CN203156342U - Valve body ceramic chip positioning device based on machine vision - Google Patents
Valve body ceramic chip positioning device based on machine vision Download PDFInfo
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- CN203156342U CN203156342U CN 201320139738 CN201320139738U CN203156342U CN 203156342 U CN203156342 U CN 203156342U CN 201320139738 CN201320139738 CN 201320139738 CN 201320139738 U CN201320139738 U CN 201320139738U CN 203156342 U CN203156342 U CN 203156342U
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- 239000000919 ceramic Substances 0.000 title abstract 7
- 239000000463 material Substances 0.000 claims abstract description 22
- 238000007599 discharging Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 23
- 238000007790 scraping Methods 0.000 claims description 18
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000237509 Patinopecten sp. Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 235000020637 scallop Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
A valve body ceramic chip positioning device based on machine vision comprises a ceramic chip feeding module, a rack, a rotation material loading module and a vision detecting module. The ceramic chip feeding module comprises a vibrating disk and a linear feeder, and a discharge port of the vibrating disk is connected with an inlet of the linear feeder. The rotation material loading module comprises a direct-current gear motor, a photoelectric coded disk and a rotation material loading disk, and an outlet of the linear feeder is connected with a material inlet station of the rotation material loading disk. The vision detecting module comprises a camera, a linear sliding rail and an image identification module used for collecting images to obtain the angle position of a ceramic chip workpiece. A ceramic chip positioning module comprises a stepping motor and a rotation driving table, and an output shaft of the stepping motor is in linkage with a main shaft of the rotation driving table. A discharging module comprises a linear cylinder, a travel switch and a material pushing plate, and the stretching end of the linear cylinder is connected with the material pushing plate. The valve body ceramic chip positioning device based on the machine vision is high in precision, high in speed and low in cost.
Description
Technical field
The utility model belongs to the digitlization assembling to be made and automatic field, relates to a kind of valve body potsherd positioner.
Background technology
On the automatic production line of valve body assembling, potsherd in the valve body assembling is because its outer rim geometry is rounded, need be by the scallop hole of inboard a pair of symmetry during assembling, position, thereby when the vibrating disk discharging, can't guarantee to provide position accurately, need detect potsherd by detection technique, and by executing agency it be adjusted to suitable angle.The defective that prior art exists is: precision is lower, speed is slow, cost is higher.
Summary of the invention
Lower for the precision that overcomes existing valve body potsherd locate mode, speed is slow, the higher deficiency of cost, the utility model provides that a kind of precision is higher, speed is very fast, lower-cost valve body potsherd positioner based on machine vision.
The technical scheme that its technical problem that solves the utility model adopts is:
A kind of valve body potsherd positioner based on machine vision, described positioner comprises potsherd feed module, stand, rotation material loading module, vision-based detection module, potsherd locating module and discharging module, described potsherd feed module, rotation material loading module, vision-based detection module, potsherd locating module and discharging module are installed on the stand, wherein
Described potsherd feed module involving vibrations dish and straight line feeder, the discharging opening of described vibrating disk is connected with the entrance of described straight line feeder;
Described rotation material loading module comprises DC speed-reducing, photoelectric coded disk and rotation loading plate, the rotating shaft of described rotation loading plate and the interlock of the output shaft of described DC speed-reducing, in the rotating shaft of described rotation loading plate photoelectric coded disk is installed, the outlet of described straight line feeder is connected with the pan feeding station of described rotation loading plate, one circle of described rotation loading plate is provided with the through hole that at least 3 described valve body potsherds of confession that wait circular arc to arrange are at interval placed, and a circle of the bottom of described through hole is the rotary annular base of described stand;
Described vision-based detection module comprises camera, line slide rail and is used for gathering the picture recognition module that image obtains the angle position of potsherd workpiece, described camera is fixed on the slide block of described line slide rail, and described camera is connected with described picture recognition module;
Described potsherd locating module comprises that stepper motor and rotation drive platform, the output shaft of described stepper motor and described rotation drive the main shaft interlock of platform, the rotary annular base at described rotation loading plate discharging station place is provided with first through hole, described rotation drive platform be positioned at described first through hole under, the line slideway groove is positioned at described first through hole below, and described rotation drives second through hole that platform is positioned at the line slideway groove, and upper surface and described line slideway groove upper surface that described rotation drives platform are in same plane;
Described discharging module comprises straight line cylinder, travel switch and scraping wings, and the flexible end of described straight line cylinder is connected with described scraping wings, and described scraping wings is slidably mounted on the line slideway groove.
Further, described camera is connected with described universal joint, and described universal joint is fixed on the slide block of described line slide rail,
Further, described scraping wings is installed on the interior line slideway groove of described stand, and the plane needle roller is installed on the line slideway groove, and the place, stroke end of described scraping wings is equipped with travel switch.
Technical conceive of the present utility model is: machine vision is widely used in the industrial automation field because its precision height, speed are fast and cost is lower, therefore will go for the production line of valve body automation assembling based on the detection technique of machine vision.
The beneficial effects of the utility model mainly show: 1) identify potsherd workpiece angle position fast by the Machine Vision Detection system, and it is carried out attitude adjustment accurately;
Potsherd when 2) effectively eliminating the valve body assembling has improved accuracy and the stability of assembling because the mechanical gas pawl that the station angular deviation causes picks up difficult situation;
3) mode of system building realization is convenient, and the precision of detection is higher, and response is very fast, and the cost of enforcement is lower.
Description of drawings
Fig. 1 is the structural representation of potsherd positioner.
Fig. 2 is that the stand of potsherd positioner is partly gone up the TV structure schematic diagram.
Fig. 3 is that the stand of potsherd positioner partly descends the TV structure schematic diagram.
Fig. 4 is the schematic diagram after the potsherd positioner is removed the rotation loading plate.
Fig. 5 is the control system structural representation of potsherd positioner.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1～Fig. 5, a kind of valve body potsherd positioner based on machine vision, comprise potsherd feed module 1, device stand 2, rotation material loading module 3, vision-based detection module 4, potsherd locating module 5 and discharging module 6 are formed, described potsherd feed module 1 is made up of vibrating disk 1-1 and straight line feeder 1-2, and described straight line feeder 1-2 is transported to rotation material loading module 3 continuously with the potsherd among the described vibrating disk 1-1; Described rotation material loading module 3 comprises DC speed-reducing 3-1, photoelectric coded disk 3-2 and rotation loading plate 3-3, and described rotation loading plate 3-3 is driven by described DC speed-reducing 3-1, and anglec of rotation location is finished by described photoelectric coded disk 3-2; Described vision-based detection module 4 comprises industrial camera 4-1, universal joint 4-2, line slide rail 4-3 and image recognition software are formed, described industrial camera 4-1 installs and is fixed on the slide block of described line slide rail 4-3 by described universal joint 4-2, the image that described image recognition software collects described industrial camera carries out image to be handled, analyzes, and obtains potsherd workpiece angle position; Described potsherd locating module 5 comprises that stepper motor 5-1 and rotation drive platform 5-2, described stepper motor 5-1 drives described rotation by shaft coupling and drives platform 5-2, and the workpiece angle of identifying according to described vision-based detection module 4 carries out the exact position adjustment to the potsherd workpiece; Described discharging module 6 comprises straight line cylinder 6-1, travel switch 6-2 and scraping wings 6-3, described straight line cylinder 6-1 drives potsherd that described scraping wings 6-3 finishes angle adjustment and is pushed to next assembly station from the detection station of described vision-based detection module, be convenient to assemble picking up of cleft hand, the haul distance that cylinder advances determines the final position by travel switch 6-2.
Rotation loading plate 3-3 level in the described rotation material loading module 3 is installed on the stand 2, rolling element is installed between the two, and then reduce to rotate the relative motion friction of loading plate 3-3 in rotary course, circular arcs such as rotation loading plate 3-3 evenly are processed with 12 through holes of circumference array at interval, the lower surface of rotation loading plate 3-3 is equal with the upper surface of the rotary annular base of stand 2, guarantees to rest in the through hole before the detection station of detected potsherd material loading being sent into described vision-based detection module 4 always.Described photoelectric coded disk 3-2 and the coaxial interlock of described rotation loading plate 3-3, the angle of rotation is at every turn accurately fed back to control system, make described rotation loading plate 3-3 rotate fixing angle, the assurance potsherd can be sent into the detection station of vision-based detection module 4 smoothly at every turn.
Described industrial camera 4-1 in the described vision-based detection module 4 and described universal joint 4-2 are fixed on the described line slide rail slide block 4-3, the visual angle rotation of described industrial camera 4-1 is adjusted and can be finished by described universal joint 4-2, and the object distance height of described industrial camera 4-1 and potsherd can be finished by described line slide rail slide block 4-3.
Described potsherd locating module 5 comprises that stepper motor 5-2 and rotation drive platform 5-1, the rotary annular base at described rotation loading plate discharging station place is provided with first through hole, described rotation drive platform 5-1 be positioned at described first through hole under, the line slideway groove is positioned at described first through hole below, and described rotation drives second through hole that platform is positioned at the line slideway groove, and upper surface and described line slideway groove upper surface that described rotation drives platform are in same plane; Make potsherd in the through hole steadily to fall into to be positioned at rotation behind first through hole and drive on the platform 5-1, rotation drives the processing of need turning black of platform 5-1 and circumferential surface material thereof, it is less reflective to guarantee that material surface has, and because the color on potsherd material surface is white, by deepening to improve greatly the color of background surface the contrast of image, thereby improve the picture quality of vision detection system, simplified image processing process, described stepper motor 5-2 adopts the control mode of fluctuating acceleration to finish in the start and stop stage, in the starting and ending stage of motion, the angular acceleration of motor rotation is less, and carry out with angular speed faster in the process middle-end of rotation, and then guarantee that potsherd can accurately and fast adjust the station angle.
Described discharging module 6 comprises straight line cylinder 6-1, travel switch 6-2 and scraping wings 6-3, the flexible end of described straight line cylinder 6-1 is connected with described scraping wings 6-3, described scraping wings 6-3 is slidably mounted on the line slideway groove, be furnished with the plane needle roller in order to reduce resistance to sliding between described scraping wings 6-3 and the line slideway groove, described scraping wings 6-3 upper surface is parallel with the upper surface of described stand 2, guarantee that potsherd at described rotation loading plate 3-3 can not fall into the line slideway groove on the stand 2 in the material loading process, the middle-end of line slideway groove has a circular hole, in order to being installed, described rotation drives platform 5-1, the bottom end surface of line slideway groove is equal with the top end surface that rotation drives platform 5-1, thereby guarantees that the potsherd that described scraping wings 6-3 can will finish the location releases the vision-based detection station smoothly.
In the present embodiment, described control system 7 realizes by the framework of upper and lower computer, described host computer 7-1 is made up of industrial computer, be connected with industrial camera 4-1 by usb bus, finish the collection of detected image, and the image that collects handled, analyze, the core of described slave computer 7-2 is 8 single-chip microcomputers, be connected with photoelectric coded disk 3-2, and by driver control stepper motor 5-2 and DC speed-reducing 3-1, finish and carry out action, described host computer 7-1 is sent to described slave computer 7-2 by the RS232 bus with the potsherd station angle-data that detection obtains, and finishes station angle adjustment to potsherd by it.
Claims (3)
1. valve body potsherd positioner based on machine vision, it is characterized in that: described positioner comprises potsherd feed module, stand, rotation material loading module, vision-based detection module, potsherd locating module and discharging module, described potsherd feed module, rotation material loading module, vision-based detection module, potsherd locating module and discharging module are installed on the stand, wherein
Described potsherd feed module involving vibrations dish and straight line feeder, the discharging opening of described vibrating disk is connected with the entrance of described straight line feeder;
Described rotation material loading module comprises DC speed-reducing, photoelectric coded disk and rotation loading plate, the rotating shaft of described rotation loading plate and the interlock of the output shaft of described DC speed-reducing, in the rotating shaft of described rotation loading plate photoelectric coded disk is installed, the outlet of described straight line feeder is connected with the pan feeding station of described rotation loading plate, one circle of described rotation loading plate is provided with the through hole that at least 3 described valve body potsherds of confession that wait circular arc to arrange are at interval placed, and a circle of the bottom of described through hole is the rotary annular base of described stand;
Described vision-based detection module comprises camera, line slide rail and is used for gathering the picture recognition module that image obtains the angle position of potsherd workpiece, described camera is fixed on the slide block of described line slide rail, and described camera is connected with described picture recognition module;
Described potsherd locating module comprises that stepper motor and rotation drive platform, the output shaft of described stepper motor and described rotation drive the main shaft interlock of platform, the rotary annular base at described rotation loading plate discharging station place is provided with first through hole, described rotation drive platform be positioned at described first through hole under, the line slideway groove is positioned at described first through hole below, and described rotation drives second through hole that platform is positioned at the line slideway groove, and upper surface and described line slideway groove upper surface that described rotation drives platform are in same plane;
Described discharging module comprises straight line cylinder, travel switch and scraping wings, and the flexible end of described straight line cylinder is connected with described scraping wings, and described scraping wings is slidably mounted on the line slideway groove.
2. the valve body potsherd positioning apparatus system based on machine vision as claimed in claim 1, it is characterized in that: described camera is connected with described universal joint, and described universal joint is fixed on the slide block of described line slide rail.
3. the valve body potsherd positioner based on machine vision as claimed in claim 1 or 2, it is characterized in that: described scraping wings is installed on the interior line slideway groove of described stand, the plane needle roller is installed on the line slideway groove, and the place, stroke end of described scraping wings is equipped with travel switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320139738 CN203156342U (en) | 2013-03-25 | 2013-03-25 | Valve body ceramic chip positioning device based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320139738 CN203156342U (en) | 2013-03-25 | 2013-03-25 | Valve body ceramic chip positioning device based on machine vision |
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| CN203156342U true CN203156342U (en) | 2013-08-28 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707058A (en) * | 2013-12-18 | 2014-04-09 | 哈尔滨工业大学 | Automatic precise assembling platform for fusion target key components |
| CN103769969A (en) * | 2014-02-11 | 2014-05-07 | 厦门理工学院 | Blocky stone full-automatic grinding and polishing machine and control method thereof |
| CN105397480A (en) * | 2015-12-21 | 2016-03-16 | 苏州研高自动化科技有限公司 | Press-mounting mechanism for spring in valve element |
| CN106041473A (en) * | 2016-08-11 | 2016-10-26 | 苏州市吴中区胥口健浩五金加工厂 | Small spacer loading mechanism of solenoid valve membrane assembling machine |
| CN103769969B (en) * | 2014-02-11 | 2016-11-30 | 厦门理工学院 | The block full-automatic polished machine of stone material and control method thereof |
| CN106697112A (en) * | 2017-01-22 | 2017-05-24 | 郑州大学 | Machine vision-based automatic braider structure for automobile hub bonded balance weight |
| CN107511662A (en) * | 2017-09-26 | 2017-12-26 | 广东南大机器人有限公司 | A kind of draining pump fan vibration damping sheet assembly machine |
| CN108942202A (en) * | 2017-05-26 | 2018-12-07 | 林文灿 | A kind of automatic pin manufacturing method and equipment |
| CN109692889A (en) * | 2019-01-10 | 2019-04-30 | 浙江工业大学 | A kind of umbrella stem station adjustment system and method based on machine vision |
| CN109955105A (en) * | 2017-12-24 | 2019-07-02 | 天津市津宝乐器有限公司 | Saxophone body feeding mechanism |
| CN113686239A (en) * | 2020-05-19 | 2021-11-23 | 宝山钢铁股份有限公司 | Probe sleeving/pulling detection method of automatic temperature measuring gun based on photoelectric sensor |
| CN113916896A (en) * | 2021-11-02 | 2022-01-11 | 深圳市汉凯科技有限公司 | Positioning detection equipment and positioning detection method for irregular cylindrical part |
| CN116713735A (en) * | 2023-08-04 | 2023-09-08 | 科瑞工业自动化系统（苏州）有限公司 | Photoelectric encoder dynamic code wheel assembly equipment and assembly method |
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2013
- 2013-03-25 CN CN 201320139738 patent/CN203156342U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707058A (en) * | 2013-12-18 | 2014-04-09 | 哈尔滨工业大学 | Automatic precise assembling platform for fusion target key components |
| CN103769969A (en) * | 2014-02-11 | 2014-05-07 | 厦门理工学院 | Blocky stone full-automatic grinding and polishing machine and control method thereof |
| CN103769969B (en) * | 2014-02-11 | 2016-11-30 | 厦门理工学院 | The block full-automatic polished machine of stone material and control method thereof |
| CN105397480A (en) * | 2015-12-21 | 2016-03-16 | 苏州研高自动化科技有限公司 | Press-mounting mechanism for spring in valve element |
| CN106041473B (en) * | 2016-08-11 | 2018-07-20 | 温州翰智信息技术有限公司 | The minipad feed mechanism of electromagnetism valve film kludge |
| CN106041473A (en) * | 2016-08-11 | 2016-10-26 | 苏州市吴中区胥口健浩五金加工厂 | Small spacer loading mechanism of solenoid valve membrane assembling machine |
| CN106697112A (en) * | 2017-01-22 | 2017-05-24 | 郑州大学 | Machine vision-based automatic braider structure for automobile hub bonded balance weight |
| CN108942202A (en) * | 2017-05-26 | 2018-12-07 | 林文灿 | A kind of automatic pin manufacturing method and equipment |
| CN107511662A (en) * | 2017-09-26 | 2017-12-26 | 广东南大机器人有限公司 | A kind of draining pump fan vibration damping sheet assembly machine |
| CN109955105A (en) * | 2017-12-24 | 2019-07-02 | 天津市津宝乐器有限公司 | Saxophone body feeding mechanism |
| CN109692889A (en) * | 2019-01-10 | 2019-04-30 | 浙江工业大学 | A kind of umbrella stem station adjustment system and method based on machine vision |
| CN113686239A (en) * | 2020-05-19 | 2021-11-23 | 宝山钢铁股份有限公司 | Probe sleeving/pulling detection method of automatic temperature measuring gun based on photoelectric sensor |
| CN113686239B (en) * | 2020-05-19 | 2024-06-04 | 宝山钢铁股份有限公司 | Method for detecting probe sleeving/pulling-out of automatic temperature measuring gun based on photoelectric sensor |
| CN113916896A (en) * | 2021-11-02 | 2022-01-11 | 深圳市汉凯科技有限公司 | Positioning detection equipment and positioning detection method for irregular cylindrical part |
| CN116713735A (en) * | 2023-08-04 | 2023-09-08 | 科瑞工业自动化系统（苏州）有限公司 | Photoelectric encoder dynamic code wheel assembly equipment and assembly method |
| CN116713735B (en) * | 2023-08-04 | 2023-12-01 | 科瑞工业自动化系统（苏州）有限公司 | Photoelectric encoder dynamic code wheel assembly equipment and assembly method |
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| CF01 | Termination of patent right due to non-payment of annual fee |