CN103920656B - A kind of Novel steel ball for vision-based detection launches and sorting unit - Google Patents
A kind of Novel steel ball for vision-based detection launches and sorting unit Download PDFInfo
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Abstract
本发明涉及一种用于视觉检测的新型钢球展开与分选装置，包括上料机构、上料通道、检测槽、进给盘、扇形支撑块、偏心轮、滑块、分选盘和出料通道；上料机构通过上料通道与安装在检测槽内的进给盘连接；所述扇形支撑块、滑块和分选盘均平行安装在进给盘的下方，扇形支撑块、滑块和分选盘的相邻端面紧密贴合，扇形支撑块、滑块和分选盘的上表面齐平；所述偏心轮与进给转轴连接，偏心轮驱动滑块朝进给转轴的径向做往复平移运动。本发明结构简单，设备的控制难度与制造、运行成本均较低，本发明还克服了传统门控式出球机构出球通道状态切换时间长的缺点。
The invention relates to a new type of steel ball unfolding and sorting device for visual detection, which includes a feeding mechanism, a feeding channel, a detection slot, a feeding plate, a fan-shaped support block, an eccentric wheel, a slider, a sorting plate and an outlet. Material channel; the feeding mechanism is connected with the feed plate installed in the detection tank through the material channel; the fan-shaped support block, slide block and sorting plate are all installed in parallel below the feed plate, and the fan-shaped support block, slide block It fits closely with the adjacent end surface of the sorting disc, and the upper surface of the fan-shaped support block, the slider and the sorting disc are flush; the eccentric wheel is connected with the feed shaft, and the eccentric wheel drives the slider towards the radial direction of the feed shaft Do reciprocating translational motion. The invention has simple structure, low equipment control difficulty and low manufacturing and operating costs, and the invention also overcomes the shortcoming of long switching time of the ball outlet channel state of the traditional gate-controlled ball outlet mechanism.
Description
技术领域 technical field
本发明涉及一种自动化检测装置，具体的说，是指一种通过机械机构的协调运动实现钢球表面在机器视觉下的充分展开，并根据检测反馈信息控制出球机构实现钢球分选的装置。 The invention relates to an automatic detection device, specifically, a device that realizes the full expansion of the steel ball surface under machine vision through the coordinated movement of a mechanical mechanism, and controls the ball-out mechanism to realize steel ball sorting according to the detection feedback information. device.
背景技术 Background technique
基于机器视觉的产品表面缺陷检测方法以其非接触性、快速性和精确性等特点在自动化检测领域得到了越来越广泛的应用，取得了良好的效果。 The product surface defect detection method based on machine vision has been more and more widely used in the field of automatic detection due to its characteristics of non-contact, rapidity and accuracy, and achieved good results.
专利号为ZL200310109912.4和ZL200810243613.2的中国发明专利分别公开了一种钢球表面缺陷的检测方法与装置，这两个专利公开的钢球进给与展开机构需要三个电机驱动。专利号为ZL201210168658.4的中国发明专利公开了一种钢球分拣装置和方法，该专利公开的钢球进给与展开机构简化为两个电机驱动。这些运动机构总体结构比较复杂，会增加设备的控制难度与制造、运行成本。 Chinese invention patents with patent numbers ZL200310109912.4 and ZL200810243613.2 respectively disclose a detection method and device for steel ball surface defects. The steel ball feeding and unfolding mechanisms disclosed in these two patents require three motors to drive. The Chinese invention patent with the patent number ZL201210168658.4 discloses a steel ball sorting device and method. The steel ball feeding and unfolding mechanism disclosed in the patent is simplified to be driven by two motors. The overall structure of these motion mechanisms is relatively complex, which will increase the difficulty of controlling the equipment and the cost of manufacturing and operation.
在钢球分选方面，传统门控式出球机构，其正品出球与次品出球的公共通道较长，因此存在出球通道的状态（即出正品状态与出次品状态）切换时间长的缺点。 In terms of steel ball sorting, the traditional gated ball discharge mechanism has a long public channel for the genuine product and the defective product, so there is a switching time between the state of the ball discharge channel (that is, the state of the genuine product and the state of the defective product) long disadvantage.
发明内容 Contents of the invention
本发明的主要目的在于克服上述现有技术的缺点，进一步提升检测速度，提供一种用于视觉检测的新型钢球展开与分选装置，通过机械机构的协调运动实现钢球表面在机器视觉下的充分展开，并按照质量控制目标实现钢球分选。 The main purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, further improve the detection speed, provide a new type of steel ball unfolding and sorting device for visual detection, and realize the steel ball surface under machine vision through the coordinated movement of the mechanical mechanism. Fully unfolded, and in accordance with the quality control objectives to achieve steel ball sorting.
为了实现上述的目的，本发明采用了以下的技术方案： In order to achieve the above object, the present invention adopts the following technical solutions:
一种用于视觉检测的新型钢球展开与分选装置，包括上料机构、上料通道、检测槽、进给盘、扇形支撑块、偏心轮、滑块、分选盘和出料通道；上料机构通过上料通道与安装在检测槽内的进给盘连接，进给盘的圆周设有若干检测腔，检测腔侧边设有为待检钢球提供照明的检测光源，检测腔的上方设有摄像机；所述扇形支撑块、滑块和分选盘均平行安装在进给盘的下方，扇形支撑块、滑块和分选盘的相邻端面紧密贴合，扇形支撑块、滑块和分选盘的上表面齐平；进给盘通过进给转轴与进给电机连接，分选盘通过分选转轴与分选电机连接；所述偏心轮与进给转轴同轴连接，或者偏心轮与进给转轴之间通过齿轮变速机构相连接，偏心轮驱动滑块朝进给转轴的径向做往复平移运动，所述分选盘上设有正品出球孔与次品出球孔，所述出料通道包括正品出料通道和次品出料通道,所述分选盘通过分选转轴与分选电机实现旋转运动，分选盘通过控制旋转过程，实现正品出球孔与正品出料通道对齐，或者次品出球孔与次品出料通道对齐。 A new type of steel ball unfolding and sorting device for visual inspection, including a feeding mechanism, a feeding channel, a detection slot, a feeding plate, a fan-shaped support block, an eccentric wheel, a slider, a sorting plate and a discharging channel; The feeding mechanism is connected to the feeding plate installed in the detection tank through the feeding channel. There are several detection chambers on the circumference of the feed plate. There is a camera on the top; the fan-shaped support block, slider and sorting disc are all installed in parallel below the feed disc, and the adjacent end faces of the fan-shaped support block, slider and sorting disc are closely fitted, and the fan-shaped support block, slider The upper surface of the block and the sorting disc is flush; the feed disc is connected with the feed motor through the feed shaft, and the sorting disc is connected with the sorting motor through the sorting shaft; the eccentric wheel is coaxially connected with the feed shaft, or The eccentric wheel and the feed shaft are connected by a gear transmission mechanism, and the eccentric wheel drives the slider to perform a reciprocating translational movement in the radial direction of the feed shaft. , the discharge channel includes a genuine product discharge channel and a defective product discharge channel, the sorting disc realizes the rotating motion through the sorting shaft and the sorting motor, and the sorting disc realizes the genuine product outlet hole and the genuine product by controlling the rotation process. The discharge channel is aligned, or the defective product discharge hole is aligned with the defective product discharge channel.
作为优选方案：所述正品出球孔和次品出球孔间隔设置，次品出球孔设置在分选盘的外缘。 As a preferred solution: the genuine product outlet holes and the defective product outlet holes are arranged at intervals, and the defective product outlet holes are arranged on the outer edge of the sorting disc.
作为优选方案：所述进给盘和偏心轮通过进给转轴与进给电机实现旋转运动，分选盘通过分选转轴与分选电机实现旋转运动，进给盘的旋转运动与滑块的平移运动，带动钢球转动展开整个球面。 As a preferred solution: the feed disc and the eccentric wheel realize the rotational motion through the feed shaft and the feed motor, the sorting disc realizes the rotational motion through the sorting shaft and the sorting motor, the rotational motion of the feed disc and the translation of the slider Movement drives the steel ball to rotate and expand the entire spherical surface.
作为优选方案：所述滑块通过导轨固定在检测槽的底部。 As a preferred solution: the slider is fixed on the bottom of the detection slot through guide rails.
作为优选方案：所述出料通道从检测槽底部穿过。 As a preferred solution: the discharge channel passes through the bottom of the detection tank.
本发明的有益技术效果为：（1）本发明在钢球表面展开方面，克服了现有技术中运动机构总体结构复杂的缺点，采用进给盘的旋转运动与滑块的平移运动实现待检钢球表面的充分展开，该协调运动仅仅需要一个电机驱动，降低了设备的控制难度与制造、运行成本。（2）本发明在钢球分选方面，根据待出钢球的检测状态，通过控制分选盘的旋转运动，自动实现正品出球孔与正品出料通道对齐，或者次品出球孔与次品出料通道对齐，克服了传统门控式出球机构出球通道状态切换时间长的缺点。 The beneficial technical effects of the present invention are: (1) The present invention overcomes the shortcomings of the complex overall structure of the motion mechanism in the prior art in terms of the surface development of the steel ball, and uses the rotation motion of the feed plate and the translation motion of the slider to realize the inspection. The surface of the steel ball is fully expanded, and the coordinated movement only needs to be driven by a motor, which reduces the difficulty of controlling the equipment and the cost of manufacturing and operation. (2) In terms of steel ball sorting, according to the detection state of the steel balls to be discharged, the present invention automatically realizes the alignment of the authentic product discharge hole with the genuine product discharge channel by controlling the rotation of the sorting disc, or the defective product discharge hole and the genuine product discharge channel. The alignment of the defective product discharge channel overcomes the shortcoming of the traditional gated ball discharge mechanism with a long time for switching the state of the ball discharge channel.
附图说明 Description of drawings
图1为本发明的结构示意图。 Fig. 1 is a structural schematic diagram of the present invention.
图2为图1的俯视图。 FIG. 2 is a top view of FIG. 1 .
具体实施方式 detailed description
为了更为具体地描述本发明，下面结合附图及具体实施方式对本发明一种用于视觉检测的新型钢球展开与分选装置进行详细说明。 In order to describe the present invention more specifically, a new type of steel ball unfolding and sorting device for visual inspection of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
如图1和图2所示，一种用于视觉检测的新型钢球展开与分选装置包括上料机构14、上料通道13、检测槽1、进给盘2、进给转轴7、检测腔10、检测光源11、摄像机12、扇形支撑块15、偏心轮8、滑块9、分选盘3、分选转轴4和出料通道6。 As shown in Figures 1 and 2, a new type of steel ball unfolding and sorting device for visual inspection includes a feeding mechanism 14, a feeding channel 13, a detection tank 1, a feed plate 2, a feed shaft 7, a detection Cavity 10, detection light source 11, camera 12, fan-shaped support block 15, eccentric wheel 8, slider 9, sorting disc 3, sorting shaft 4 and discharge channel 6.
上料机构14通过上料通道13与安装在检测槽1内的进给盘2连接，按照设定的上球频率把待检钢球输送到进给盘2上。进给盘2为乳白色透光材料制成，其圆周上均匀分布若干数量检测腔10。所述的检测腔10为贯通进给盘2上下表面的圆形通孔，其深度必须大于钢球直径。进给盘2逆时针旋转过程中，带动检测腔10中的钢球沿圆周运动，在待检位置接受视觉检测，在出球位置根据检测反馈信息实现分选。 The feeding mechanism 14 is connected with the feeding plate 2 installed in the detection tank 1 through the feeding channel 13, and transports the steel balls to be inspected to the feeding plate 2 according to the set ball feeding frequency. The feed plate 2 is made of milky white light-transmitting material, and a number of detection cavities 10 are evenly distributed on its circumference. The detection cavity 10 is a circular through hole penetrating the upper and lower surfaces of the feed plate 2, and its depth must be greater than the diameter of the steel ball. During the counterclockwise rotation of the feed plate 2, the steel balls in the detection chamber 10 are driven to move in a circle, and are subjected to visual inspection at the position to be inspected, and sorted according to the detection feedback information at the ball output position.
进给盘2下方设有扇形支撑块15、滑块9和分选盘3，扇形支撑块15、滑块9和分选盘3的相邻端面紧密贴合，接触缝隙尽可能小，既保证滑块9和分选盘3的自由运动，又不使待检钢球卡住。扇形支撑块15、滑块9和分选盘3的上表面齐平，并与进给盘2的下表面贴合。 The fan-shaped support block 15, the slider 9 and the sorting disc 3 are arranged below the feed disc 2, and the adjacent end faces of the fan-shaped support block 15, the slider 9 and the sorting disc 3 are closely fitted, and the contact gap is as small as possible, which ensures The free movement of the slide block 9 and the sorting disc 3 does not block the steel balls to be checked. The upper surfaces of the fan-shaped support block 15, the slider 9 and the sorting disc 3 are flush, and are attached to the lower surface of the feeding disc 2.
分选盘3上设有正品出球孔5与次品出球孔16，分选盘3通过控制旋转过程，实现正品出球孔5与正品出料通道对齐，或者次品出球孔16与次品出料通道对齐。正品出球孔5和次品出球孔16的大小要保证能自由通过1粒目标规格钢球，出料通道6从检测槽1底部穿过。 The sorting disc 3 is provided with genuine product outlet holes 5 and defective product outlet holes 16, and the sorting disc 3 realizes the alignment of the genuine product outlet holes 5 with the authentic product discharge channel by controlling the rotation process, or the defective product outlet holes 16 and the The defective product discharge channel is aligned. The size of the genuine product outlet hole 5 and the defective product outlet hole 16 should ensure that a steel ball of the target specification can freely pass through, and the discharge channel 6 passes through the bottom of the detection tank 1 .
滑块9通过导轨固定在检测槽1底部，偏心轮8与进给转轴7同轴连接，偏心轮8的旋转运动带动滑块9作平移运动。 The slider 9 is fixed on the bottom of the detection tank 1 through guide rails, the eccentric wheel 8 is coaxially connected with the feed shaft 7, and the rotation of the eccentric wheel 8 drives the slider 9 to perform translational motion.
进给盘2通过转轴7与进给电机连接实现旋转运动。进给盘2逆时针旋转时，待检钢球受到切向作用力；进给盘2与偏心轮8的同步旋转运动带动滑块9作平移运动，待检钢球受到切向与径向的混合作用力。本发明通过对进给盘2与滑块9的协调控制，实现待检钢球表面充分展现在摄像机视野中。当待检钢球处于待检位置20、待检位置21和待检位置22时表征了切向作用下的3个展开面；当待检钢球处于待检位置17、待检位置18和待检位置19时表征了混合作用下的3个展开面。待检位置上方设置的摄像机12拍摄包括待检位置20、待检位置21、待检位置22和待检位置17、待检位置18、待检位置19上的6个钢球状态为1幅图像，利用相应的图像处理算法判定待检钢球是否存在缺陷，算法中设有记忆单元，同一个钢球的最终检测状态由进给盘2旋转过程中6个待检位置上的状态综合判定。 The feed plate 2 is connected with the feed motor through the rotating shaft 7 to realize the rotary motion. When the feed plate 2 rotates counterclockwise, the steel balls to be inspected are subjected to tangential force; the synchronous rotation of the feed plate 2 and the eccentric wheel 8 drives the slider 9 to perform a translational movement, and the steel balls to be inspected are subjected to tangential and radial forces. Mixed forces. The present invention realizes that the surface of the steel ball to be inspected is fully displayed in the field of view of the camera through the coordinated control of the feed disc 2 and the slider 9 . When the steel ball to be checked is in the position to be checked 20, the position to be checked 21 and the position to be checked 22, it represents the three development surfaces under the tangential action; when the steel ball to be checked is in the position to be checked 17, the position to be checked 18 and Checking position 19 represents the three unfolded surfaces under the mixing action. The camera 12 set above the position to be inspected includes the position to be inspected 20, the position to be inspected 21, the position to be inspected 22, the position to be inspected 17, the position to be inspected 18, and the position to be inspected 19. The state of the 6 steel balls is one image , use the corresponding image processing algorithm to determine whether the steel ball to be inspected has defects, the algorithm is equipped with a memory unit, and the final detection state of the same steel ball is comprehensively judged by the states of the six positions to be inspected during the rotation of the feed plate 2 .
分选盘3通过分选转轴4与分选电机实现旋转运动，分选盘3上均匀设置正品出球孔5与次品出球孔16，正品出球孔5与次品出球孔16交叉配置，次品出球孔16在分选盘3的外缘。在实际产品检测中，产品合格率一般远大于50%，因此缺省状态下控制正品出球孔5与正品出料通道对齐。进给盘2旋转过程中，带动正品钢球自动落入正品出球孔5与正品出料通道，通往正品仓。当发现当前待出球（待出球位置23）为次品时，分选盘3旋转，控制次品出球孔16与次品出料通道对齐，次品钢球落入次品出球孔16与次品出料通道，通往次品仓；次品钢球掉落后，分选盘3继续旋转，恢复为缺省状态，等待下一钢球的处理。 The sorting disc 3 realizes the rotary motion through the sorting shaft 4 and the sorting motor. The genuine product outlet holes 5 and the defective product outlet holes 16 are evenly arranged on the sorting disc 3, and the genuine product outlet holes 5 and the defective product outlet holes 16 are intersected. Configuration, the defective product outlet hole 16 is on the outer edge of the sorting disc 3 . In actual product testing, the pass rate of the product is generally much greater than 50%, so by default, the genuine product outlet hole 5 is controlled to be aligned with the genuine product discharge channel. During the rotation of the feed plate 2, the genuine steel balls are driven to automatically fall into the genuine product outlet hole 5 and the genuine product discharge channel, leading to the genuine product warehouse. When it is found that the ball to be ejected (position 23 to be ejected) is a defective product, the sorting disc 3 is rotated to control the defective product outlet hole 16 to align with the defective product discharge channel, and the defective product steel ball falls into the defective product outlet hole 16 and the defective product discharge passage lead to the defective product warehouse; after the defective steel balls fall, the sorting disc 3 continues to rotate, returns to the default state, and waits for the next steel ball to be processed.
分选盘3的厚度尽可能薄，只要保证分选盘3的机械强度即可。分选盘3的厚度决定了钢球掉落过程中的等待时间，因此出球通道的状态（即出正品状态与出次品状态）切换时间明显小于传统门控式出球机构的响应时间。 The thickness of the sorting disc 3 is as thin as possible, as long as the mechanical strength of the sorting disc 3 is guaranteed. The thickness of the sorting disc 3 determines the waiting time during the falling process of steel balls, so the switching time of the state of the ball outlet channel (that is, the state of genuine product and the state of defective product) is significantly shorter than the response time of the traditional gated ball outlet mechanism.
进给盘2、扇形支撑块15、滑块9、分选盘3及待检钢球均浸没在检测槽1内检测液中，检测液为无色透明液体，为煤油或防锈水，检测液的液面高度要高于进给盘2的上表面。本发明所用上料机构14、上料通道13、进给盘2、扇形支撑块15、滑块9、分选盘3、出料通道6均用有机材料制成，以防止在检测过程中对待检钢球表面的损伤。 The feed plate 2, the fan-shaped support block 15, the slider 9, the sorting plate 3 and the steel balls to be tested are all immersed in the detection liquid in the detection tank 1. The detection liquid is a colorless and transparent liquid, which is kerosene or rust-proof water. The liquid level height of liquid will be higher than the upper surface of feeding plate 2. The used feeding mechanism 14 of the present invention, feeding channel 13, feed plate 2, fan-shaped support block 15, slide block 9, sorting disc 3, discharge channel 6 are all made of organic materials, to prevent being treated in the detection process. Check the damage on the surface of the steel ball.
实际应用中，为提高滑块9的往复运动频率，可以在偏心轮8与进给转轴7之间设置齿轮等变速机构；为提高检测速度，可以设置多组检测光源11和摄像机12，同时进行多组钢球的质量检测；为提高检测准确度，可以增加滑块9的宽度，例如每个摄像机检测钢球6个展开状态，2个摄像机就可以检测钢球12个展开状态，保证钢球表面在机器视觉下的充分展现。 In practical applications, in order to increase the reciprocating frequency of the slider 9, gears and other speed change mechanisms can be set between the eccentric wheel 8 and the feed shaft 7; in order to improve the detection speed, multiple groups of detection light sources 11 and cameras 12 can be set to perform simultaneous detection. Quality inspection of multiple groups of steel balls; in order to improve the detection accuracy, the width of the slider 9 can be increased. For example, each camera detects 6 expanded states of steel balls, and 2 cameras can detect 12 expanded states of steel balls, ensuring that the steel balls The surface is fully displayed under machine vision.
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| CN105537133A (en) * | 2015-12-29 | 2016-05-04 | 中山市兰德钢球有限公司 | Rolling control mechanism and surface inspection equipment for balls |
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| CN106269561A (en) * | 2016-08-08 | 2017-01-04 | 哈尔滨理工大学 | Meridian belt wheel platform coupled motions formulas surface detection of steel ball mechanism |
| CN107755291A (en) * | 2017-11-13 | 2018-03-06 | 哈尔滨理工大学 | A kind of steel ball with high precision surface defects detection mechanism |
| CN112871717B (en) * | 2021-03-24 | 2022-10-25 | 长春理工大学 | High-precision sorting device and method for steel ball diameter |
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