CN106362961A - Working method for flexible production line - Google Patents
Working method for flexible production line Download PDFInfo
- Publication number
- CN106362961A CN106362961A CN201610764256.9A CN201610764256A CN106362961A CN 106362961 A CN106362961 A CN 106362961A CN 201610764256 A CN201610764256 A CN 201610764256A CN 106362961 A CN106362961 A CN 106362961A
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- workpiece
- measured workpiece
- control module
- photographic head
- transmission mechanism
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 50
- 238000007689 inspection Methods 0.000 claims description 39
- 230000007547 defect Effects 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 230000002950 deficient Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract 4
- 238000007599 discharging Methods 0.000 abstract 3
- 230000010355 oscillation Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003854 Surface Print Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to a working method for a flexible production line. The flexible production line comprises a control module, an automatic discharging and feeding mechanism, visual detection devices, a mechanical pick-up arm and a workpiece conveying mechanism used for conveying tested workpieces, wherein the automatic discharging and feeding mechanism, the visual detection devices, the mechanical pick-up arm and the workpiece conveying mechanism are connected with the control module. The working method comprises the steps that the tested workpieces are conveyed to the workpiece conveying mechanism through the automatic discharging and feeding mechanism; the visual detection devices are erected on the workpiece conveying mechanism and used for detecting the tested workpieces; and when it is identified that the tested workpieces have flaws, the control module controls the mechanical pick-up arm to pick up the tested workpieces. By the adoption of the working method for the flexible production line, the workpiece detection efficiency is improved through the visual detection devices, besides multi-angle images and videos of the tested workpieces can be obtained, and detection is more comprehensive and flexible; and after the defective workpieces are identified, the defective workpieces are picked up automatically, and the production efficiency is improved.
Description
Technical field
The present invention relates to a kind of method of work of flexible production line.
Background technology
Traditional flexible production line function is more single, is only limitted to material transferring, workpiece assembling, does not typically possess detection work(
Can, tend to observe whether workpiece has flaw by way of manual detection, manual type wastes time and energy, and precision is not
High.
Content of the invention
It is an object of the invention to provide a kind of method of work of flexible production line, to be entered to workpiece by vision inspection apparatus
Row detection, and pick up flaw measured workpiece.
In order to solve above-mentioned technical problem, the invention provides a kind of method of work of flexible production line.
Wherein, described flexible production line includes: control module, the automatic discharge feed mechanism that is connected with this control module,
Vision inspection apparatus, mechanical pick-up arm and the workpiece transmission mechanism for transmitting measured workpiece；Described method of work includes: described
Automatic discharge feed mechanism conveys measured workpiece to workpiece transmission mechanism；Described vision inspection apparatus are set up in workpiece transmission mechanism
On, and measured workpiece is detected；After identifying that measured workpiece has flaw, described control module control machinery pick-up arm
This measured workpiece is picked up.
Further, described vision inspection apparatus include: two photographic head, be sheathed on the ring-shaped guide rail of workpiece transmission mechanism；Its
In two photographic head be suitable to along ring-shaped guide rail around measured workpiece rotate, to adjust shooting attitude；Two photographic head adjustment shoot attitude
Method includes: during detection, two photographic head are suitable to upper half, the lower half follow shot along ring-shaped guide rail respectively, tested to obtain
The image on the upper and lower surface of workpiece, and send to control module；And when control module detects the arbitrary of measured workpiece
When flaw in face, two photographic head correspond to half cycle along ring-shaped guide rail movement to this flaw, gather this flaw by two photographic head simultaneously
The image of defect.
Further, described ring-shaped guide rail and the both sides junction of workpiece transmission mechanism are provided with switching mechanism, this switching mechanism
It is suitable to control ring-shaped guide rail along the transmission direction of measured workpiece, flip an angle forward or backward, to shoot before measured workpiece,
The image of rear side；And described switching mechanism is by control module control.
Further, it is distributed three described vision inspection apparatus, wherein First look along the transmission direction of workpiece transmission mechanism
Detection means is arranged at the front end of workpiece transmission mechanism, has been sequentially distributed thereafter second, third vision inspection apparatus；Described workpiece
The both sides of transmission mechanism are provided with the horizontal mobile mechanism for driving second, third vision inspection apparatus work to move horizontally；Work as institute
State control module and go out when flaw in any surface of the measured workpiece of First look detection means by image detection, to this
Measured workpiece is demarcated, and control second, third vision inspection apparatus to follow this measured workpiece to move, make second simultaneously, the
In three vision inspection apparatus, each photographic head converges, to gather the image of this flaw simultaneously.
The invention has the beneficial effects as follows, the method for work of the flexible production line of the present invention is improve by vision inspection apparatus
Workpiece sensing efficiency, and the multi-angle image image of measured workpiece can be obtained, detection more comprehensively, flexibly, and is identifying
After flaw workpiece, automatically this flaw workpiece is picked up, improve production efficiency；And, after identifying that measured workpiece has flaw,
The image of this flaw can be gathered by two photographic head simultaneously, flaw is identified, improve flaw identification accuracy,
Avoid erroneous judgement.
Brief description
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the control principle block diagram of the flexible production line of the present invention；
Fig. 2 is the structural representation of the flexible production line of the present invention；
Fig. 3 is the structural representation of the vision inspection apparatus of the present invention；
Fig. 4 is the partial schematic diagram of the vision inspection apparatus of the present invention；
Fig. 5 is three vision inspection apparatus distribution schematic diagrams of the present invention.
In figure:
Vision inspection apparatus 1, photographic head 101, ring-shaped guide rail 102, photographic head rack 103, webcam driver motor 104, master
Driving wheel 105, main drive wheel embed position 106, driven pulley 107, driven pulley embedded position 108, conductive electrode 109；
Upset motor 11, female bracket 12；
Workpiece transmission mechanism 2, transmission wheel 201；
Mechanical pick-up arm 3；
Horizontal mobile mechanism 4, line slideway 401, slide block 402；
Measured workpiece 5.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only with
Illustration illustrates the basic structure of the present invention, and therefore it only shows the composition relevant with the present invention.
Embodiment 1
As depicted in figs. 1 and 2, a kind of flexible production line of the present invention, comprising: control module, be connected with this control module from
Dynamic discharge feed mechanism, vision inspection apparatus, mechanical pick-up arm and the workpiece transmission mechanism for transmitting measured workpiece；Described from
Dynamic discharge feed mechanism conveys measured workpiece to workpiece transmission mechanism；Described vision inspection apparatus are set up in workpiece transmission mechanism
On, and measured workpiece is detected；After identifying that measured workpiece has flaw, described control module control machinery pick-up arm
This measured workpiece is picked up.
Wherein, automatic discharge feed mechanism includes: circular vibration disk, straight-line oscillation body, when measured workpiece is shaken by circle
After Moving plate enters the arrangement of straight-line oscillation body, by a clamping device, measured workpiece is clamped to work from the outfan of straight-line oscillation body
Part transmission mechanism, is connected with workpiece transmission mechanism with realizing automatic discharge feed mechanism；The outfan of described straight-line oscillation body is also
It is provided with detection sensor, that is, when measured workpiece arrival is detected, described control module controls clamping device to move measured workpiece
Move to workpiece transmission mechanism.Described detection sensor, circular vibration disk and straight-line oscillation body, and clamping device is by control mould
Block controls, and described clamping device can adopt Pneumatic clamping jaw, and can do horizontal and vertical movement by respective cylinder.
Further, described vision inspection apparatus include: two photographic head, be sheathed on the ring-shaped guide rail of workpiece transmission mechanism；Its
In two photographic head be suitable to along ring-shaped guide rail around measured workpiece rotate, to adjust shooting attitude；Described workpiece transmission mechanism 2 includes:
The transmission wheel 201 being symmetrical set, and the both wings of left and right transmission wheel 201 support measured workpiece 5, to expose measured workpiece 5
Lower surface；Described flexible production line includes control module, and described two photographic head send the image of collection to control module,
And described workpiece transmission mechanism 2 is also by control module control.
Optionally, in detection, two photographic head are suitable to upper half, the lower half follow shot along ring-shaped guide rail 102 respectively,
To obtain the image on the upper and lower surface of measured workpiece 5, and send to control module；And when control module detect by
When flaw in any surface of survey workpiece 5, control module controls workpiece transmission mechanism 2 stopping measured workpiece 5 to transmit, two photographic head
Correspond to half cycle along ring-shaped guide rail 102 is mobile to this flaw, gather the image of this flaw by two photographic head, with to this simultaneously
The flaw of image is accurately identified.The moving direction of described photographic head is as shown by the arrows in Figure 2.
This vision inspection apparatus 1 can detect to the upper and lower surface of measured workpiece 5 simultaneously, improves detection efficiency.
As shown in Figure 3 and Figure 4, described ring-shaped guide rail 102 and the both sides junction of workpiece transmission mechanism 2 are provided with tipper
Structure, this switching mechanism is suitable to control ring-shaped guide rail 102 to flip an angle forward or backward along the transmission direction of measured workpiece 5,
To shoot the image of the forward and backward side of measured workpiece 5；And described switching mechanism is by control module control.
Wherein, such as but not limited to 30 ° of the angle with workpiece transmission mechanism 2 after ring-shaped guide rail 102 upset.
Described switching mechanism such as but not limited to adopts upset motor 11 or tumble cylinder.
Taking upset motor 11 as a example, described switching mechanism includes the present embodiment: upset motor 11, this upset motor 11 turn
Axle head is provided with female bracket 12, and two front ends of this female bracket 12 are oppositely arranged with ring-shaped guide rail 102 concave channel opening；And institute
State upset motor 11 by control module control.
Move in arc-shaped guide rail to realize photographic head, and as a kind of its optional embodiment, described annular is led
It is provided with shooting head moving device in rail 102；Described shooting head moving device includes: photographic head rack 103, this photographic head is placed
The rear end of frame 103 is provided with webcam driver motor 104, and described ring-shaped guide rail 102 opens up fluted, described photographic head rack
103 move in this groove, and described webcam driver motor 104 is suitable to drive two main drive wheels 105 to roll in groove；Described
The two bottom sides of groove be provided with main drive wheel embed position 106, and described photographic head rack 103 be respectively provided on two sides with driven
Wheel group, and the middle part of the medial wall of groove is provided with the embedded position 108 of driven pulley；Described main drive wheel embed position 106 in be provided with just,
Negative conductive electrode, and transmitted electric energy to webcam driver motor 104 by the conducting ring on main drive wheel, further, also real
Existing webcam driver motor 104, photographic head and corresponding control circuit are powered, and described webcam driver motor 104 is by control module.
It is the groove that symmetrically opens up of two medial walls along groove that main drive wheel embed position 106 and driven pulley to embed position 108 actual.
Wherein, the image of photographic head collection such as but not limited to wirelessly sends to control module, and
Control module is to the control signal of webcam driver motor 104 such as but not limited to using being sent wirelessly to webcam driver
Motor 104.Wherein, wireless mode all can be realized using known technology.
Specifically, described photographic head is connected with wireless control module, described wireless control module include processor (for example but
It is not limited to using stm32f407zet6, i.mx6q cortex-a9), the wireless communication module (example being connected with this processor module
Such as, but not limited to, using cc2530 module, the serial ports wifi wireless module that is made up of esp8266) and motor drive module, with reality
Existing picture signal transmission and the control signal receiving the webcam driver motor 104 that control module sends.
As shown in figure 5, along workpiece transmission mechanism 2 transmission direction be distributed three described vision inspection apparatus 1, wherein first
Vision inspection apparatus 1 are arranged at the front end of workpiece transmission mechanism 2, have been sequentially distributed thereafter second, third vision inspection apparatus 1；
The both sides of described workpiece transmission mechanism 2 be provided with for drive second, third vision inspection apparatus 1 make move horizontally move horizontally
Mechanism 4；Wherein said horizontal mobile mechanism 4 is by control module control.
Described horizontal mobile mechanism 4 such as but not limited to adopts line slideway 401, and this line slideway 401 is provided with two
Slide block 402, and this two slide block 402 by control module by cylinder control move horizontally, described slide block 402 be adapted to overturn
Mechanism.
Specifically, when described control module goes out the measured workpiece 5 through First look detection means 1 by image detection
When flaw in any surface, this measured workpiece 5 is demarcated, and it is tested to control second, third vision inspection apparatus 1 to follow this
Workpiece 5 is mobile, so that each photographic head in second, third vision inspection apparatus 1 is converged, to gather the image shadow of this flaw simultaneously simultaneously
Picture.
Measured workpiece 5 is carried out demarcate and such as but not limited to adopt identification code (bar code or Quick Response Code), that is, tested
After workpiece 5 upper surface prints identification code, read by photographic head by image recognition technology, by First look detection means 1
Being easy to first demarcate this measured workpiece 5 is doubtful defective work, by second, third vision inspection apparatus 1, this measured workpiece 5 is entered
One step detection, is judged with accurate, it is to avoid erroneous judgement.
Further, gather the image of this flaw after four photographic head converge simultaneously, can be to this flaw position
Image carry out precise acquisition, judgment accuracy is high.
Described control module is not limited using embedded processing module (such as but not limited to adopted for example but
Stm32f407zet6, i.mx6q cortex-a9) control circuit that constitutes, and also include wireless module (such as but not limited to
Using cc2530 module, the serial ports wifi wireless module that is made up of esp8266), to realize carrying out wirelessly with wireless control module
Communication.
Described mechanical pick-up arm 3 includes: has the multijoint control mechanism of x-axis, y-axis and z-axis, negative pressure mouth, described multiaxis control
Mechanism processed is suitable to drive negative pressure mouth upper and lower, left and right to move, to draw measured workpiece.Wherein multijoint control mechanism, negative pressure mouth is equal
Described control module is had to control.
Embodiment 2
As shown in Figures 1 to 5, on the basis of embodiment 1, the present embodiment 2 additionally provides a kind of method of work of flexible production line.
Wherein said flexible production line includes: control module, the automatic discharge feed mechanism that is connected with this control module, regards
Feel detection means, mechanical pick-up arm and the workpiece transmission mechanism for transmitting measured workpiece；Described method of work includes: described from
Dynamic discharge feed mechanism conveys measured workpiece to workpiece transmission mechanism；Described vision inspection apparatus are set up in workpiece transmission mechanism
On, and measured workpiece is detected；After identifying that measured workpiece has flaw, described control module control machinery pick-up arm
This measured workpiece is picked up.
Described vision inspection apparatus include: two photographic head, be sheathed on the ring-shaped guide rail of workpiece transmission mechanism；Wherein two shootings
Head is suitable to rotate along ring-shaped guide rail around measured workpiece, to adjust shooting attitude；The method that two photographic head adjustment shoot attitude includes:
During detection, two photographic head are suitable to upper half, the lower half follow shot along ring-shaped guide rail 102 respectively, to obtain measured workpiece 5
The image on upper and lower surface, and send to control module；And when any surface that control module detects measured workpiece 5 goes out
During existing flaw, two photographic head correspond to half cycle along ring-shaped guide rail 102 is mobile to this flaw, gather this flaw by two photographic head simultaneously
Image.
Described ring-shaped guide rail 102 is provided with switching mechanism with the both sides junction of workpiece transmission mechanism 2, and this switching mechanism is suitable to
Control ring-shaped guide rail 102 along the transmission direction of measured workpiece 5, flip an angle forward or backward, to shoot measured workpiece 5
The image of forward and backward side；And described switching mechanism is by control module control.
Transmission direction along workpiece transmission mechanism 2 is distributed three described vision inspection apparatus 1, wherein First look detection dress
Put 1 front end being arranged at workpiece transmission mechanism 2, be sequentially distributed thereafter second, third vision inspection apparatus 1；Described workpiece passes
The both sides of transfer mechanism 2 are provided with the horizontal mobile mechanism 4 for driving second, third vision inspection apparatus 1 work to move horizontally；Work as institute
State control module and go out when flaw in any surface of the measured workpiece 5 of First look detection means 1 by image detection, right
This measured workpiece 5 is demarcated, and it is mobile to control second, third vision inspection apparatus 1 to follow this measured workpiece 5, makes the simultaneously
2nd, in the 3rd vision inspection apparatus 1, each photographic head converges, to gather the image of this flaw simultaneously.
By four photographic head in second, third vision inspection apparatus 1, the flaw position in measured workpiece 5 face is known
Not, improve the accuracy of identification.
Described control module identifies flaw by image contributions, is suitable to by associated picture identifying processing in prior art
Method, to realize, repeats no more here.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete
Entirely various change and modification can be carried out in the range of without departing from this invention technological thought.The technology of this invention
The content that property scope is not limited in description it is necessary to determine its technical scope according to right.
Claims (4)
1. a kind of method of work of flexible production line it is characterised in that
Described flexible production line includes: control module, and the automatic discharge feed mechanism being connected with this control module, vision-based detection are filled
Put, mechanical pick-up arm and for transmitting the workpiece transmission mechanism of measured workpiece；
Described method of work includes:
Described automatic discharge feed mechanism conveys measured workpiece to workpiece transmission mechanism；
Described vision inspection apparatus are set up on workpiece transmission mechanism, and measured workpiece is detected；
After identifying that measured workpiece has flaw, this measured workpiece is picked up by described control module control machinery pick-up arm.
2. flexible production line according to claim 1 method of work it is characterised in that
Described vision inspection apparatus include: two photographic head, be sheathed on the ring-shaped guide rail of workpiece transmission mechanism；Wherein
Two photographic head are suitable to rotate along ring-shaped guide rail around measured workpiece, to adjust shooting attitude；
The method that two photographic head adjustment shoot attitude includes:
During detection, two photographic head are suitable to upper half, the lower half follow shot along ring-shaped guide rail respectively, to obtain measured workpiece
The image on upper and lower surface, and send to control module；And
When flaw in any surface that control module detects measured workpiece, two photographic head are along ring-shaped guide rail movement to this flaw
Corresponding half cycle, gathers the image of this flaw by two photographic head simultaneously.
3. flexible production line according to claim 2 method of work it is characterised in that
Described ring-shaped guide rail is provided with switching mechanism with the both sides junction of workpiece transmission mechanism, and this switching mechanism is suitable to control annular
Guide rail, along the transmission direction of measured workpiece, flips an angle forward or backward, to shoot the image shadow of the forward and backward side of measured workpiece
Picture；And
Described switching mechanism is by control module control.
4. flexible production line according to claim 3 method of work it is characterised in that
Transmission direction along workpiece transmission mechanism is distributed three described vision inspection apparatus, wherein
First look detection means is arranged at the front end of workpiece transmission mechanism, has been sequentially distributed thereafter second, third vision-based detection
Device；
The both sides of described workpiece transmission mechanism are provided with the level moving horizontally for driving second, third vision inspection apparatus to make and move
Motivation structure；
When described control module the flaw by any surface that image detection goes out through the measured workpiece of First look detection means
During defect, this measured workpiece is demarcated, and control second, third vision inspection apparatus to follow this measured workpiece and move, simultaneously
Each photographic head in second, third vision inspection apparatus is made to converge, to gather the image of this flaw simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610764256.9A CN106362961A (en) | 2016-08-30 | 2016-08-30 | Working method for flexible production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610764256.9A CN106362961A (en) | 2016-08-30 | 2016-08-30 | Working method for flexible production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106362961A true CN106362961A (en) | 2017-02-01 |
Family
ID=57902138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610764256.9A Pending CN106362961A (en) | 2016-08-30 | 2016-08-30 | Working method for flexible production line |
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| Country | Link |
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| CN (1) | CN106362961A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693140A (en) * | 2018-12-31 | 2019-04-30 | 常州轻工职业技术学院 | A kind of intelligent flexible production line and its working method |
| CN109834802A (en) * | 2017-11-27 | 2019-06-04 | 美克国际家居用品股份有限公司 | A kind of furniture large-scale customization platform based on flexible production line based on solid wood |
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| CN205447174U (en) * | 2016-01-04 | 2016-08-10 | 中国科学院浙江数字内容研究院 | Portable shooting device |
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| JP4275875B2 (en) * | 2001-08-09 | 2009-06-10 | 日東精工株式会社 | Parts inspection device |
| CN2898816Y (en) * | 2005-07-26 | 2007-05-09 | 王宗凯 | Measuring system of optical parameter by spatial angle distribution |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109834802A (en) * | 2017-11-27 | 2019-06-04 | 美克国际家居用品股份有限公司 | A kind of furniture large-scale customization platform based on flexible production line based on solid wood |
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