one side of the far suction cup bottom plate (913) in the suction direction.
7. The multi-axis linkage limited angle two-axis rotation device according to claim 6, wherein: the bottom wall of the placing disc (912) far away from the suction disc placing plate (914) is provided with a screw hole (916) for installing a screw, and the outer edge of the placing disc (912) is provided with a vertical baffle plate (917) facing to the mounting plate (711).
8. The multi-axis linkage limited angle two-axis rotation device according to claim 7, wherein: the bottom position of the second shaft rotating station (910) is provided with a limiting plate (918) which is matched with the vertical partition plate (917) to limit the second rotating station to rotate through, and one side of the limiting plate (918) close to the placing plate (912) is provided with a limiting protrusion (9181) which is matched with a screw to form hard limit.
9. The multi-axis linkage detection limited angle two-axis rotation device according to claim 8, wherein: when the station motor (911) is in a zero position, an included angle between the limiting protrusion (9181) and the screw along the circumferential direction of the placing disc (912) is one hundred eighty degrees; the screw and the limit protrusion (9181) themselves have a width that limits the unidirectional rotation of the station motor (911) to within one hundred eighty degrees.
10. The multi-axis linkage detection limited angle two-axis rotation device according to claim 8, wherein: an outer wall of the limiting plate (918) is provided with a photoelectric switch (9182) for distinguishing the rotation direction of the station motor (911).
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| CN202320260262.6U Active CN218931028U (en) | 2022-12-14 | 2023-02-20 | Biaxial rotation device for detecting limited angle through multiaxial linkage |
| CN202310138291.XA Pending CN116336969A (en) | 2022-12-14 | 2023-02-20 | Multi-axis linkage visual detection equipment and calibration method thereof |
| CN202310138288.8A Active CN116026260B (en) | 2022-12-14 | 2023-02-20 | Biaxial rotation device for detecting limited angle through multiaxial linkage and calibration method thereof |
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| CN109458958B (en) * | 2018-12-21 | 2020-10-09 | 中国航空工业集团公司北京航空精密机械研究所 | Calibration method for center position of rotary table in four-axis vision measurement device |
| CN109455247B (en) * | 2018-12-21 | 2023-10-20 | 银河水滴科技（北京）有限公司 | AGV material transfer trolley |
| CN209246963U (en) * | 2019-02-18 | 2019-08-13 | 苏州鼎纳自动化技术有限公司 | Five axis 3D detection devices |
| CN111951237B (en) * | 2020-08-04 | 2021-06-08 | 上海微亿智造科技有限公司 | Visual appearance detection method |
| CN112254639A (en) * | 2020-10-26 | 2021-01-22 | 无锡先导智能装备股份有限公司 | Part detection device and bearing jig |
| CN113021017B (en) * | 2021-03-19 | 2022-05-03 | 中国科学院自动化研究所 | Shape-following self-adaptive 3D detection and processing system |
| CN113092484A (en) * | 2021-04-02 | 2021-07-09 | 杭州千岛湖瑞淳机器人研究院有限公司 | Visual detection equipment suitable for groove grids |
| CN113376170B (en) * | 2021-06-16 | 2023-01-10 | 博众精工科技股份有限公司 | Calibration method and calibration block of product appearance detection equipment |
| CN113446937B (en) * | 2021-06-24 | 2023-05-30 | 深圳回收宝科技有限公司 | Laser-based position detection method and position detection system |
| CN113484239B (en) * | 2021-06-25 | 2022-08-09 | 广州辰创科技发展有限公司 | Multi-angle appearance detection equipment |
| CN216082506U (en) * | 2021-07-15 | 2022-03-18 | 东莞市乐琪光电科技有限公司 | Multi-degree-of-freedom series-connection precision positioning platform for visual detection |
| CN216082505U (en) * | 2021-07-15 | 2022-03-18 | 东莞市乐琪光电科技有限公司 | Five detection device based on vision |
| CN215449029U (en) * | 2021-07-29 | 2022-01-07 | 大族激光科技产业集团股份有限公司 | Visual positioning and detecting device |
| CN217818587U (en) * | 2022-08-26 | 2022-11-15 | 广东微米测量技术有限公司 | Multi-axis rotation measuring instrument |
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| CN116026260A (en) | 2023-04-28 |
| CN116087216B (en) | 2024-02-20 |
| CN116045854B (en) | 2023-09-05 |
| CN116045854A (en) | 2023-05-02 |
| CN219266126U (en) | 2023-06-27 |
| CN116336969A (en) | 2023-06-27 |
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| CN116026260B (en) | 2023-09-05 |
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