CN111701886A - Sorting device and sorting method for surface defects of sleeve parts - Google Patents
Sorting device and sorting method for surface defects of sleeve parts Download PDFInfo
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- CN111701886A CN111701886A CN202010709869.9A CN202010709869A CN111701886A CN 111701886 A CN111701886 A CN 111701886A CN 202010709869 A CN202010709869 A CN 202010709869A CN 111701886 A CN111701886 A CN 111701886A
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- 238000000034 method Methods 0.000 title claims abstract description 33
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- 238000012706 support-vector machine Methods 0.000 claims description 14
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- 238000003708 edge detection Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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Abstract
The invention discloses a sorting device and a sorting method for surface defects of sleeve parts, wherein the device comprises a workbench, a workpiece transmission assembly, a workpiece sorting assembly, a coaxial light source, an industrial camera, a control cabinet and an upper computer; the workbench comprises a top supporting plate, a supporting column and a bottom supporting plate; the upper surface of the top supporting plate is sequentially provided with a sorting area, a visual inspection area and a workpiece pushing area along the length direction of the top supporting plate, three clapboards are sequentially arranged in the sorting area along the width direction of the top supporting plate, and the three clapboards divide the sorting area into a defect-free workpiece sorting area, a workpiece sorting area with scratches, a workpiece sorting area with pits and a workpiece sorting area with scratches and pits; the workpiece transmission assembly is positioned between the top support plate and the bottom support plate and is used for positioning, mounting and rotating the workpiece. The device integrates image acquisition, defect detection and workpiece sorting, and can push workpieces to corresponding sorting areas to realize sorting according to defect conditions.
Description
Technical Field
The invention relates to the technical field of part surface defect detection and classification identification, in particular to a sorting device and a sorting method for sleeve part surface defects.
Background
The main body of the sleeve part is composed of a plurality of sections of revolution bodies with different diameters, the sleeve part is used as an important element in a mechanical assembly, a part and a machine and mainly plays the roles of supporting, guiding, positioning and the like, the surface quality of the sleeve part directly influences the assembly precision and the sealing performance between the parts, so that the detection of the surface defects of the sleeve part and the sorting according to the defects are particularly important, and the surface defects mainly comprise two defects of scratches and pits.
The method for detecting the surface defects of the parts mainly comprises a manual detection method, an ultrasonic detection method, a machine vision detection method and the like; machine vision inspection is a non-contact and non-destructive automatic inspection technology, takes image processing as a core, obtains a surface image of a product through a proper light source and an image sensor, extracts characteristic information of the image by utilizing a corresponding image processing algorithm, and is widely applied to surface defect detection of metal surfaces, textiles, ceramic tiles, glass, wood and the like.
The document with the application number of 201811073567.6 discloses a surface defect detection device and a detection method for a pipeline connecting piece, the device comprises an X-axis sliding chute, a Y-axis sliding chute, a sliding block, a V-shaped fixed block and the like, the V-shaped fixed block is fixed on the sliding block, and a workpiece is placed on the V-shaped fixed block; the slide block is moved to a corresponding position by manually rotating the X-axis adjusting hand shaft and the Y-axis adjusting hand shaft, so that the workpiece is moved to a detection position; and shooting by a camera above the detection position to acquire an image, and transmitting the image to an upper computer for image processing to finish defect detection. The device needs to manually operate an X-axis adjusting hand shaft and a Y-axis adjusting hand shaft to move the workpiece to a detection position, needs to manually adjust a light source, and is complex in manual operation and low in efficiency; after one part is detected each time, the workpiece needs to be manually rotated to rotate the next part to the action range of the camera, and the workpiece is sequentially and repeatedly rotated until all parts of the workpiece are detected, so that the operation is complex and time-consuming, and the method is not suitable for automatic detection of a large number of workpieces in batches; after the detection is finished, only the defects of the workpieces can be identified, the workpieces cannot be classified according to specific defect categories, and the workpieces are pushed to different defect sorting areas.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a sorting device and a sorting method for the surface defects of sleeve parts.
The technical scheme for solving the technical problem is that the invention provides a sorting device for the surface defects of sleeve parts, which comprises a workbench, a coaxial light source, an industrial camera, a control cabinet and an upper computer; the device is characterized by also comprising a workpiece transmission assembly and a workpiece sorting assembly;
the workbench comprises a top supporting plate, supporting columns and a bottom supporting plate, the top supporting plate is respectively arranged above the bottom supporting plate through the plurality of supporting columns, and a space for installing the workpiece transmission assembly is arranged between the two supporting plates; the upper surface of the top supporting plate is sequentially provided with a sorting area, a visual inspection area and a workpiece pushing area along the length direction of the top supporting plate, three clapboards are sequentially arranged in the sorting area along the width direction of the top supporting plate, and the three clapboards divide the sorting area into a defect-free workpiece sorting area, a workpiece sorting area with scratches, a workpiece sorting area with pits and four sorting areas of the workpiece sorting area with scratches and pits;
a coaxial light source and an industrial camera are fixedly arranged in a visual detection area of the top support plate, a through hole for positioning a workpiece is formed in the top support plate in front of the coaxial light source, a lens of the industrial camera is opposite to the coaxial light source, and the axis of the coaxial light source is intersected with the central line of the through hole;
the workpiece transmission assembly is positioned between the top supporting plate and the bottom supporting plate and is used for positioning, mounting and rotating the workpiece; the workpiece sorting assembly is installed on the top supporting plate and comprises a workpiece pushing portion and a workpiece sorting portion, the workpiece sorting portion is located in a sorting area of the top supporting plate and used for pushing workpieces of different types to corresponding sorting areas, the workpiece pushing portion is located in a workpiece pushing area of the top supporting plate and used for pushing the workpieces to the action range of the workpiece sorting portion of the workpiece sorting assembly, and the workpieces are sorted according to defect conditions.
The workpiece transmission assembly comprises a middle sliding plate, a first stepping motor, a ball screw, a screw nut, a first bevel gear, a second stepping motor, a middle motor supporting seat, a bottom motor supporting seat and a fixed mandrel;
the middle sliding plate is positioned between the top supporting plate and the bottom supporting plate and is in sliding connection with all the supporting columns; the first stepping motor is fixed on the bottom supporting plate through a bottom motor supporting seat, one end of a ball screw is connected with the tail end of an output shaft of the first stepping motor, and the other end of the ball screw penetrates through the middle sliding plate and is rotatably connected with the top supporting plate; the screw nut is sleeved on the ball screw and fixedly connected with the middle sliding plate;
a second stepping motor is fixed on the middle sliding plate through a middle motor supporting seat, and a second bevel gear is fixed on an output shaft of the second stepping motor; the shaft part of the first bevel gear is rotatably arranged on the middle sliding plate through a screw bearing, and the axis of the first bevel gear is superposed with the central line of the through hole; the screw with the screw bearing penetrates through the middle sliding plate and is fixedly connected with the middle sliding plate through a nut; one end of the fixed mandrel is fixedly connected with a tooth part of a first bevel gear, and the first bevel gear is meshed with a second bevel gear simultaneously; the other end of the fixed mandrel penetrates through the through hole to be provided with a workpiece.
The three clapboards are respectively a second clapboard, a first clapboard and a third clapboard, and the width of the top supporting plate is equally divided by the three clapboards.
The workpiece sorting assembly comprises a third stepping motor, a rocker mechanism, a fourth stepping motor, a fixed plate, a first shifting lever, a second shifting lever, a third shifting lever, a fifth stepping motor and a sixth stepping motor;
the fixed plate and the third stepping motor are fixed in a workpiece pushing area of the top supporting plate, an output shaft of the third stepping motor penetrates through the fixed plate and is fixedly connected with one end of the rocker mechanism, the free end of the rocker mechanism can reciprocate along the fixed plate, and the free end of the rocker mechanism pushes the workpiece to move; a fourth stepping motor, a fifth stepping motor and a sixth stepping motor are all fixed at the bottom of the top support plate, the fourth stepping motor is positioned at one end of the first partition plate close to the through hole, an output shaft of the fourth stepping motor penetrates through the top support plate to be fixedly connected with the bottom of one end of the first deflector rod, the other end of the first deflector rod is used for shifting a workpiece, and no interference is generated between the rotation of the first deflector rod and the first partition plate; the fifth stepping motor is positioned at one end of the third partition plate close to the through hole, an output shaft of the fifth stepping motor penetrates through the top support plate to be fixedly connected with the bottom of one end of the second shifting lever, the other end of the second shifting lever is used for shifting a workpiece, and no interference is generated between the rotation of the second shifting lever and the third partition plate; no. six step motor is located the one end that No. two baffles are close to the through-hole, and No. six step motor's output shaft passes the bottom that top sprag board and No. three driving lever one end linked firmly, and the other end of No. three driving lever is used for stirring the work piece, and No. three driving lever rotates and does not produce the interference between No. two baffles.
The length of the first shifting rod, the length of the second shifting rod and the length of the third shifting rod are equal and are the width of a quarter of the top supporting plate, and the sum of the lengths of the second partition plate and the third shifting rod is equal to the length of the first partition plate; both sides of the end part of each deflector rod for pushing the workpiece are provided with bending parts.
The rocker mechanism comprises a limiting block, a crank, a first connecting rod, a second connecting rod and a baffle; the limiting block is fixed at one end of the fixing plate close to the workpiece, and is provided with an opening; one end of the crank is fixedly connected with an output shaft of the third stepping motor, and the other end of the crank is hinged with one end of the first connecting rod; the other end of the first connecting rod is hinged with one end of the second connecting rod; the other end of the second connecting rod penetrates through the opening on the limiting block to be fixedly connected with the baffle, and the baffle pushes the workpiece to move.
The invention also provides a sorting method for the surface defects of the sleeve parts, which uses the sorting device and comprises the following specific steps:
the method comprises the following steps: installing a workpiece; starting a first stepping motor, driving a ball screw to rotate, enabling a screw nut to drive an intermediate sliding plate to move upwards, stopping the first stepping motor after the upper part of a fixed mandrel penetrates through a through hole for a certain distance, and sleeving a workpiece on the upper part of the fixed mandrel;
step two: collecting images and classifying workpieces into different categories according to defect conditions; the industrial camera collects images of the surface of a workpiece, after the images of one position are collected, a second stepping motor is started, a second bevel gear drives a first bevel gear to rotate, the next position of the workpiece is rotated to the action range of the industrial camera to collect images again, until the workpiece rotates 360 degrees to collect all the position images of the surface of the workpiece, and the second stepping motor stops rotating; then the upper computer carries out image processing analysis, and the workpieces are divided into workpieces without defects, workpieces with scratches, workpieces with pits and workpieces with scratches and pits according to the analysis result;
step three: separating the workpiece from the workpiece transmission assembly; the first stepping motor rotates reversely to drive the ball screw to rotate reversely, so that the screw nut drives the middle sliding plate to move downwards, the fixed mandrel is separated from the workpiece, and the workpiece is placed on the top supporting plate;
step four: sorting the workpieces; starting a third stepping motor to drive a crank to rotate, so that a second connecting rod slides towards the direction of the sorting area, and the free end of the rocker mechanism pushes a workpiece to be within the action range of a first shifting lever; then the third stepping motor continues to rotate, and the free end of the rocker mechanism resets; the upper computer sends signals according to the types of the workpieces, drives corresponding stepping motors to work, and pushes the workpieces of different types to corresponding sorting areas through corresponding shift levers.
The specific process of sorting the workpieces in the fourth step is as follows:
if the workpiece is a defect-free workpiece, firstly, a fourth stepping motor drives a first shifting lever to rotate anticlockwise to deviate from a horizontal position, a fifth stepping motor drives a second shifting lever to rotate anticlockwise to deviate from the horizontal position, after the free end of the rocker mechanism pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate clockwise, and the first shifting lever pushes the workpiece to be within the action range of the second shifting lever; then, the fifth stepping motor rotates reversely to enable the second deflector rod to rotate clockwise, and the workpieces are pushed to a defect-free workpiece sorting area;
if the workpiece is a workpiece with scratches, firstly, a fourth stepping motor drives a first shifting lever to rotate anticlockwise to deviate from the horizontal position, a fifth stepping motor drives a second shifting lever to rotate clockwise to deviate from the horizontal position, after a baffle pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate clockwise, and the first shifting lever pushes the workpiece to be within the action range of the second shifting lever; then, the fifth stepping motor rotates reversely to enable the second deflector rod to rotate anticlockwise, and the workpieces are pushed to a workpiece sorting area with scratches;
if the workpiece is a workpiece with a pit, firstly, a fourth stepping motor drives a first shifting lever to rotate clockwise to deviate from the horizontal position, a sixth stepping motor drives a third shifting lever to rotate anticlockwise to deviate from the horizontal position, after a baffle pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate anticlockwise, and the first shifting lever pushes the workpiece to be within the action range of the third shifting lever; then, the sixth stepping motor rotates reversely to enable the third deflector rod to rotate clockwise, and the workpieces are pushed to a workpiece sorting area with pits;
if the workpiece is a workpiece with scratches and pits, firstly, a fourth stepping motor drives a first shifting lever to rotate clockwise to deviate from the horizontal position, a sixth stepping motor drives a third shifting lever to rotate clockwise to deviate from the horizontal position, after a baffle pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate anticlockwise, and the first shifting lever pushes the workpiece to be within the action range of the third shifting lever; then, the sixth stepping motor rotates reversely to enable the third deflector rod to rotate anticlockwise, and the third deflector rod pushes the workpiece to a workpiece sorting area with scratches and pits.
And in the second step, a Python OpenCV module is used for carrying out image processing analysis on the image, and the method comprises the following steps:
(1) image preprocessing: acquiring an original image of the surface of a workpiece, selecting an interested area of the original image, extracting gray image characteristic parameters of the workpiece from the interested area, and performing histogram local equalization on the image of the interested area;
(2) image denoising treatment: sequentially carrying out median filtering, binarization processing and morphological denoising on the preprocessed image to obtain a denoised image;
(3) extracting the image defect outline: carrying out contour extraction on the denoised image by using a digital binary image topological structure analysis method based on boundary tracking to obtain all contours contained in the image; calculating the area of each contour, setting an area threshold, screening the defect contour according to the area threshold, and extracting skeleton characteristic parameters of the defect from the defect contour;
(4) and (3) realizing defect classification by using a support vector machine: performing feature fusion on the gray image feature parameters of the workpiece obtained in the step (1) and the skeleton feature parameters of the defect obtained in the step (3) through a multiplication rule and an addition rule of a classifier in a feature fusion algorithm based on a Bayesian theory to obtain feature fusion parameters; establishing a training sample set by utilizing the fusion characteristic parameters, and determining the model parameters of the support vector machine classifier through training; and in the defect detection process, a test sample set is established according to the feature fusion parameters, and the defects are identified through a support vector machine classifier model, so that the support vector machine classification of the defects is realized.
The area threshold in step (3) is 3000 pixels.
Compared with the prior art, the invention has the beneficial effects that:
(1) the sorting device integrates image acquisition, defect detection and workpiece sorting; the middle sliding plate is driven to slide upwards through the screw nut, so that the fixed mandrel penetrates through the through hole of the top supporting plate to install the workpiece; the fixed mandrel is driven to rotate by the two bevel gears, different parts of the workpiece are rotated to the action range of the industrial camera, surface defect detection of the workpiece within the 360-degree circumference range is automatically realized, and the defects of inaccuracy and low detection efficiency of manual rotation of the workpiece are overcome; after the detection is finished, the middle sliding plate is driven to slide downwards through the screw nut, so that the workpiece is automatically separated from the fixed mandrel; workpieces are pushed to the action range of the corresponding deflector rod through the rocker mechanism, and the workpieces with different defects are pushed to the corresponding sorting area through the deflector rod, so that the automatic sorting of the workpieces is realized, and the subsequent repair or further processing is facilitated; the detection device is suitable for automatic detection of large-batch workpieces.
(2) In the image processing process, a support vector machine is adopted to classify the defects on the surface of the workpiece, and the gray image characteristic parameters of the workpiece and the skeleton characteristic parameters of the defects are subjected to characteristic fusion mainly through a multiplication rule and an addition rule of a classifier in a characteristic fusion algorithm based on a Bayesian theory, so that the classification of the defects is realized; the defect that the classification accuracy of the traditional support vector machine is low mainly through single parameter classification is overcome; if the two parameters are used for classification, two times of classification are needed in the image processing process, so that the classification time is long and the real-time performance is poor; the invention firstly fuses two parameters, overcomes the possible error of classification by a single parameter, improves the precision of classification and identification, and only carries out one-time classification, thereby having short classification time and meeting the requirement of the invention on the real-time property of defect classification.
(3) The local features of the image are retained while the image is enhanced by adopting the histogram local equalization, and compared with the traditional histogram equalization method, the histogram local equalization method is more suitable for enhancing the image containing the tiny features and is more accurate in identification; the contour extraction method based on the boundary tracking and the digital binary image topological structure analysis can quickly extract all contour information contained in the image, and the contour is continuous and complete. The method extracts all the outline information of the image, can realize the defect detection purpose only by utilizing area screening, can omit some unnecessary processing steps, shortens the image processing time, is quicker and more accurate compared with the traditional edge detection algorithm, and meets the real-time requirement of online detection; the method overcomes the edge discontinuity phenomenon when the traditional edge detection algorithm encounters a fuzzy edge, and ensures the reliability of defect identification.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a workpiece drive assembly of the present invention;
FIG. 3 is a schematic view of the construction of the workpiece sorting assembly of the present invention;
FIG. 4 is a schematic view of the installation of the fourth stepping motor and the top support plate of the present invention;
FIG. 5 is a flow chart of image processing of the present invention;
FIG. 6(a) is a drawing of a region of interest of a workpiece and a partially equalized image taken in accordance with the present invention; the left side is a workpiece region of interest, and the right side is an image after local equalization;
FIG. 6(b) is a filtered image and its histogram according to the present invention; the left side is the filtered image, and the right side is the histogram of the filtered image;
FIG. 6(c) is an image after segmentation and denoising according to the present invention; the left side is the segmented image, and the right side is the image after noise removal;
FIG. 6(d) is a full profile image and a defect profile image extracted by the present invention; the left side is a full outline image, and the right side is a defect outline image;
in the figure: 1. a work table; 2. a workpiece transmission assembly; 3. a workpiece sorting assembly; 4. a coaxial light source; 5. an industrial camera; 6. a control cabinet;
11. a top support plate; 12. a support pillar; 13. a bottom support plate; 14. a first separator plate; 15. a second separator plate; 16. a third clapboard; 110. a through hole;
21. an intermediate sliding plate; 22. a first stepping motor; 23. a ball screw; 24. a lead screw nut; 25. a first bevel gear; 26. a second bevel gear; 27. a second stepping motor; 28. a middle motor supporting seat; 29. a bottom motor support seat; 230. a fixed mandrel;
31. a third step motor; 32. a rocker mechanism; 33. a fourth step motor; 34. a fixing plate; 35. a first deflector rod; 36. a second deflector rod; 37. a third deflector rod; 38. a fifth step motor; 39. a sixth stepping motor;
321. a limiting block; 322. a crank; 323. a first connecting rod; 324. a second connecting rod; 325. and a baffle plate.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides a sorting device for surface defects of sleeve parts (a sorting device for short, see fig. 1-5), which comprises a workbench 1, a workpiece transmission component 2, a workpiece sorting component 3, a coaxial light source 4, an industrial camera 5, a control cabinet 6 and an upper computer (not shown in the figure);
the workbench 1 comprises a top support plate 11, support columns 12 and a bottom support plate 13, wherein the top support plate 11 is respectively arranged above the bottom support plate 13 through the plurality of support columns 12, and a space for installing the workpiece transmission assembly 2 is arranged between the two support plates; the upper surface of the top supporting plate 11 is sequentially provided with a sorting area, a visual detection area and a workpiece pushing area along the length direction of the top supporting plate, a second partition 15, a first partition 14 and a third partition 16 are sequentially arranged in the sorting area along the width direction of the top supporting plate 11, and the lengths of the second partition 15 and the third partition 16 are the same and are smaller than that of the first partition 14; the three partition plates equally divide the width of the top support plate 11, and divide the sorting area into a defect-free workpiece sorting area, a workpiece sorting area with scratches, a workpiece sorting area with pits and four sorting areas of the workpiece sorting area with scratches and pits;
a coaxial light source 4 and an industrial camera 5 are fixedly arranged in a visual detection area of the top support plate, a through hole 110 for positioning a workpiece is arranged on the top support plate in front of the coaxial light source 4, a lens of the industrial camera 5 is over against the coaxial light source 4, and the axis of the coaxial light source 4 is intersected with the central line of the through hole 110;
the workpiece transmission assembly 2 is positioned between the top support plate 11 and the bottom support plate 13 and is used for positioning, mounting and rotating the workpiece; the workpiece sorting component 3 is installed on the top supporting plate 11 and comprises a workpiece pushing part and a workpiece sorting part, wherein the workpiece sorting part is located in a sorting area of the top supporting plate 11 and used for pushing workpieces of different types to corresponding sorting areas, the workpiece pushing part is located in one end, away from the sorting areas, of the top supporting plate 11, namely the workpiece pushing area and used for pushing the workpieces to the workpiece sorting part of the workpiece sorting component 3 in an action range and sorting the workpieces according to defect conditions.
The workpiece transmission assembly 2 comprises a middle sliding plate 21, a first stepping motor 22, a ball screw 23, a screw nut 24, a first bevel gear 25, a second bevel gear 26, a second stepping motor 27, a middle motor supporting seat 28, a bottom motor supporting seat 29 and a fixed mandrel 230;
the middle sliding plate 21 is positioned between the top supporting plate 11 and the bottom supporting plate 13 and is in sliding connection with all the supporting columns 12, and the middle sliding plate 21 can slide up and down along the supporting columns 12 in a reciprocating manner; the first stepping motor 22 is fixed on the bottom support plate 13 through a bottom motor support seat 29, and the output shaft of the first stepping motor 22 faces upwards; one end of a ball screw 23 is connected with the tail end of an output shaft of the first stepping motor 22 through a coupler, and the other end of the ball screw 23 penetrates through the middle sliding plate 21 and is rotatably connected with the top supporting plate 11 through a bearing seat; the screw nut 24 is sleeved on the ball screw 23 and fixedly connected with the intermediate sliding plate 21, and the intermediate sliding plate 21 slides up and down through the sliding of the screw nut 24 on the ball screw 23;
a second stepping motor 27 is fixed on the middle sliding plate 21 through a middle motor supporting seat 28, an output shaft of the second stepping motor 27 is parallel to the middle sliding plate 21 and faces away from the ball screw 23, and a second bevel gear 26 is in key connection with the output shaft of the second stepping motor 27; the shaft part of the first bevel gear 25 is rotatably mounted on the middle sliding plate 21 through a screw bearing, and the axis of the first bevel gear 25 is overlapped with the central line of the through hole 110; a screw with a screw bearing penetrates through the middle sliding plate 21 and is fixedly connected with the middle sliding plate 21 through a nut; one end of the fixed mandrel 230 is fixedly connected with the tooth part of the first bevel gear 25, and the first bevel gear 25 is simultaneously meshed with the second bevel gear 26; the other end of the fixed mandrel 230 penetrates through the through hole 110 to be provided with a workpiece, the workpiece is axially limited through a shaft shoulder of the fixed mandrel 230, the diameter of the fixed mandrel 230 is smaller than the aperture of the through hole 110, the outer diameter of the workpiece is larger than the aperture of the through hole 110, and the workpiece is prevented from falling off after the fixed mandrel 230 is separated from the workpiece; the second stepping motor 27 works to drive the second bevel gear 26 to rotate, and further drives the first bevel gear 25 to rotate, so that the fixed mandrel 230 rotates to realize the rotation of the workpiece, and different parts of the workpiece can be detected conveniently.
The workpiece sorting component 3 comprises a third stepping motor 31, a rocker mechanism 32, a fourth stepping motor 33, a fixing plate 34, a first shifting lever 35, a second shifting lever 36, a third shifting lever 37, a fifth stepping motor 38 and a sixth stepping motor 39;
the fixing plate 34 and the third stepping motor 31 are both fixed in a workpiece pushing area of the top support plate 11, the fixing plate 34 is perpendicular to the top support plate 11, and an output shaft of the third stepping motor 31 is parallel to the width direction of the top support plate 11; an output shaft of the third stepping motor 31 penetrates through the fixing plate 34 to be fixedly connected with one end of the rocker mechanism 32, and a free end of the rocker mechanism 32 extends to the vicinity of the through hole 110; the free end of the rocker mechanism 32 can reciprocate along the fixed plate 34, so that the free end of the rocker mechanism 32 pushes the workpiece to move, and the workpiece is pushed into the action range of the first deflector rod 35; a fourth stepping motor 33, a fifth stepping motor 38 and a sixth stepping motor 39 are all fixed at the bottom of the top support plate 11, the fourth stepping motor 33 is located at one end, close to the through hole 110, of the first partition plate 14, an output shaft of the fourth stepping motor 33 penetrates through the top support plate 11 to be fixedly connected with the bottom of one end, far away from the through hole, of the first deflector rod 35, and one end, close to the through hole, of the first deflector rod 35 is used for deflecting a workpiece; a gap exists between the end part of the first shift lever 35 and the first partition plate 14, so that the interference generated by the rotation of the first shift lever 35 is prevented; the fixing plate 34, the through hole and the first deflector rod 35 are positioned in the same vertical plane, the fixing plate is vertically fixed in a workpiece pushing area on one side of the through hole, and the first deflector rod is fixed in a sorting area on the other side of the through hole;
the fifth stepping motor 38 is positioned at one end of the third partition plate 16 close to the through hole 110, an output shaft of the fifth stepping motor 38 penetrates through the top support plate 11 to be fixedly connected with the bottom of one end of the second shifting lever 36 far away from the through hole, and one end of the second shifting lever 36 close to the through hole is used for shifting a workpiece; a gap exists between the end part of the second shift lever 36 and the third partition plate 16, so that the second shift lever 36 is prevented from rotating to generate interference;
the sixth stepping motor 39 is positioned at one end of the second partition 15 close to the through hole 110, an output shaft of the sixth stepping motor 39 penetrates through the top support plate 11 to be fixedly connected with the bottom of one end of the third deflector rod 37 far away from the through hole, and one end of the third deflector rod 37 close to the through hole is used for deflecting a workpiece; a gap exists between the third deflector rod 37 and the second partition plate 15, so that the third deflector rod 37 is prevented from rotating to generate interference; bending parts are arranged on two sides of the end part of the three deflector rods for deflecting the workpiece, so that the workpiece is prevented from being separated from the deflector rods; the three shifting rods are equal in length and are the width of the quarter of the top supporting plate 11, and the sum of the lengths of the second partition plate 15 and the third shifting rod 37 is equal to the length of the first partition plate 14, so that the workpieces can be pushed to the corresponding sorting area; the initial states of the three driving levers when not working are all parallel to the corresponding partition boards.
The upper computer and the industrial camera 5 are in data transmission, an image defect identification program is stored in the upper computer, and the image defect identification program is used for identifying and classifying the defects of the collected workpiece images; the control cabinet 6 is positioned at one end of the workbench 1, and a power supply, a motor driver and a control board card are packaged in the control cabinet 6; the upper computer sends a signal to the control board card according to the image processing result, and the control board card sends a control signal to the motor driver, so that the motor driver drives the third stepping motor 31, the fourth stepping motor 33, the fifth stepping motor 38 and the sixth stepping motor 39 to rotate; the motor driver controls the first stepping motor 22 and the second stepping motor to work simultaneously.
The rocker mechanism 32 comprises a limit block 321, a crank 322, a first connecting rod 323, a second connecting rod 324 and a baffle 325; the limiting block 321 is fixed at one end of the fixing plate 34 close to the workpiece, and an opening for the second connecting rod 324 to pass through is formed in the limiting block 321; one end of the crank 322 is connected with an output shaft key of the third stepping motor 31, and the other end of the crank 322 is hinged with one end of the first connecting rod 323 through a pin; the other end of the first connecting rod 323 is hinged with one end of the second connecting rod 324 through a pin; the other end of the second connecting rod 324 penetrates through an opening on the limiting block 321 to be fixedly connected with the baffle 325, the long edge of the baffle 325 is perpendicular to the second connecting rod 324, the length of the baffle is not interfered with a light source and an industrial camera, and the length of the baffle is larger than the diameter of a sleeve part to be separated, so that the sleeve part is pushed forward horizontally to move along a straight line without deflection; the extension of the rocker mechanism is at least sufficient to bring the parts into the range of action of the first toggle lever 35.
The first bevel gear 25 and the second bevel gear 26 are standard bevel gears with the modulus of 1.5 and the number of teeth of 20; the ball screw 23 is a 1605 type ball screw.
The invention also provides a sorting method for the surface defects of the sleeve parts, which comprises the following specific steps:
the method comprises the following steps: installing a workpiece; starting a first stepping motor 22, driving a ball screw 23 to rotate, enabling a screw nut 24 to drive an intermediate sliding plate 21 to move upwards, and stopping the first stepping motor 22 after the upper part of a fixed mandrel 230 passes through a through hole 110 of a top supporting plate 11 for a certain distance (10-30 mm); manually sleeving the workpiece on the upper part of the fixed mandrel 230;
step two: collecting images and classifying workpieces into different categories according to defect conditions; the industrial camera 5 collects images of the surface of the workpiece and transmits the collected images to an upper computer; after the image acquisition of one position is finished, starting a second stepping motor 27, driving a first bevel gear 25 to rotate by a second bevel gear 26, rotating a fixed mandrel 230 by a certain angle, rotating the next part of the workpiece to the action range of the industrial camera 5, and acquiring the image again until the workpiece rotates 360 degrees to acquire all the images of the surface of the workpiece, and stopping the rotation of the second stepping motor 27; then the upper computer carries out image processing analysis, and the workpieces are divided into workpieces without defects, workpieces with scratches, workpieces with pits and workpieces with scratches and pits according to the analysis result;
step three: separating the workpiece from the workpiece transmission assembly; the first stepping motor 22 rotates reversely to drive the ball screw 23 to rotate reversely, so that the screw nut 24 drives the middle sliding plate 21 to move downwards, the fixed mandrel 230 is separated from the workpiece, and the workpiece is placed on the top supporting plate 11;
step four: sorting the workpieces; according to the type of the workpiece, the upper computer controls the corresponding stepping motor, so that the first deflector rod 35 and the deflector rods (the second deflector rod 36 and the third deflector rod 37) which push the workpiece to the corresponding sorting area rotate for a certain angle in advance towards the opposite direction of the corresponding sorting area of the workpiece, and the workpiece can be ensured to be in the action range of the deflector rods; then, the third stepping motor 31 is started to drive the crank 322 to rotate, so that the second connecting rod 324 slides towards the direction of the sorting area, and the baffle 325 pushes the workpiece into the action range of the first deflector rod 35; the third stepping motor 31 continues to rotate, and the baffle 325 is reset; the upper computer sends signals to the control board card according to the defect types of the workpieces, so that the motor driver drives the corresponding motors (the fourth stepping motor 33, the fifth stepping motor 38 and the sixth stepping motor 39) to work, and the workpieces of different types are pushed to the corresponding sorting areas through the corresponding shift levers.
Wherein, the specific process of sorting the workpieces in the fourth step is as follows:
if the workpiece is a defect-free workpiece, firstly, the fourth stepping motor 33 drives the first shifting lever 35 to rotate anticlockwise for a certain angle (90 degrees), the fifth stepping motor 38 drives the second shifting lever 36 to rotate anticlockwise for a certain angle (90 degrees), after the baffle 325 pushes the workpiece into the action range of the first shifting lever 35 (after the first shifting lever is reset at the position, the workpiece is just positioned in the bent part of the first shifting lever), the fourth stepping motor 33 rotates reversely to enable the first shifting lever 35 to rotate clockwise, and the first shifting lever 35 pushes the workpiece into the action range of the second shifting lever 36 (after the second shifting lever is reset at the position, the workpiece is just positioned in the bent part of the second shifting lever); then, the fifth stepping motor 38 rotates reversely to enable the second shifting lever 36 to rotate clockwise, and the second shifting lever 36 pushes the workpiece to a defect-free workpiece sorting area;
if the workpiece is a workpiece with scratches, firstly, the fourth stepping motor 33 drives the first shifting lever 35 to rotate anticlockwise by a certain angle (90 degrees), the fifth stepping motor 38 drives the second shifting lever 36 to rotate clockwise by a certain angle (90 degrees), after the baffle 325 pushes the workpiece to be within the action range of the first shifting lever 35, the fourth stepping motor 33 rotates reversely to enable the first shifting lever 35 to rotate clockwise, and the first shifting lever 35 pushes the workpiece to be within the action range of the second shifting lever 36; then, the fifth stepping motor 38 rotates reversely to enable the second shifting lever 36 to rotate anticlockwise, and the second shifting lever 36 pushes the workpiece to a workpiece sorting area with scratches;
if the workpiece is a workpiece with a pit, firstly, the fourth stepping motor 33 drives the first shifting lever 35 to rotate clockwise by a certain angle (90 degrees), the sixth stepping motor 39 drives the third shifting lever 37 to rotate anticlockwise by a certain angle (90 degrees), after the baffle 325 pushes the workpiece to be within the action range of the first shifting lever 35, the fourth stepping motor 33 rotates reversely to enable the first shifting lever 35 to rotate anticlockwise, and the first shifting lever 35 pushes the workpiece to be within the action range of the third shifting lever 37; then, the sixth stepping motor 39 rotates reversely to enable the third deflector rod 37 to rotate clockwise, and the third deflector rod 37 pushes the workpiece to a workpiece sorting area with pits;
if the workpiece is a workpiece with scratches and pits, firstly, the fourth stepping motor 33 drives the first shifting lever 35 to rotate clockwise by a certain angle (90 degrees), the sixth stepping motor 39 drives the third shifting lever 37 to rotate clockwise by a certain angle (90 degrees), after the baffle 325 pushes the workpiece to be within the action range of the first shifting lever 35, the fourth stepping motor 33 rotates reversely to enable the first shifting lever 35 to rotate anticlockwise, and the first shifting lever 35 pushes the workpiece to be within the action range of the third shifting lever 37; then, the sixth stepping motor 39 rotates in the reverse direction, so that the third shift lever 37 rotates counterclockwise, and the third shift lever 37 pushes the workpiece to a workpiece sorting area with scratches and pits.
And in the second step, a Python OpenCV module is used for processing and analyzing the image, and the method comprises the following steps:
(1) image preprocessing: acquiring an original image of the surface of the workpiece, selecting an interested area of the original image, and removing an invalid area in the image to extract an area where the workpiece is located, which is referred to as a left image in fig. 6 (a); meanwhile, the gray image characteristic parameters of the workpiece are extracted from the region of interest for characteristic fusion and defect classification, so that the detection precision is improved, and the operation time is reduced; performing image enhancement on the image of the region of interest by using a histogram local equalization method to increase the dynamic range of the gray value of the image, remove noise interference such as light and shadow, optimize uneven illumination on the image and achieve the purpose of enhancing contrast, as shown in the right image of fig. 6 (a);
(2) image denoising treatment: weakening the machined cross striations on the surface of the workpiece in a median filtering mode on the preprocessed image so as to achieve the purpose of longitudinal smoothing of the cross striations, removing the machined cross striations on the surface of the workpiece and obtaining a filtered image, wherein the left image is shown in fig. 6(b), the right image is a gray level histogram of the image, horizontal coordinates in the gray level histogram are pixel values, and vertical coordinates are quantity; observing the filtered image, manually adjusting the gray value of the gray histogram to enable the defect outline to be clearer, and taking the gray value as a threshold value; the setting of the threshold value is related to the illumination intensity of an image shooting site, the image equalization degree and the smoothing processing degree; performing binarization processing on the filtered image according to a threshold value to realize image segmentation, referring to a left image in fig. 6 (c); performing image hole and fine particle processing on the segmented image by using an opening operation in morphological denoising to finish image denoising, as shown in the right image in fig. 6 (c);
(3) extracting the image defect outline: extracting contours of the denoised image by using a boundary tracking-based digital binary image topological structure analysis method (a Python OpenCV module self-contained method), acquiring all contours contained in the image, and displaying the contours in an original image, wherein the acquired all contours contain both a defect contour and a shadow contour of a workpiece caused by uneven illumination, and refer to an image on the left side of FIG. 6(d), and 6 contours exist in the image; then calculating the area of each contour, setting 3000 pixels (empirical value) as an area threshold value because the area of the defect contour (less than 3000 pixels) is much smaller than the area of the shadow contour (tens of thousands or even hundreds of thousands of pixels), and screening the defect contour according to the area threshold value, referring to the right image of fig. 6(d), wherein 2 contours exist in the image, namely 2 defect contours; extracting skeleton characteristic parameters of the defects from the defect outline for characteristic identification and defect classification; compared with the common edge detection method, the method extracts all the outline information of the image, can realize the defect detection purpose only by utilizing area screening, can omit some unnecessary processing steps, shortens the image processing time, ensures the reliability of defect identification, and meets the real-time requirement of online detection;
(4) and (3) realizing defect classification by using a support vector machine: performing feature fusion on the gray image feature parameters of the workpiece obtained in the step (1) and the skeleton feature parameters of the defects obtained in the step (3) through a multiplication rule and an addition rule of a classifier in a feature fusion algorithm based on a Bayesian theory to obtain feature fusion parameters; establishing a training sample set by using the characteristic fusion parameters, and determining the model parameters of the support vector machine classifier through training; in the defect detection process, a test sample set is established according to the feature fusion parameters, and the defects are identified through a support vector machine classifier model, namely the support vector machine classification of the defects is realized; the gray image characteristic parameters of the workpiece can make up for interference caused by illumination, and the skeleton characteristic parameters of the defects can reflect the outline of the defects, so that the two parameters are fused, and the identification accuracy is ensured.
Because the scratch is long strip-shaped, the pit is similar to a circle, and the scratch and the pit have obvious distinguishing characteristics, the defect classification can be automatically realized.
Nothing in this specification is said to apply to the prior art.
Claims (10)
1. A sorting device for surface defects of sleeve parts comprises a workbench, a coaxial light source, an industrial camera, a control cabinet and an upper computer; the device is characterized by also comprising a workpiece transmission assembly and a workpiece sorting assembly;
the workbench comprises a top supporting plate, supporting columns and a bottom supporting plate, the top supporting plate is respectively arranged above the bottom supporting plate through the plurality of supporting columns, and a space for installing the workpiece transmission assembly is arranged between the two supporting plates; the upper surface of the top supporting plate is sequentially provided with a sorting area, a visual inspection area and a workpiece pushing area along the length direction of the top supporting plate, three clapboards are sequentially arranged in the sorting area along the width direction of the top supporting plate, and the three clapboards divide the sorting area into a defect-free workpiece sorting area, a workpiece sorting area with scratches, a workpiece sorting area with pits and four sorting areas of the workpiece sorting area with scratches and pits;
a coaxial light source and an industrial camera are fixedly arranged in a visual detection area of the top support plate, a through hole for positioning a workpiece is formed in the top support plate in front of the coaxial light source, a lens of the industrial camera is opposite to the coaxial light source, and the axis of the coaxial light source is intersected with the central line of the through hole;
the workpiece transmission assembly is positioned between the top supporting plate and the bottom supporting plate and is used for positioning, mounting and rotating the workpiece; the workpiece sorting assembly is installed on the top supporting plate and comprises a workpiece pushing portion and a workpiece sorting portion, the workpiece sorting portion is located in a sorting area of the top supporting plate and used for pushing workpieces of different types to corresponding sorting areas, the workpiece pushing portion is located in a workpiece pushing area of the top supporting plate and used for pushing the workpieces to the action range of the workpiece sorting portion of the workpiece sorting assembly, and the workpieces are sorted according to defect conditions.
2. The visual inspection device for surface defects of sleeve parts according to claim 1, wherein the workpiece transmission assembly comprises an intermediate sliding plate, a first stepping motor, a ball screw, a screw nut, a first bevel gear, a second stepping motor, a middle motor support, a bottom motor support and a fixed mandrel;
the middle sliding plate is positioned between the top supporting plate and the bottom supporting plate and is in sliding connection with all the supporting columns; the first stepping motor is fixed on the bottom supporting plate through a bottom motor supporting seat, one end of a ball screw is connected with the tail end of an output shaft of the first stepping motor, and the other end of the ball screw penetrates through the middle sliding plate and is rotatably connected with the top supporting plate; the screw nut is sleeved on the ball screw and fixedly connected with the middle sliding plate;
a second stepping motor is fixed on the middle sliding plate through a middle motor supporting seat, and a second bevel gear is fixed on an output shaft of the second stepping motor; the shaft part of the first bevel gear is rotatably arranged on the middle sliding plate through a screw bearing, and the axis of the first bevel gear is superposed with the central line of the through hole; the screw with the screw bearing penetrates through the middle sliding plate and is fixedly connected with the middle sliding plate through a nut; one end of the fixed mandrel is fixedly connected with a tooth part of a first bevel gear, and the first bevel gear is meshed with a second bevel gear simultaneously; the other end of the fixed mandrel penetrates through the through hole to be provided with a workpiece.
3. The apparatus of claim 2, wherein the three dividers are a second divider, a first divider, and a third divider, and the three dividers bisect the width of the top support plate.
4. The apparatus for sorting the surface defects of sleeve parts according to claim 3, wherein the workpiece sorting assembly comprises a third stepping motor, a rocker mechanism, a fourth stepping motor, a fixed plate, a first shifting lever, a second shifting lever, a third shifting lever, a fifth stepping motor and a sixth stepping motor;
the fixed plate and the third stepping motor are fixed in a workpiece pushing area of the top supporting plate, an output shaft of the third stepping motor penetrates through the fixed plate and is fixedly connected with one end of the rocker mechanism, the free end of the rocker mechanism can reciprocate along the fixed plate, and the free end of the rocker mechanism pushes the workpiece to move; a fourth stepping motor, a fifth stepping motor and a sixth stepping motor are all fixed at the bottom of the top support plate, the fourth stepping motor is positioned at one end of the first partition plate close to the through hole, an output shaft of the fourth stepping motor penetrates through the top support plate to be fixedly connected with the bottom of one end of the first deflector rod, the other end of the first deflector rod is used for shifting a workpiece, and no interference is generated between the rotation of the first deflector rod and the first partition plate; the fifth stepping motor is positioned at one end of the third partition plate close to the through hole, an output shaft of the fifth stepping motor penetrates through the top support plate to be fixedly connected with the bottom of one end of the second shifting lever, the other end of the second shifting lever is used for shifting a workpiece, and no interference is generated between the rotation of the second shifting lever and the third partition plate; no. six step motor is located the one end that No. two baffles are close to the through-hole, and No. six step motor's output shaft passes the bottom that top sprag board and No. three driving lever one end linked firmly, and the other end of No. three driving lever is used for stirring the work piece, and No. three driving lever rotates and does not produce the interference between No. two baffles.
5. The apparatus as claimed in claim 4, wherein the first deflector rod, the second deflector rod and the third deflector rod are equal in length and are each a quarter of the width of the top support plate, and the sum of the lengths of the second partition plate and the third deflector rod is equal to the length of the first partition plate; both sides of the end part of each deflector rod for pushing the workpiece are provided with bending parts.
6. The sorting device for the surface defects of the sleeve parts according to claim 4, wherein the rocker mechanism comprises a limiting block, a crank, a first connecting rod, a second connecting rod and a baffle; the limiting block is fixed at one end of the fixing plate close to the workpiece, and is provided with an opening; one end of the crank is fixedly connected with an output shaft of the third stepping motor, and the other end of the crank is hinged with one end of the first connecting rod; the other end of the first connecting rod is hinged with one end of the second connecting rod; the other end of the second connecting rod penetrates through the opening on the limiting block to be fixedly connected with the baffle, and the baffle pushes the workpiece to move.
7. A method for sorting out surface defects of sleeve parts, which uses the sorting device of claim 6 and comprises the following steps:
the method comprises the following steps: installing a workpiece; starting a first stepping motor, driving a ball screw to rotate, enabling a screw nut to drive an intermediate sliding plate to move upwards, stopping the first stepping motor after the upper part of a fixed mandrel penetrates through a through hole for a certain distance, and sleeving a workpiece on the upper part of the fixed mandrel;
step two: collecting images and classifying workpieces into different categories according to defect conditions; the industrial camera collects images of the surface of a workpiece, after the images of one position are collected, a second stepping motor is started, a second bevel gear drives a first bevel gear to rotate, the next position of the workpiece is rotated to the action range of the industrial camera to collect images again, until the workpiece rotates 360 degrees to collect all the position images of the surface of the workpiece, and the second stepping motor stops rotating; then the upper computer carries out image processing analysis, and the workpieces are divided into workpieces without defects, workpieces with scratches, workpieces with pits and workpieces with scratches and pits according to the analysis result;
step three: separating the workpiece from the workpiece transmission assembly; the first stepping motor rotates reversely to drive the ball screw to rotate reversely, so that the screw nut drives the middle sliding plate to move downwards, the fixed mandrel is separated from the workpiece, and the workpiece is placed on the top supporting plate;
step four: sorting the workpieces; starting a third stepping motor to drive a crank to rotate, so that a second connecting rod slides towards the direction of the sorting area, and the free end of the rocker mechanism pushes a workpiece to be within the action range of a first shifting lever; then the third stepping motor continues to rotate, and the free end of the rocker mechanism resets; the upper computer sends signals according to the types of the workpieces, drives corresponding stepping motors to work, and pushes the workpieces of different types to corresponding sorting areas through corresponding shift levers.
8. The method for sorting out surface defects of sleeve parts according to claim 7, wherein the step four of sorting out the workpieces comprises the following specific steps:
if the workpiece is a defect-free workpiece, firstly, a fourth stepping motor drives a first shifting lever to rotate anticlockwise to deviate from a horizontal position, a fifth stepping motor drives a second shifting lever to rotate anticlockwise to deviate from the horizontal position, after the free end of the rocker mechanism pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate clockwise, and the first shifting lever pushes the workpiece to be within the action range of the second shifting lever; then, the fifth stepping motor rotates reversely to enable the second deflector rod to rotate clockwise, and the workpieces are pushed to a defect-free workpiece sorting area;
if the workpiece is a workpiece with scratches, firstly, a fourth stepping motor drives a first shifting lever to rotate anticlockwise to deviate from the horizontal position, a fifth stepping motor drives a second shifting lever to rotate clockwise to deviate from the horizontal position, after a baffle pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate clockwise, and the first shifting lever pushes the workpiece to be within the action range of the second shifting lever; then, the fifth stepping motor rotates reversely to enable the second deflector rod to rotate anticlockwise, and the workpieces are pushed to a workpiece sorting area with scratches;
if the workpiece is a workpiece with a pit, firstly, a fourth stepping motor drives a first shifting lever to rotate clockwise to deviate from the horizontal position, a sixth stepping motor drives a third shifting lever to rotate anticlockwise to deviate from the horizontal position, after a baffle pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate anticlockwise, and the first shifting lever pushes the workpiece to be within the action range of the third shifting lever; then, the sixth stepping motor rotates reversely to enable the third deflector rod to rotate clockwise, and the workpieces are pushed to a workpiece sorting area with pits;
if the workpiece is a workpiece with scratches and pits, firstly, a fourth stepping motor drives a first shifting lever to rotate clockwise to deviate from the horizontal position, a sixth stepping motor drives a third shifting lever to rotate clockwise to deviate from the horizontal position, after a baffle pushes the workpiece to be within the action range of the first shifting lever, the fourth stepping motor rotates reversely to enable the first shifting lever to rotate anticlockwise, and the first shifting lever pushes the workpiece to be within the action range of the third shifting lever; then, the sixth stepping motor rotates reversely to enable the third deflector rod to rotate anticlockwise, and the third deflector rod pushes the workpiece to a workpiece sorting area with scratches and pits.
9. The method for sorting out the surface defects of the kit parts according to claim 7, wherein the image processing analysis of the image by using a Python OpenCV module in the second step comprises the following steps:
(1) image preprocessing: acquiring an original image of the surface of a workpiece, selecting an interested area of the original image, extracting gray image characteristic parameters of the workpiece from the interested area, and performing histogram local equalization on the image of the interested area;
(2) image denoising treatment: sequentially carrying out median filtering, binarization processing and morphological denoising on the preprocessed image to obtain a denoised image;
(3) extracting the image defect outline: carrying out contour extraction on the denoised image by using a digital binary image topological structure analysis method based on boundary tracking to obtain all contours contained in the image; calculating the area of each contour, setting an area threshold, screening the defect contour according to the area threshold, and extracting skeleton characteristic parameters of the defect from the defect contour;
(4) and (3) realizing defect classification by using a support vector machine: performing feature fusion on the gray image feature parameters of the workpiece obtained in the step (1) and the skeleton feature parameters of the defect obtained in the step (3) through a multiplication rule and an addition rule of a classifier in a feature fusion algorithm based on a Bayesian theory to obtain feature fusion parameters; establishing a training sample set by utilizing the fusion characteristic parameters, and determining the model parameters of the support vector machine classifier through training; and in the defect detection process, a test sample set is established according to the feature fusion parameters, and the defects are identified through a support vector machine classifier model, so that the support vector machine classification of the defects is realized.
10. The method of claim 9, wherein the area threshold of step (3) is 3000 pixels.
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| CN112934745A (en) * | 2021-02-03 | 2021-06-11 | 宁夏巨能机器人股份有限公司 | Machine vision flaw detection device and detection method |
| CN112934745B (en) * | 2021-02-03 | 2023-08-15 | 宁夏巨能机器人股份有限公司 | Machine vision flaw detection device and detection method |
| CN113000413A (en) * | 2021-05-06 | 2021-06-22 | 菲特（天津）检测技术有限公司 | System, method and terminal for detecting surface defects of synchronizer gear sleeve based on machine vision |
| CN113000413B (en) * | 2021-05-06 | 2022-07-05 | 菲特（天津）检测技术有限公司 | System, method and terminal for detecting surface defects of synchronizer gear sleeve based on machine vision |
| CN115656196A (en) * | 2022-10-20 | 2023-01-31 | 深圳市控汇智能股份有限公司 | Visual detection device and detection method for industrial part defect detection |
| CN115656196B (en) * | 2022-10-20 | 2023-11-07 | 深圳市控汇智能股份有限公司 | Visual detection device and detection method for detecting defects of industrial parts |
| CN116704177A (en) * | 2023-08-01 | 2023-09-05 | 东莞市零越传动科技有限公司 | Gear box fault detection method based on image data |
| CN116704177B (en) * | 2023-08-01 | 2023-11-17 | 东莞市零越传动科技有限公司 | Gear box fault detection method based on image data |
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