CN219872617U - Five-axis linkage platform based on machine vision - Google Patents

Abstract

The utility model relates to the technical field of machine vision and discloses a five-axis linkage platform based on machine vision, which comprises an electrical control cabinet, a gantry, an objective table, an industrial camera, a light source, a manipulator, an X-axis adjusting module, a Y-axis adjusting module, a first Z-axis adjusting module, an R-axis adjusting module and a second Z-axis adjusting module, wherein the gantry and the Y-axis adjusting module are respectively arranged on the top surface of the electrical control cabinet, the objective table is arranged on the Y-axis adjusting module through the X-axis adjusting module, and the first Z-axis adjusting module and the second Z-axis adjusting module are respectively and overhead arranged above the objective table through the gantry. According to the utility model, through automatic adjustment of the heights of the industrial camera and the light source, rapid imaging is realized, the imaging quality of a visual system for automatically detecting any object in real time is realized, sorting and arbitrary angle placement of the objects are realized, a good visual control and machine debugging training environment can be provided for machine vision teaching, and the training effect of the machine vision teaching is improved.

Description

Five-axis linkage platform based on machine vision

Technical Field

The utility model relates to the technical field of machine vision, in particular to a five-axis linkage platform based on machine vision.

Background

Machine vision is a branch of the rapid development of artificial intelligence. The machine is used for measuring and judging instead of human eyes. The machine vision system converts the shot object into an image signal through a machine vision product, and transmits the image signal to a special image processing system, and the obtained morphological information of the shot object is converted into a digital signal according to the pixel distribution, brightness, color and other information; the image system performs various operations on these signals to extract characteristics of the object, and further controls the operation of the on-site device according to the result of the discrimination. The machine vision technology can provide visual detection, positioning, identification, guiding and other functions for realizing automatic production, so that the traditional manufacturing industry can realize higher automation and even intellectualization.

With the continuous promotion of intelligent manufacturing in China, enterprises have further demands for improvement of production modes and production efficiency, the application of machine vision technology is more and more extensive, and a practical training platform for machine vision teaching is also generated. However, most of the existing machine vision teaching platforms only have demonstration teaching effects, and cannot provide a good vision control and machine debugging training environment. The ability of students to program control and debug the machine vision system is also an important training point, so that the teaching effect of the existing machine vision teaching platform is limited, and the ability of students to program control and reasonably debug is not fully exercised.

Disclosure of Invention

The utility model aims to overcome the defects, and provides a five-axis linkage platform based on machine vision, which can automatically adjust the heights of an industrial camera and a light source through a scientific and reasonable structural design, realize rapid imaging, ensure clear imaging of a plurality of objects, improve detection efficiency, realize imaging quality of a vision system for automatically detecting any object in real time, realize sorting and placing the objects at any angle, provide a good vision control and machine debugging training environment for machine vision teaching, and improve the training effect of the machine vision teaching.

The technical scheme is as follows:

the utility model provides a five-axis linkage platform based on machine vision, includes electrical control cabinet, portal frame, objective table, industry camera, light source, manipulator, is used for driving the X axle adjusting module that the objective table moved along the horizontal axis direction, be used for driving the Y axle adjusting module that X axle adjusting module moved along the longitudinal axis direction, be used for driving industry camera and light source along the first Z axle adjusting module that vertical axis moved, be used for driving the manipulator along the rotatory R axle adjusting module of vertical axis, be used for driving the second Z axle adjusting module that R axle adjusting module moved along vertical axis direction, portal frame, Y axle adjusting module are installed respectively on the top surface of electrical control cabinet, Y axle adjusting module passes the portal frame, the objective table passes through X axle adjusting module installs on the Y axle adjusting module, first Z axle adjusting module, second Z axle adjusting module are respectively through the portal frame is aerial to be installed the top of objective table, industry camera, light source, X axle adjusting module, Y axle adjusting module, first Z axle adjusting module, R axle adjusting module, second Z axle adjusting module respectively with electrical connection with the manipulator.

The manipulator comprises a sucker and an air cylinder, wherein the sucker is communicated with an air source through the air cylinder, and the R-axis adjusting module drives the sucker to rotate along a vertical axis.

The X-axis adjusting module comprises a first servo motor, a first screw rod sliding table and a first sliding block, wherein the objective table is installed on the first sliding block, the first sliding block is in sliding connection with the first screw rod sliding table, and the first screw rod sliding table drives the first sliding block to move left and right along the transverse axis direction through the first servo motor.

The Y-axis adjusting module comprises a second servo motor, a second screw rod sliding table and a second sliding block, the X-axis adjusting module is installed on the second sliding block, the second sliding block is in sliding connection with the second screw rod sliding table, and the second screw rod sliding table drives the second sliding block to move back and forth along the longitudinal axis direction through the second servo motor.

The portal frame comprises a first vertical plate, a second vertical plate and a portal beam, wherein the lower ends of the first vertical plate and the second vertical plate are respectively connected with the top surfaces of the electric control cabinets on the left side and the right side of the Y-axis adjusting module, the two ends of the portal beam are respectively connected with the upper ends of the first vertical plate and the second vertical plate, and the first Z-axis adjusting module and the second Z-axis adjusting module are respectively installed on the portal beam.

The first Z-axis adjusting module comprises a third servo motor, a third screw rod sliding table and a third sliding block, the first Z-axis adjusting module is installed on the portal beam through the third screw rod sliding table, the third sliding block is in sliding connection with the third screw rod sliding table, the third screw rod sliding table is driven by the third servo motor to move up and down along the vertical axis direction, and the industrial camera and the light source are installed on the third sliding block respectively.

The first Z-axis adjusting module further comprises a camera clamping support and a light source support, the industrial camera is installed on the third sliding block through the camera clamping support, and the light source is installed on the third sliding block through the light source support.

The second Z-axis adjusting module comprises a fourth servo motor, a fourth screw rod sliding table and a fourth sliding block, the second Z-axis adjusting module is installed on the portal beam through the fourth screw rod sliding table, the fourth sliding block is in sliding connection with the fourth screw rod sliding table, the fourth screw rod sliding table is driven by the fourth servo motor to move up and down along the vertical axis direction, and the manipulator is installed on the fourth sliding block through the R-axis adjusting module.

The R-axis adjusting module comprises a fifth servo motor and a clamp plate, wherein the fifth servo motor is installed on the fourth sliding block through the clamp plate, and the manipulator is installed on a motor rotating shaft of the fifth servo motor.

It should be noted that:

the foregoing "first and second …" do not represent a specific number or order, but are merely for distinguishing between names.

In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the product of the present utility model is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be construed as limiting the present utility model.

The direction of the aforementioned "transverse axis" is the left-right direction based on the drawing, i.e., the "X-axis" direction.

The direction of the aforementioned "longitudinal axis" is the front-rear direction based on the drawing, i.e., the "Y-axis" direction.

The direction of the aforementioned "vertical axis" is the up-down direction shown based on the drawing, i.e., the "Z-axis" direction.

The advantages and principles of the utility model are described below:

1. the five-axis linkage platform based on machine vision is reasonable in structural design, and comprises an electrical control cabinet, a door frame, an objective table, an industrial camera, a light source, a manipulator, an X-axis adjusting module, a Y-axis adjusting module, a first Z-axis adjusting module, an R-axis adjusting module and a second Z-axis adjusting module, wherein an imaging feedback system and a motion controller are arranged in the electrical control cabinet, imaging working heights of different objects are calculated through a PC section tracking imaging system and fed back to the first Z-axis adjusting module, automatic adjustment of the heights of the industrial camera and the light source is achieved, rapid imaging is achieved, clear imaging of a plurality of objects is guaranteed, detection efficiency is improved, and imaging quality of any product detected in real time by a vision system is achieved automatically. The X-axis adjusting module and the Y-axis adjusting module are used for adjusting the plane position of the object stage, the first Z-axis adjusting module is used for controlling the vertical height of the industrial camera and the light source, the second Z-axis adjusting module is used for controlling the vertical height of the manipulator, the R-axis adjusting module is used for controlling the rotation angle of the manipulator, so that five-axis linkage is realized, each motion axis is driven by a motor and is connected with a motion controller of each communication interface through a servo driver, motion control and diagnosis are performed through motion programming software, and motion parameters of each motion axis are monitored in real time, so that five-axis linkage imaging and object sorting and placement are realized; when the device is used, firstly, an object to be detected is placed in a detection area on an object stage, an X-axis adjusting module and a Y-axis adjusting module are controlled by a motion controller, the object to be detected placed in the detection area of the object stage is placed below an industrial camera, a light source is started, the industrial camera performs pre-photographing on the object to be detected and feeds back to an imaging feedback system of an electrical control cabinet, imaging working heights of different objects are calculated by a PC section tracking imaging system, the motion controller controls a first Z-axis adjusting module according to the calculated imaging working heights of the objects, the shooting height of the industrial camera is adjusted, the object to be detected is shot again, an accurate clear picture of the object to be detected is obtained, and the accurate coordinate position and the angle of the object to be detected are collected, so that the automatic adjustment of the heights of the industrial camera and the light source is realized, and the clear imaging of the objects is ensured; then, the object stage is controlled to continuously move through the X-axis adjusting module and the Y-axis adjusting module, so that an object to be detected placed on the object stage detection area is placed below the manipulator, the motion controller controls the manipulator to descend through the second Z-axis adjusting module, the object to be detected is sucked by the manipulator, then the manipulator is controlled to ascend through the second Z-axis adjusting module, the object to be detected is sucked by the manipulator to leave the detection area of the object stage, the object stage is controlled to continuously move through the X-axis adjusting module and the Y-axis adjusting module, the object to be detected is placed above the placement area of the object stage, at the moment, the object to be detected is put down from the manipulator, sorting of the object can be achieved, and before the object is put down, the manipulator is driven by the R-axis adjusting module to rotate along the vertical axis for a certain angle, and the object can be placed according to a specified angle; the five-axis linkage platform can program and control the rotation angle of each servo motor on the programming control system, so that an industrial camera can capture images of objects to be detected in a preset mode, and then image information is transmitted to the image processing display system for processing and visualization, so that the sizes, the coordinate positions, the angles, the installation positions and the like of the components on the objects to be detected are measured, or other practical training projects are carried out, and the programming control and reasonable debugging capability of students on a machine vision system are improved in a student practical operation mode. The five-axis linkage platform can provide a good visual control and machine debugging practical training environment for machine vision teaching, and improves the practical training effect of the machine vision teaching.

2. The manipulator comprises the sucker and the air cylinder, and the sucker is controlled to suck the object through the air cylinder, so that the sucking efficiency of the manipulator on the object is improved.

3. The X-axis adjusting module comprises a first servo motor, a first screw rod sliding table and a first sliding block, the Y-axis adjusting module comprises a second servo motor, a second screw rod sliding table and a second sliding block, the movement of the objective table on the plane position is controlled through the screw rod sliding table, and the accuracy and the stability of the movement of the objective table on the plane position are improved.

4. The first Z-axis adjusting module comprises a third servo motor, a third screw rod sliding table, a third sliding block, a camera clamping support and a light source support, an industrial camera is assembled and clamped by the camera clamping support, the camera with various types and sizes can be supported, and the support comprises an area array camera, a linear array camera, a binocular 3D camera, a linear laser 3D camera and the like, so that the cost is reduced.

5. The R-axis adjusting module comprises a fifth servo motor and a clamp plate, wherein the fifth servo motor is arranged on the fourth sliding block through the clamp plate, so that the R-axis adjusting module is convenient to assemble, disassemble and maintain.

Drawings

Fig. 1 is a schematic overall perspective view of a five-axis linkage platform based on machine vision according to an embodiment of the present utility model.

Fig. 2 is a schematic overall perspective view of another view of a five-axis linkage platform based on machine vision according to an embodiment of the present utility model.

Reference numerals illustrate:

10. the device comprises an electric control cabinet, 11, a door frame, 111, a first vertical plate, 112, a second vertical plate, 113, a portal beam, 12, an objective table, 13, an industrial camera, 14, a light source, 20, a manipulator, 21, a sucker, 22, an air cylinder, 30, an X-axis adjusting module, 31, a first servo motor, 32, a first screw sliding table, 33, a first sliding block, 40, a Y-axis adjusting module, 41, a second servo motor, 42, a second screw sliding table, 43, a second sliding block, 50, a first Z-axis adjusting module, 51, a third servo motor, 52, a third screw sliding table, 53, a third sliding block, 54, a camera clamping support, 55, a light source support, 60, an R-axis adjusting module, 61, a fifth servo motor, 62, a clamp plate, 70, a second Z-axis adjusting module, 71, a fourth servo motor, 72, a fourth screw sliding table, 73 and a fourth sliding block.

Detailed Description

The following describes embodiments of the present utility model in detail.

Examples

Referring to fig. 1 to 2, the machine vision-based five-axis linkage platform provided by the utility model is developed for providing a training environment for vision control and machine debugging for machine vision teaching of high-altitude students and improving the training effect of the machine vision teaching of the students.

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

The five-axis linkage platform based on machine vision provided by the embodiment comprises an electrical control cabinet 10, a portal frame 11, an objective table 12, an industrial camera 13, a light source 14, a manipulator 20, an X-axis adjusting module 30 for driving the objective table 12 to move along a transverse axis direction, a Y-axis adjusting module 40 for driving the X-axis adjusting module 30 to move along a longitudinal axis direction, a first Z-axis adjusting module 50 for driving the industrial camera 13 and the light source 14 to move along a vertical axis direction, an R-axis adjusting module 60 for driving the manipulator 20 to rotate along the vertical axis, and a second Z-axis adjusting module 70 for driving the R-axis adjusting module 60 to move along the vertical axis direction, wherein the portal frame 11 and the Y-axis adjusting module 40 are respectively arranged on the top surface of the electrical control cabinet 10, the Y-axis adjusting module 40 passes through the portal frame 11, the objective table 12 is arranged on the Y-axis adjusting module 40 through the X-axis adjusting module 30, the first Z-axis adjusting module 50 and the second Z-axis adjusting module 70 are respectively and overhead arranged above the objective table 12 through the portal frame 11, and the industrial camera 13, the light source 14, the X-axis adjusting module 30, the Y-axis adjusting module 40, the first Z-axis adjusting module 40 and the second Z-axis adjusting module 60 are respectively connected with the manipulator 20 in an electrical connection.

The electrical control cabinet 10 is internally provided with an imaging feedback system and a motion controller, the imaging working heights of different objects are calculated through a PC section tracking imaging system and are fed back to the first Z-axis adjusting module 50, automatic adjustment of the heights of the industrial camera 13 and the light source 14 is achieved, rapid imaging is achieved, clear imaging of a plurality of objects is ensured, detection efficiency is improved, and imaging quality of a vision system for automatically detecting any product in real time is achieved. The X-axis adjusting module 30 and the Y-axis adjusting module 40 are used for adjusting the plane position of the object stage 12, the first Z-axis adjusting module 50 is used for controlling the vertical height of the industrial camera 13 and the light source 14, the second Z-axis adjusting module 70 is used for controlling the vertical height of the manipulator 20, the R-axis adjusting module 60 is used for controlling the rotation angle of the manipulator 20, so that five-axis linkage is realized, each motion axis is driven by a motor and is connected with a motion controller of each communication interface through a servo driver, motion control and diagnosis are carried out through motion programming software, and motion parameters of each motion axis are monitored in real time, so that five-axis linkage imaging and sorting and placing of objects are realized; when the device is used, firstly, an object to be detected is placed in a detection area on the object stage 12, the motion controller is used for controlling the X-axis adjusting module 30 and the Y-axis adjusting module 40, so that the object to be detected placed in the detection area of the object stage 12 is placed below the industrial camera 13, the light source 14 is started, the industrial camera 13 pre-photographs the object to be detected and feeds back to an imaging feedback system of the electrical control cabinet 10, the imaging working heights of different objects are calculated through a PC section tracking imaging system, the motion controller controls the first Z-axis adjusting module 50 according to the calculated object imaging working heights, the shooting height of the industrial camera 13 is adjusted, the accurate clear picture of the object to be detected is re-photographed, the accurate coordinate position and the angle of the object to be detected are acquired, and therefore automatic height adjustment of the industrial camera 13 and the light source 14 is realized, and clear imaging of the object is ensured; then, the object stage 12 is controlled to move continuously through the X-axis adjusting module 30 and the Y-axis adjusting module 40, so that an object to be detected placed on a detection area of the object stage 12 is placed below the manipulator 20, the motion controller controls the manipulator 20 to descend through the second Z-axis adjusting module 70, the manipulator 20 is used for sucking the object to be detected, then the manipulator 20 is controlled to ascend through the second Z-axis adjusting module 70, the manipulator 20 sucks the object to be detected away from the detection area of the object stage 12, the object stage 12 is controlled to move continuously through the X-axis adjusting module 30 and the Y-axis adjusting module 40, the object to be detected is placed above the placement area of the object stage 12, at the moment, the object to be detected is put down from the manipulator 20, sorting of the object can be achieved, before the object is put down, the manipulator 20 is driven by the R-axis adjusting module 60 to rotate a certain angle along the vertical axis, and the object can be placed according to a specified angle can be achieved; the five-axis linkage platform can program and control the rotation angle of each servo motor on a programming control system, so that the industrial camera 13 captures images of objects to be detected according to a preset mode, and then transmits image information to an image processing display system for processing and visualization, so as to measure the sizes, coordinate positions, angles, installation positions and the like of the components on the objects to be detected, or perform other practical training projects, and the programming control and reasonable debugging capability of students on a machine vision system are improved in a student practical operation mode. The five-axis linkage platform can provide a good visual control and machine debugging practical training environment for machine vision teaching, and improves the practical training effect of the machine vision teaching.

The manipulator 20 comprises a sucker 21 and an air cylinder 22, the sucker 21 is communicated with an air source through the air cylinder 22, and the R-axis adjusting module 60 drives the sucker 21 to rotate along a vertical axis. The suction of the sucker 21 to the object is controlled through the air cylinder 22, so that the suction efficiency of the manipulator 20 to the object is improved.

The X-axis adjusting module 30 comprises a first servo motor 31, a first screw sliding table 32 and a first sliding block 33, the object stage 12 is mounted on the first sliding block 33, the first sliding block 33 is in sliding connection with the first screw sliding table 32, and the first screw sliding table 32 drives the first sliding block 33 to move left and right along the transverse axis direction through the first servo motor 31. The Y-axis adjusting module 40 comprises a second servo motor 41, a second screw rod sliding table 42 and a second sliding block 43, the X-axis adjusting module 30 is installed on the second sliding block 43, the second sliding block 43 is in sliding connection with the second screw rod sliding table 42, and the second screw rod sliding table 42 drives the second sliding block 43 to move back and forth along the longitudinal axis direction through the second servo motor 41. The movement of the objective table 12 on the plane position is controlled through the screw rod sliding table, so that the accuracy and stability of the movement of the objective table 12 on the plane position are improved.

The portal frame 11 includes a first vertical plate 111, a second vertical plate 112, and a portal beam 113, wherein the lower ends of the first vertical plate 111 and the second vertical plate 112 are respectively connected with the top surfaces of the electrical control cabinets 10 on the left side and the right side of the Y-axis adjusting module 40, the two ends of the portal beam 113 are respectively connected with the upper ends of the first vertical plate 111 and the second vertical plate 112, and the first Z-axis adjusting module 50 and the second Z-axis adjusting module 70 are respectively mounted on the portal beam 113.

The first Z-axis adjusting module 50 comprises a third servo motor 51, a third screw rod sliding table 52, a third sliding block 53, a camera clamping support 54 and a light source support 55, the first Z-axis adjusting module 50 is installed on a portal beam 113 through the third screw rod sliding table 52, the third sliding block 53 is in sliding connection with the third screw rod sliding table 52, the third screw rod sliding table 52 drives the third sliding block 53 to move up and down along the vertical axis direction through the third servo motor 51, and the industrial camera 13 and the light source 14 are installed on the third sliding block 53 respectively. The industrial camera 13 is mounted on the third slider 53 by a camera holding bracket 54, and the light source 14 is mounted on the third slider 53 by a light source bracket 55. The industrial camera 13 is assembled and clamped by using the camera clamping bracket 54, so that the camera with various types and sizes can be supported, and the support adaptation comprises an area-array camera, a linear-array camera, a binocular 3D camera, a linear laser 3D camera and the like, so that the cost is reduced.

The second Z-axis adjusting module 70 includes a fourth servo motor 71, a fourth screw sliding table 72, and a fourth sliding block 73, the second Z-axis adjusting module 70 is mounted on the gantry beam 113 through the fourth screw sliding table 72, the fourth sliding block 73 is slidably connected with the fourth screw sliding table 72, the fourth screw sliding table 72 drives the fourth sliding block 73 to move up and down along the vertical axis direction through the fourth servo motor 71, and the manipulator 20 is mounted on the fourth sliding block 73 through the R-axis adjusting module 60. The R-axis adjusting module 60 includes a fifth servomotor 61 and a clamp plate 62, the fifth servomotor 61 is mounted on a fourth slider 73 through the clamp plate 62, and the robot 20 is mounted on a motor shaft of the fifth servomotor 61. The fifth servo motor 61 is mounted on the fourth slider 73 through the clamp plate 62, so that the R-axis adjusting module 60 is convenient to assemble, disassemble and maintain.

The embodiment also provides a training case one for machine vision teaching of students by using the utility model:

creative style puzzle pieces, e.g., square pattern pieces of a puzzle, in machine vision system applications; before use, students will use graphical programming software to finish software flow design in advance according to detection requirements, and save the software flow design into a control system in the electrical control cabinet 10, and a pattern placement flow of the tangram creative modeling and assembly comprises the following steps:

s11, placing the tangram into a detection area of the object stage 12 by a student, wherein the positions of the tangram are random and non-overlapping;

s12, calling square pattern configuration;

s13, the motion controller controls the movement of the object stage 12 through the X-axis adjusting module 30 and the Y-axis adjusting module 40, and the detection area of the object stage 12 is moved to the lower part of the industrial camera 13;

s14, triggering the light source 14 to be lightened, and triggering the camera to pre-photograph at the same time; the imaging working heights of different objects are calculated through a PC section tracking imaging system, a motion controller controls a first Z-axis adjusting module 50 according to the calculated imaging working heights of the objects, the shooting height of an industrial camera 13 is adjusted, shooting is performed again, and accurate and clear pictures of all the small plates of the jigsaw puzzle are obtained;

s15, marking the colors of the randomly placed platelets in the detection area according to the obtained clear pictures, and displaying the colors in a software graphic display area;

s16, acquiring accurate coordinate positions and angles of all the small plates of the tangram in the detection area of the objective table 12, and displaying the accurate coordinate positions and angles in a software graphic display area;

s17, according to square pattern configuration, the system automatically calculates the pendulum spelling coordinates of each panel of the jigsaw puzzle;

s18, placing square patterns according to the positions of the pendulum spelling coordinates; the stage 12 is controlled to move continuously through the X-axis adjusting module 30 and the Y-axis adjusting module 40, any small plate of the jigsaw puzzle placed on the detection area of the stage 12 is placed below the suction cup 21, the motion controller controls the suction cup 21 to descend through the second Z-axis adjusting module 70, any small plate of the jigsaw puzzle is sucked by the suction cup 21, then the suction cup 21 is controlled to ascend through the second Z-axis adjusting module 70, any small plate of the jigsaw puzzle is sucked by the suction cup 21 to leave the detection area of the stage 12, the stage 12 is controlled to move continuously through the X-axis adjusting module 30 and the Y-axis adjusting module 40, any small plate of the jigsaw puzzle is placed above the placement area of the stage 12, the suction cup 21 is driven to rotate along the vertical axis through the R-axis adjusting module 60 until the plane coordinates of any small plate of the jigsaw puzzle coincide with the pendulum spelling coordinates, at the moment, the suction of any small plate of the jigsaw puzzle is sucked by the suction cup 21 is released, and all small plates of the jigsaw puzzle are pendulum-puzzle is pieced on the placement area of the stage 12 until the square pattern is placed.

The embodiment also provides a training case II for performing machine vision teaching of students by using the utility model:

before use, students use graphical programming software to finish software flow design in advance according to detection requirements and save the software flow design into a control system in an electrical control cabinet 10, and a main workflow of logistics package measurement and sorting comprises the following steps:

s21, placing the logistics packages into a detection area of the object stage 12 by students, wherein the placement positions of the logistics packages are random and non-overlapping, and do not exceed the visual field range of the detection area;

s22, the motion controller controls the movement of the object stage 12 through the X-axis adjusting module 30 and the Y-axis adjusting module 40, and the detection area of the object stage 12 is moved to the lower part of the industrial camera 13

S23, the PLC sends a photographing signal to trigger the 3D camera to pre-photograph; the imaging feedback system is fed back to the electrical control cabinet 10, the imaging working heights of different packages are calculated through the PC section tracking imaging system, the motion controller controls the first Z-axis adjusting module 50 according to the calculated imaging working heights of the packages, the shooting height of the industrial camera 13 is adjusted, shooting is carried out again, and precise and clear pictures of the packages are obtained;

s24, positioning three-dimensional position coordinates of the package;

s25, extracting a package area, and measuring various data of the package;

s26, calculating a proper code reading photographing position of the 2D camera according to the 3D position of the package, and photographing each package under the camera sequentially by moving the object stage 12;

s27, according to bar code information of each package, the object stage 12 is controlled to continuously move through the X-axis adjusting module 30 and the Y-axis adjusting module 40, any package placed on the detection area of the object stage 12 is placed below the suction cup 21, the motion controller controls the suction cup 21 to descend through the second Z-axis adjusting module 70, any package is sucked by the suction cup 21, then the suction cup 21 is controlled to ascend through the second Z-axis adjusting module 70, meanwhile, any package is sucked by the suction cup 21 to leave the detection area of the object stage 12, the object stage 12 is controlled to continuously move through the X-axis adjusting module 30 and the Y-axis adjusting module 40, any package is placed above the placement area of the object stage 12, suction of any package by the suction cup 21 is released, and the packages are classified and sorted to corresponding placement areas until sorting and placement of each package are completed.

The principle prototype of the five-axis linkage platform based on machine vision provided by the utility model has been subjected to actual test in machine vision teaching of institutions under the condition of confidentiality in a small range. Through practical tests, the training environment with good visual control and machine debugging can be provided for students, the training effect of machine vision teaching is improved, and learning interests and learning demands of the students are stimulated.

The foregoing is merely exemplary embodiments of the present utility model, and is not intended to limit the scope of the present utility model; any substitutions and modifications made without departing from the spirit of the utility model are within the scope of the utility model.

Claims (9)

1. The utility model provides a five-axis linkage platform based on machine vision, its characterized in that, including electrical control cabinet, portal frame, objective table, industry camera, light source, manipulator, be used for driving the objective table along the X axle adjusting module that horizontal axis direction moved, be used for driving the Y axle adjusting module that X axle adjusting module moved along the vertical axis direction, be used for driving industry camera and light source along the first Z axle adjusting module that vertical axis moved, be used for driving the manipulator along the rotatory R axle adjusting module of vertical axis, be used for driving the second Z axle adjusting module that R axle adjusting module moved along the vertical axis direction, portal frame, Y axle adjusting module are installed respectively on the top surface of electrical control cabinet, Y axle adjusting module passes the portal frame, the objective table passes through X axle adjusting module is installed on the Y axle adjusting module, first Z axle adjusting module, second Z axle adjusting module are respectively through portal frame overhead to be installed the top of objective table, industry camera, light source, X axle adjusting module, Y axle adjusting module, first Z axle adjusting module, R axle adjusting module, second Z axle adjusting module respectively with electrical connection with the electrical control cabinet.

2. The machine vision-based five-axis linkage platform according to claim 1, wherein the manipulator comprises a sucker and an air cylinder, the sucker is communicated with an air source through the air cylinder, and the R-axis adjusting module drives the sucker to rotate along a vertical axis.

3. The machine vision-based five-axis linkage platform according to claim 1, wherein the X-axis adjusting module comprises a first servo motor, a first screw rod sliding table and a first sliding block, the object stage is mounted on the first sliding block, the first sliding block is in sliding connection with the first screw rod sliding table, and the first screw rod sliding table drives the first sliding block to move left and right along the transverse axis direction through the first servo motor.

4. The machine vision-based five-axis linkage platform according to claim 3, wherein the Y-axis adjusting module comprises a second servo motor, a second screw rod sliding table and a second sliding block, the X-axis adjusting module is installed on the second sliding block, the second sliding block is in sliding connection with the second screw rod sliding table, and the second screw rod sliding table drives the second sliding block to move forwards and backwards along the longitudinal axis direction through the second servo motor.

5. The machine vision-based five-axis linkage platform according to any one of claims 1 to 4, wherein the portal frame comprises a first vertical plate, a second vertical plate and a portal beam, the lower ends of the first vertical plate and the second vertical plate are respectively connected with the top surfaces of the electric control cabinets on the left side and the right side of the Y-axis adjusting module, the two ends of the portal beam are respectively connected with the upper ends of the first vertical plate and the second vertical plate, and the first Z-axis adjusting module and the second Z-axis adjusting module are respectively installed on the portal beam.

6. The machine vision-based five-axis linkage platform according to claim 5, wherein the first Z-axis adjusting module comprises a third servo motor, a third screw rod sliding table and a third sliding block, the first Z-axis adjusting module is installed on the portal beam through the third screw rod sliding table, the third sliding block is in sliding connection with the third screw rod sliding table, the third screw rod sliding table drives the third sliding block to move up and down along the vertical axis direction through the third servo motor, and the industrial camera and the light source are installed on the third sliding block respectively.

7. The machine vision based five-axis linkage platform of claim 6, wherein the first Z-axis adjustment module further comprises a camera clamping bracket, a light source bracket, wherein the industrial camera is mounted on the third slider via the camera clamping bracket, and wherein the light source is mounted on the third slider via the light source bracket.

8. The machine vision-based five-axis linkage platform according to claim 5, wherein the second Z-axis adjusting module comprises a fourth servo motor, a fourth screw rod sliding table and a fourth sliding block, the second Z-axis adjusting module is installed on the portal beam through the fourth screw rod sliding table, the fourth sliding block is in sliding connection with the fourth screw rod sliding table, the fourth screw rod sliding table drives the fourth sliding block to move up and down along the vertical axis direction through the fourth servo motor, and the manipulator is installed on the fourth sliding block through the R-axis adjusting module.

9. The machine vision-based five-axis linkage platform according to claim 8, wherein the R-axis adjusting module comprises a fifth servo motor and a clamp plate, the fifth servo motor is mounted on the fourth slider through the clamp plate, and the manipulator is mounted on a motor rotating shaft of the fifth servo motor.