CN109225915A - A kind of rivet quality classification and Automated Sorting System and method - Google Patents
A kind of rivet quality classification and Automated Sorting System and method Download PDFInfo
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- CN109225915A CN109225915A CN201811302913.3A CN201811302913A CN109225915A CN 109225915 A CN109225915 A CN 109225915A CN 201811302913 A CN201811302913 A CN 201811302913A CN 109225915 A CN109225915 A CN 109225915A
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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
-
- 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
- B07C5/04—Sorting according to size
- B07C5/06—Sorting according to size measured mechanically
-
- 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
-
- 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
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0009—Sorting of fasteners, e.g. screws, nuts, bolts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
Abstract
本发明公开了一种铆钉质量评级和自动分拣系统，包括物料输送装置、检测装置、筛选装置和自动控制单元；物料输送装置为检测装置输送铆钉、将检测结束后的铆钉输出至筛选装置；检测装置包括夹持机构和信息采集机构，铆钉被夹起后，拉杆电子尺测量铆钉杆直径，相机采集铆钉图像，工控机根据铆钉杆直径并结合图像处理技术划分铆钉质量等级，将质量等级划分结果进行记录并传输给筛选装置；筛选装置包括分拣槽和分拣桶，根据铆钉质量等级划分结果转动分拣槽，将该铆钉输送到相应等级的分拣桶内。本发明采用拉杆电子尺和图像处理技术相结合的方法可以有效提高检测精度，能够选用不同评价标准，完成多种类型铆钉的质量评级和自动分拣，工作效率较高。
The invention discloses a rivet quality rating and automatic sorting system, comprising a material conveying device, a detection device, a screening device and an automatic control unit; the material conveying device conveys the rivets for the detection device, and outputs the rivets after the detection to the screening device; The detection device includes a clamping mechanism and an information collection mechanism. After the rivet is clamped, the rivet rod diameter is measured by the pull rod electronic ruler, and the rivet image is collected by the camera. The industrial computer divides the rivet quality grade according to the rivet rod diameter and combined with image processing technology, and divides the quality grade into The results are recorded and transmitted to the screening device; the screening device includes a sorting trough and a sorting bucket, and the sorting trough is rotated according to the rivet quality grade classification result, and the rivet is transported into the sorting bucket of the corresponding grade. The invention adopts the method of combining the pull rod electronic ruler and the image processing technology, which can effectively improve the detection accuracy, can select different evaluation standards, complete the quality rating and automatic sorting of various types of rivets, and has high work efficiency.
Description
Technical field
The present invention relates to part test technique automatic fields, and in particular to a kind of rivet quality classification and automatic sorting system
System and method.
Background technique
Rivet is a kind of standard fasteners for the cold connection of part.It is widely used in the equipment such as aviation, railway, ship
In.If the rivet in equipment will lead to connected part and unclamp, to generate serious thing because quality problems occur to loosen or are broken
Therefore therefore rivet quality direct relation equipment performance and safety.Rivet quality is embodied in two aspects of size and surface defect, figure
It is a kind of common sunk head rivet shown in 1.Rivet sizes mainly include countersunk head face cone angle, top surface outside diameter, head thickness, rivet
Length, rivet stem diameters etc..Wherein, since rivet bar is with by even feature contacts, rivet stem diameters influence maximum to switching performance,
If diameter is excessive, rivet is easy to be deformed by the rivet hole extruding on part, crack, or rivet hole is destroyed；If diameter
Too small, then rivet cannot be fastenedly connected two parts.General rivet production technology is, by ram impacts, to make metal wire rod
Plastic deformation occurs in mold to generate rivet shape, ram impacts face is located at rivet top surface, therefore, rivet surface defect
It is all located in rivet top surface, as shown in Figure 2 greatly.In rivet stress, the defects of face crack or folding of material, which be easy to cause, is answered
Power concentration effect, causes rivet value to reduce, and there are rivet risks of breakage.
Rivet quality grade generally can be divided into excellent product, qualified product, waste product, and traditional rivet quality sorting work is by artificial
Mode is completed.Since rivet sizes are smaller, measurement is inconvenient, and the number of rivets in a batch is huge, therefore, generally adopts
The mode manually inspected by random samples determines the quality grade an of batch.In the scene for being strict with quality, need manually to divide one by one
Rivet quality, heavy workload are picked, low efficiency is easy to happen mistake.Traditional manual mode of operation, which is difficult to meet rivet, to advise greatly
Requirement in terms of mould production and quality assurance, there is an urgent need to develop highly efficient, accurate automation rivet quality sorting systems.
It is existing in the related technology, generally using multiple industrial cameras shooting different angle rivet image then pass through
Image processing techniques extracts rivet sizes data and detects surface defect, finally, rivet is drawn according to processing result by executing agency
It is divided into different quality grade.For example, document [1] proposes a kind of pulling rivet detection system, as shown in figure 3, firstly, positioning mechanism
In electromagnetic suction head be accurately positioned rivet, by camera acquire rivet image；Then, rivet sizes are detected by image procossing；Most
Afterwards, rivet is divided into acceptance or rejection product according to processing result image by sorting mechanism.Conveying device in document [1] is only
The rivet of fixed diameter is adapted to, electromagnetic suction head can not adsorb aluminum rivet.Influence rivet image procossing precision factor include,
Rivet surface reflection, the variation of rivet to camera distance, the distortion of rivet in the picture.For these problems, document [2] is proposed
A kind of rivet sizes measurement method based on distortion compensation, improves measurement accuracy to a certain degree.Document [3] uses multiple phases
Machine shoots rivet, improves processing accuracy by the image of the multiple camera shootings of synthesis, as shown in Figure 4.
Wherein above-mentioned incorporated by reference documentation & info are as follows: [1] wear the research and reality of beautiful brightness pulling rivet on-line checking Mechatronic Systems
Existing [D] Xinan Science and Technology Univ., 2016.05. [2] Hu Jiangtao, Zhang Juntao, Tang Wei are surveyed based on the airplane riveting size of distortion compensation
Measure technique study [J] Shaanxi Tech Univ journal, 2016,34 (4): 177-181. [3] Jiang Chaogen；Fu Yonggao；Yang Jie；Qi Hui；
Wang Bo；A kind of full-automatic accurate rivet in the peak Guo Feng detects screening plant [P] Chinese patent: CN107941811A, 2018-04-
20。
In conclusion the shortcoming of existing the relevant technologies is as follows:
1) prior art fully relies on image processing techniques and extracts rivet sizes data, and picture steadiness problem is easy to influence
Dimensional accuracy.The size of rivet in the picture is influenced by rivet and camera distance distance, the edge contour of rivet in image
It may be distorted, rivet surface reflection causes profile to deform；
2) prior art needs more set cameras to acquire image, system complexity and higher cost.Extract rivet sizes and table
Planar defect at least needs rivet side image, top image, and therefore, it is necessary to which camera is arranged in multiple directions, light source carrys out shooting figure
Picture, this results in control system complex, and software algorithm needs the image of comprehensive different directions.In addition, industrial camera cost
Higher, the cameras that cover make system cost high more；
3) function of the prior art is relatively fixed, is unfavorable for carrying out function adjustment according to actual needs.For different size
Rivet, need replacing corresponding conveying device.Rivet can only sort to the quality grade for several fixations, such as qualified or not
Qualification can not adjust quality grade quantity according to demand, such as quality is divided into three grades, not have the sorting of multi-standard quality
Function.
Summary of the invention
The technical problems to be solved by the present invention are: the type of rivet detection is very single, detection efficiency is not high, and precision has
Limit, does not have grading screening process from high to low, the present invention provides what is solved the above problems during grade classification
A kind of rivet quality classification and Automated Sorting System.
The present invention is achieved through the following technical solutions:
A kind of rivet quality classification and Automated Sorting System, including device for transporting objects, detection device, screening plant and from
Dynamic control unit；
Rivet of the device for transporting objects for detection device conveying rivet and after will test is exported to screening
Device；
The detection device includes clamping device and information collection mechanism, and clamping device includes the gentle turn of pneumatic-finger
Platform is respectively equipped with the first grasping plate and the second grasping plate, the pneumatic-finger control on two fingers of the pneumatic-finger free end
First grasping plate and the second grasping plate are opened or adduction is used for rivet；Pneumatic-finger is connect with pneumatic turntable, the pneumatic turntable
Pneumatic-finger and the first grasping plate and the second grasping plate is driven to rotate in a circumferential direction movement；
The information collection mechanism includes pull rod electronic ruler and camera；The pull rod electronic ruler is set in the first grasping plate, is used
It is set in the second grasping plate in the locater plate being adapted to pull rod electronic ruler；The camera is clamped set on the first grasping plate and the second grasping plate
The side of rivet, for obtaining the image information of the rivet clamped between the first grasping plate and the second grasping plate；
The screening plant includes sorting slot and several sorting buckets, and the input terminal of the sorting slot is placed in device for transporting objects
Output end, by driving mechanism drive sorting slot rotation, make the output end of sorting slot towards different sorting buckets；
The automatic control unit includes PLC controller, industrial personal computer and database；The industrial personal computer is adopted for receiving information
The information of collecting mechanism acquisition and according to rivet type pre-stored in database and corresponding sieving and grading standard, to working as
Preceding detection rivet carries out quality grading, output test result；The PLC controller is dynamic for controlling device for transporting objects conveying
Make, for controlling gripper mechanism grips movement, information collection mechanism acquisition movement and according to the testing result of industrial personal computer output
Sorting slot rotation is controlled to import the rivet of different stage in corresponding sorting bucket.
Working principle of the present invention is that, from device for transporting objects to detection device conveying rivet, PLC control controls pneumatic-finger
It can open and close up, pneumatic-finger drives the rivet in the first grasping plate and the second grasping plate crawl device for transporting objects.It is grabbed with first
The relatively-stationary pull rod electronic ruler of plate can obtain the rivet stem diameters size for being grabbed rivet；Pneumatic turntable is able to drive rivet and turns
It is dynamic, so that camera be enable to acquire rivet side and top image.Rivet sizes are obtained by image processing techniques by industrial personal computer
Data and surface defect, and the rivet bar high-precision diameter dimension for combining pull rod electronic ruler to obtain, can determine rivet quality product
Grade；Last sorting slot is sent into the corrresponding quality grade region in sorting bucket according to quality grade left-right rotation, by rivet.
Further, the device for transporting objects includes vibrating disk and conveyer belt, the output end of the vibrating disk and transmission
The input terminal of band connects, and conveyer belt is located at below pneumatic-finger, and conveyer belt is used for conveying rivet.
The application can directly adopt existing vibrating disk as rivet feeder apparatus, and conveyer belt is as rivet transporting equipment；
Vibrating disk is a kind of common auxiliary feeder apparatus, and part rises along helical orbit in vibrating disk, passes through in uphill process
A series of track screenings and attitudes vibration, finally, part is in that unified state is exported from outlet automatically.Conveyer belt is also a kind of common
Transporting equipment, part move together with belt；It is conducive to realize automation feed operation by vibrating disk and conveyer belt cooperation, improves
Detection efficiency.
Further, it is equipped with optoelectronic switch close to pneumatic-finger side on the conveyer belt, the optoelectronic switch is for examining
The position of the rivet on conveyer belt is surveyed, and will test information and be sent to PLC controller, PLC controller is controlled according to detection information
Clamping device completes holding action.
Further, first grasping plate and pull rod electronic ruler are fixed on wherein the one of pneumatic-finger by the first connection strap
A finger end, second grasping plate and locater plate are fixed on another finger end of pneumatic-finger by the second connection strap.
Pneumatic-finger is a kind of conventional pneumatic element, can open or close up；Pull rod electronic ruler is a kind of displacement sensing
Device can measure the distance that pull rod elongates or shortens；Pull rod elongation when pneumatic-finger opens, on pull rod electronic ruler；Work as gas
It starts to refer to that rivet is clipped in the middle by the first grasping plate and the second grasping plate when closing up, the pull rod on pull rod electronic ruler shortens, pull rod electronics
Ruler obtains rivet stem diameters size.
The prior art generally passes through image processing techniques and measures rivet sizes indirectly, in suitable camera focus and visual field item
Under part, the highest resolution of camera is about 5um, and the distance of rivet to distance between camera can change dimension measurement result, and
Dimension measurement result is influenced by rivet surface reflection and pattern distortion.Very little, the pull rod compared to by image procossing rule for indirect measuring
The resolution ratio of electronic ruler is about 1um, and pull rod electronic ruler can overcome rivet to phase by way of directly measuring rivet stem diameters
The influences of the factors to measurement result such as the change of machine distance, surface reflection and pattern distortion.
Further, the information collection mechanism further includes rectangular light source and annular light source, the rectangular light source, ring light
Source and camera, which successively sort, to be located in a straight line；When acquiring rivet image, rivet is located on this straight line.
Pass through the Image Acquisition in camera, rectangular light source, annular light source and corresponding bracket configuration information collecting mechanism
Module, camera pass through image procossing and analysis detection rivet sizes and defect for acquiring rivet image；Annular light source and camera
In rivet the same side, effect is for camera light filling, the external illumination effect of reduction, guarantee rivet image clearly, stabilization；Square light
Source and camera are respectively at rivet two sides, and rivet is located among rectangular light source and camera；After rectangular light source irradiation, image background is
Brighter white, rivet are darker black, and striking contrast degree favorably accurately detects rivet sizes between rivet and background.
Further, the information collection mechanism further includes locating support, and the locating support is equipped with sliding rail, the phase
Machine, rectangular light source and annular light source pass through fixing clamp and connect with sliding rail, and fixing clamp is adapted to by sliding block with sliding rail sliding.
Camera, rectangular light source and annular light source are slidably installed on the slide rail by fixing clamp, are conducive at any time according to practical
Detect position, the angle of brisk adjustment camera and light source.
Further, the clamping device further includes Pneumatic slid platform；The pneumatic turntable is connect with Pneumatic slid platform, the gas
Dynamic slide unit is mounted in fixed plate, and Pneumatic slid platform drives pneumatic turntable, pneumatic-finger, the first grasping plate and the second grasping plate integrally to tie
Structure moves up and down.
The gentle turn platform connection of Pneumatic slid platform of the invention, moves up and down, being convenient for will in pneumatic-finger for realizing rivet
After rivet clamping, it will be moved away from the table top for placing rivet on rivet and carry out subsequent rotary movement, moving distance is by Pneumatic slid platform
On distance caging device setting；Pneumatic slid platform can be mounted in fixed plate by connecting plate.
Further, the driving mechanism uses servo motor；Screening plant further includes supporting leg, and servo motor is set to supporting leg
On, the output end of servo motor connect with sorting slot axial direction one end bottom plate by thrust bearing, drives sorting slot rotational motion；Institute
It states radial width of the sorting slot on Flow of Goods and Materials direction to be gradually reduced, and middle part is equipped with gib block in sorting slot.
Screening technique based on above-mentioned rivet quality classification and Automated Sorting System, comprising the following steps:
Step 1, rivet to be sorted is placed upside down by device for transporting objects, and by certain rivet arrangement spacing and
Transmission speed is delivered to detection device；
Step 2, PLC controller control pneumatic-finger closure, the first grasping plate and the second grasping plate firmly grasp rivet；Pass through setting
Rivet stem diameters are obtained with the locater plate cooperation being located in the second grasping plate in the pull rod electronic ruler in the first grasping plate and are sent to work
Control machine；
Step 3, it is taken pictures by camera and obtains rivet side image, industrial personal computer carries out at image according to rivet side image
Reason obtains rivet length, countersunk head face cone angle；
Step 4, PLC controller, which controls pneumatic turntable and is rotated by 90 ° counterclockwise, makes rivet top surface straight-on camera, and camera shoots riveting
Top image is followed closely, industrial personal computer obtains rivet top surface diameter dimension by image procossing and detects rivet top surface defect；Pneumatic turntable
90 ° are rotated clockwise, pneumatic-finger unclamps, and rivet returns on device for transporting objects；
Step 5, industrial personal computer divides the credit rating of rivet according to the dimension data and case of surface defects of rivet,
And grade classification result is recorded and is transmitted to PLC controller；
Step 6, rivet is sent to corresponding mass according to the control sorting slot rotation of grade classification result by PLC controller
The sorting bucket of grade is recycled.
It further, is from high to low respectively excellent product, qualified product, waste product by the quality grade of rivet in the step 6
Three grades.
The present invention has the advantage that and the utility model has the advantages that
1, in the present invention, the measurement accuracy and high stability of rivet stem diameters size.Rivet stem diameters are to rivet
Maximum size can be influenced, the present invention measures rivet stem diameters using pull rod electronic ruler, and measurement accuracy is high, and stability is good, avoids
In image procossing, the problem of factors such as dimensional accuracy camera subject object distance, pattern distortion, surface reflection influence；
2, in the present invention, system hardware cost and structure complexity are low.On the one hand, the prior art is shot by multiple cameras
The multi-angle image of rivet, camera higher cost, and software is needed to integrate the processing result of multiple images, the present invention passes through gas
Turn platform swivel rivets are only achieved that rivet side and top image acquire with a camera.On the other hand, it is driven by motor
Dynamic conventional slip or rotary work-table be at high cost, volume is big, structure is complicated, pneumatic-finger that the present invention uses, slide unit and turns
Platform is at low cost, compact-sized, can satisfy functional requirement；
3, the quality sorting of different type rivet may be implemented in the present invention.Grasping plate in the present invention can grab different sizes
The rivet of (diameter, length), specification (tack, countersunk head, conehead), material (steel, aluminum).The axis of different-diameter rivet is to phase
The distance of machine camera lens remains unchanged, so the rivet side image for extracting size has stability.By with analysis software
In standard rivet sizes comparison, the present invention may be implemented different type rivet quality sorting；
4, the present invention has stronger customized property.Firstly, system can not only shoot and detect rivet side and top plane view
Picture, and can according to need, by pneumatic turntable rotary taking rivet bottom surface, to detect other defect.Secondly, by changing
Become software algorithm, stringent or loose quality standard can be selected, rivet is divided into excellent, qualified, waste product three grades.Again
It is secondary, change software algorithm for rivet and be further subdivided into four or more grade, and increases corresponding grade region in sorting bucket,
The rivet quality automatic sorting more refined may be implemented.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the rivet of the prior art；
In figure, a indicates that countersunk head face cone face angle, k indicate that manufactured head thickness, l indicate that the length of rivet, d1 indicate that rivet bar is straight
Diameter, d2 indicate rivet top surface outside diameter；
Fig. 2 is the structural schematic diagram of the rivet top surface defect of the prior art；
In figure, I indicates crackle, and II indicates to fold, and III indicates chip off-falling；
Fig. 3 is the structural schematic diagram of the rivet detection device in document [1]；
In figure, a1 indicates that vibrating disk, a2 indicate conveying device, and a3 indicates that computer, a4 indicate that sorting mechanism, a5 indicate fixed
Position mechanism, a6 indicate testing calibration device；
Fig. 4 is the structural schematic diagram of the rivet detection device in document [3]；
In figure, b1 indicates that No. 1 camera, b2 indicate that No. 2 cameras, b3 indicate that No. 3 cameras, b4 indicate No. 4 cameras；
Fig. 5 is entirety perspective view of the invention；
Fig. 6 (a) and Fig. 6 (b) is the partial structural diagram of A in Fig. 5；
Fig. 7 is clamping device explosive view of the invention；
Fig. 8 is the gentle turn platform connection relationship explosive view of pneumatic-finger of the invention；
Fig. 9 is device for transporting objects schematic perspective view of the invention；
Figure 10 is information collection mechanism schematic perspective view of the invention；
Figure 11 is sorting slot schematic perspective view of the invention；
Figure 12 is screening plant working condition schematic perspective view of the invention；
Figure 13 is control principle drawing of the invention；
Figure 14 is rivet quality classification and automatic sorting method flow chart of the invention.
Label and corresponding parts title in attached drawing: 1- device for transporting objects, 11- vibrating disk, 12- conveyer belt, 13- light
Electric switch, 14- mounting bracket, 2- detection device, 21- clamping device, 210- pneumatic-finger, the pneumatic turntable of 211-, 212- first
Grasping plate, the second grasping plate of 213-, the first connection strap of 214-, the second connection strap of 215-, 216- Pneumatic slid platform, 217- fixed plate, 218-
First connecting plate, the second connecting plate of 219-, 2110- sleeve, 22- information collection mechanism, 220- pull rod electronic ruler, 221- camera,
222- locater plate, the rectangular light source of 223-, 224- annular light source, 225- locating support, 226- sliding rail, 227- fixing clamp, the bottom 228-
Seat, 229-L type bracket, 3- screening plant, 31- sorting slot, 32- sort bucket, 33- supporting leg, 34- servo motor, 35- thrust axis
It holds, 36- gib block, 37- electric machine support, 38- screw, 39- end cap, 4- air compressor, 5- rivet, 6- control cabinet.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.As shown in figures 5-13:
Embodiment 1
Present embodiments provide a kind of rivet quality classification and Automated Sorting System, including device for transporting objects 1, detection dress
Set 2, screening plant 3 and automatic control unit；The device for transporting objects 1 is used for detection device conveying rivet 5 and will test
After the output of rivet 5 to screening plant 3；The detection device 2 includes clamping device 21 and information collection mechanism 22, clamping
Mechanism 21 includes the gentle turn platform 211 of pneumatic-finger 210, is respectively equipped on two fingers of 210 free end of pneumatic-finger
First grasping plate 212 and the second grasping plate 213, the pneumatic-finger 210 controls the first grasping plate 212 and the second grasping plate 213 is opened or simultaneously
Disturbance acts on rivet 5；
Pneumatic-finger 210 is connect with pneumatic turntable 211, and specifically, pneumatic-finger 210 passes through parallel with pneumatic turntable 211
The first connecting plate 218 being arranged and the connection of the second connecting plate 219, and set between the first connecting plate 218 and the second connecting plate 219
Sleeve 2110 is set, the attachment screw that can effectively avoid between the first connecting plate 218 and the second connecting plate 219 collides, and guarantees
The depth of parallelism between the gentle turn platform 211 of pneumatic-finger 210；Pneumatic turntable 211 drives pneumatic-finger 210 and the first grasping plate 212
It rotates in a circumferential direction movement with the second grasping plate 213；
Information collection mechanism 22 includes pull rod electronic ruler 220 and camera 221；The pull rod electronic ruler 220 is set to first and grabs
On plate 212, the locater plate 222 for being adapted to pull rod electronic ruler 220 is set to the second grasping plate 213；The camera 221 is set to the
The side of one grasping plate 212 and the rivet 5 of the second grasping plate 213 clamping, for obtaining between the first grasping plate 212 and the second grasping plate 213
The image information of the rivet 5 of clamping；The screening plant 3 includes sorting slot 31 and several sorting buckets 32, the sorting slot 31
Input terminal is placed in the output end of device for transporting objects 1, drives sorting slot 31 to rotate by driving mechanism, makes the output of sorting slot 31
It holds towards different sorting buckets 32；
The automatic control unit includes PLC controller, industrial personal computer and database；The industrial personal computer is adopted for receiving information
Collecting mechanism 22 acquire information and according to 5 type of rivet pre-stored in database and corresponding sieving and grading standard, it is right
Current detection rivet 5 carries out quality grading, output test result；The PLC controller is for controlling the conveying of device for transporting objects 1
Movement, the detection for controlling 1 holding action of clamping device, 2 acquisition of information collection mechanism movement and exported according to industrial personal computer
As a result the rotation of control sorting slot 31 imports the rivet 5 of different stage in corresponding sorting bucket 32.
It is mentioned from 5 side image of rivet by image processing techniques by the quality grade that industrial personal computer evaluates division rivet 5
5 dimension data of rivet, including 5 length of rivet, head thickness, countersunk head face cone angle are taken, and 5 shank diameter size of rivet then uses pull rod
The measurement result of electronic ruler 220.From 5 top image of rivet, top surface circularity is calculated by image processing techniques, detection surface lacks
It falls into, such as crackle, folding, chip off-falling.It is provided with 5 template database of rivet in industrial personal computer, has recorded the standard of different size rivet 5
Size.The detecting size of rivet 5 and standard size are compared, and mating surface defects detection is as a result, 5 mass grade of rivet is drawn
It is divided into excellent product, qualified product or waste product.Specific quality rank test is more detailed, approximately as.
1) excellent product: 5 shank diameter of rivet is in 0.3 times of margin of tolerance, and tolerance value is determined with reference to national standard (GB), rivet
5 other sizes and standard size deviation are less than 2%, without obvious surface defect；
2) qualified product: 5 shank diameter of rivet is in 0.3~1 times of margin of tolerance, and other sizes and standard size deviation are 2%
Between~5%, there are a small amount of light defects；
3) waste product: 5 shank diameter of rivet exceeds the margin of tolerance, and other sizes and standard size deviation are more than 5%, exists obvious
Defect.
Finally, 5 size of rivet, surface defect and quality grade are stored in database.The rivet 5 of one batch sorts work
It, can be by statisticalling analyze 5 size of batch rivet, defect, the distribution situation of credit rating, to obtain this batch after the completion of work
The overall quality situation of secondary rivet 5, and the reason of leading to quality problems is found out, improve production technology.
Embodiment 2
It being further improved on the basis of embodiment 1, the device for transporting objects 1 includes vibrating disk 11 and conveyer belt 12,
The output end of the vibrating disk 11 is connect with the input terminal of conveyer belt 12, and conveyer belt 12 is located at 210 lower section of pneumatic-finger, conveyer belt
12 are used for conveying rivet 5.Optoelectronic switch 13, the optoelectronic switch are equipped with close to 210 side of pneumatic-finger on the conveyer belt 12
13 for detecting the position of the rivet 5 on conveyer belt 12, and will test information and be sent to PLC controller, and PLC controller is according to inspection
Measurement information controls clamping device 21 and completes holding action.
Embodiment 3
It is further improved on the basis of embodiment 2, first grasping plate 212 and pull rod electronic ruler 220 connect by first
Narrow bars 214 are fixed on one of finger end of pneumatic-finger 210, and specifically, pull rod electronic ruler 220 passes through pedestal 228 and L-type
Bracket 229 is fixed on the first connection strap 214；Second grasping plate 213 and locater plate 222 pass through the second connection strap 215 and are fixed on gas
Start refer to 1 another finger end；First connection strap 214 and the C-shaped structure of the second connection strap 215.The information collection machine
Structure 22 further includes rectangular light source 223 and annular light source 224, and the rectangular light source 223, annular light source 224 and camera 221 are successively arranged
Sequence is located in a straight line；Camera 221 is taken pictures when acquiring graphical information, and rivet 5 is located on this straight line.The information collection machine
Structure 22 further includes locating support 225, and the locating support 225 is equipped with sliding rail 226, the camera 221,223 and of rectangular light source
Annular light source 224 is connect by fixing clamp 227 with sliding rail 226, and fixing clamp 227 is adapted to by sliding block with the sliding of sliding rail 226.
When acquiring 5 side image of rivet, the movement of pneumatic-finger 210 has symmetry, is able to drive the first grasping plate 212
It is moved synchronously simultaneously with the second grasping plate 213, so that the axis for being grabbed rivet 5 is located at the centre of pneumatic-finger 210, so, rivet 5
Axis is fixed to the distance between 221 camera lens of camera, will not change with 5 diameter of rivet, to guarantee that 5 size of rivet exists
Stability in image.The moment that rectangular light source 223 is taken pictures in camera 221 is powered irradiation, rivet 5 due to blocking radiation source,
Darker black is formed in the picture, other background areas are strong between rivet 5 and background since light source irradiation is in brighter white
Strong light and shade contrast is conducive to extract 5 overall size of rivet from image.
5 surface defect of rivet mostly concentrates on top surface, and therefore, after the completion of side image shooting, rivet 5 is rotated counterclockwise
90 °, so that 5 top surface straight-on camera 221 of rivet.5 top surface of rivet is still located at 221 front of camera after rotation, guarantees image
In 5 top surface of rivet it is in an intermediate position, prevent rivet 5 beyond image f iotaeld-of-view.The wink that annular light source 224 is taken pictures in camera 221
Between be powered irradiation 5 top surface of rivet, can be improved image clearly degree, to be conducive to find surface defect from top image.
Embodiment 4
It is further improved on the basis of embodiment 3, the clamping device 21 further includes Pneumatic slid platform 216；Pneumatic turntable
211 connect with Pneumatic slid platform 216, and Pneumatic slid platform 216 is mounted in fixed plate 217, and Pneumatic slid platform 216 drives pneumatic turntable
211, pneumatic-finger 210, the first grasping plate 212 and 213 overall structure of the second grasping plate move up and down, in 216 fixing end of Pneumatic slid platform
On be respectively equipped with up stroke limiting device and down stroke limiting device, the down stroke limiting device guarantees 212 He of the first grasping plate
Second grasping plate 213 accurately catches the rivet 5 on conveyer belt 12, and up stroke limiting device guarantees that rivet 5 is located at 221 camera lens of camera
Front.Screening plant 3 further includes supporting leg 33, passes through electric machine support 37 on supporting leg 33 and is equipped with servo motor 34, servo motor 34
The driving mechanism rotated as driving sorting slot 31；Sorting slot 31 passes through the parts such as screw 38, end cap 39, thrust bearing 35 and watches
The shaft for taking motor 34 keeps relatively fixed, makes sorting slot 31 with the shaft axis rotation of servo motor 34.31 edge of sorting slot
Radial width on Flow of Goods and Materials direction is gradually reduced.PLC controller controls servo according to the quality grade of current detection rivet 5
Motor 34 rotates respective angles, so that sorting slot 31 is exported the different grade regions in face sorting bucket 32, makes rivet 5 along sorting slot
31 are slipped to corresponding grade region.The longer rivet 5 of length is horizontal during the fall in order to prevent is stuck in the outlet of sorting slot 31
Locate, a guide pin 36 is set among sorting slot 31, rivet 5 is enable smoothly to slide out sorting slot 31.
Embodiment 5
The Automatic Control Theory of a kind of rivet quality classification and Automated Sorting System that embodiment 4 provides includes such as lower part
Point:
(1) control principle of pneumatic element:
Pneumatic element includes pneumatic-finger 210, pneumatic turntable 211 and Pneumatic slid platform 216.Optoelectronic switch 13 is sensing riveting
When nail 5 passes through, inductive signal is transferred to PLC controller, is moved by PLC controller by the above-mentioned pneumatic element of solenoid valve control
Make.Pneumatic element is connect by tracheae with solenoid valve, and solenoid valve realizes that finger is opened by changing the disengaging direction of air-flow in cylinder
It closes, turntable rotation, slide unit up and down motion, solenoid valve is controlled by PLC controller.Magnetic switch is mounted on the slot in pneumatic element
It is interior, the action state of pneumatic element can be incuded, still closed up including the opening of pneumatic-finger 210, the rotation angle of pneumatic turntable 211
Degree, Pneumatic slid platform 216 are above or lower section, magnetic switch send inductive signal to PLC controller；
4 output high-pressure gas of air compressor, provides power resources for pneumatic element.Air source distributor divides high pressure gas
It is not conveyed to pneumatic-finger 210, pneumatic turntable 211 and Pneumatic slid platform 216.Pressure reducing valve is pneumatically first by regulating gas pressure change
Speed and active force when part moves, for example, preventing finger clamp holding force is excessive from scratching rivet 5.Air-source treater is for isolating
The impurity such as water, oil in gas reduce and injure to solenoid valve and pneumatic element；
(2) control principle of pull rod electronic ruler 220:
After the magnetic switch in pneumatic-finger 210 senses that finger closes up, pull rod electronic ruler is directly read by industrial personal computer
220 measurement data, to obtain the shank diameter size of rivet 5；
(3) control principle of camera 221 and light source:
It is taken pictures by PLC control phase 221, light source is powered and irradiates and close.The image that camera 221 is shot inputs industrial personal computer, by
The 5 quality analysis software of rivet carried on industrial personal computer carries out image procossing, extracts size and defect；
(4) control principle of sorting slot 31:
5 quality analysis results of rivet are passed to PLC controller by industrial personal computer, control 34 band of servo motor by PLC controller
Dynamic sorting slot 31 rotates.
Embodiment 6
The screening technique of a kind of rivet quality classification and Automated Sorting System that embodiment 5 provides, the specific steps are as follows:
Step 1, rivet 5 to be sorted is poured into together in vibrating disk 11, vibrating disk 11 is by vibrating, stirring riveting therein
Nail 5 is realized that rivet 5 is placed upside down, and is output on conveyer belt 12 with speed at a certain distance.12 side of conveyer belt is equipped with light
Electric switch 13, optoelectronic switch 13, which senses, can issue signal to PLC controller when rivet 5 passes through；
Step 2, after PLC controller receives the signal that optoelectronic switch 13 issues, control Pneumatic slid platform 216 is moved down, and is controlled
Pneumatic-finger 210 processed is closed, and the first grasping plate 212 and the second grasping plate 213 firmly grasp rivet 5；
Step 3, pull rod electronic ruler 220 and the first grasping plate 212 are relatively fixed, and rivet 5 is by the first grasping plate 212 and the second grasping plate
After 213 catch, the pull rod on pull rod electronic ruler 220 shortens, and pull rod electronic ruler 220 obtains the shank diameter size of rivet 5 and sends
To industrial personal computer；
Step 4, PLC controller control Pneumatic slid platform 216 moves up, and rivet 5 is made to be located at 221 front of camera, rectangular
Light source 223, which shines, to be irradiated, and camera 221 shoots 5 side image of rivet, and industrial personal computer carries out image procossing according to 5 side image of rivet,
Obtain 5 pole length of rivet, countersunk head face cone angle；Camera 221 uses industrial camera；
Step 5, PLC controller, which controls pneumatic turntable 211 and is rotated by 90 ° counterclockwise, makes 5 top surface straight-on camera 221 of rivet, ring
Shape light source 224, which shines, to be irradiated, and camera 221 shoots 5 top image of rivet and is simultaneously sent to industrial personal computer, and industrial personal computer is obtained by image procossing
It obtains 5 top surface diameter dimension of rivet and detects 5 top surface defect of rivet；Pneumatic turntable 211 rotates clockwise 90 °, Pneumatic slid platform 216 to
Lower movement, pneumatic-finger 210 unclamp, and rivet 5 is returned on conveyer belt 12；
Step 6, industrial personal computer is obtained according to above-mentioned steps 5 shank diameter of rivet, 5 side image of rivet, 5 top image of rivet
Quality grade dividing is carried out to current detection rivet 5, quality grade is respectively excellent product, qualified product, three, waste product from high to low
Grade, and quality grade dividing result recorded, simultaneous transmission to PLC controller；
Step 7, PLC controller is rotated according to grade classification result control sorting slot 31, makes the output port of sorting slot 31
Towards the sorting bucket 32 of corresponding grade, so that rivet 5 falls into the sorting bucket 32 for credit rating, 5 quality grading of rivet is completed
Screening.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of rivet quality classification and Automated Sorting System, which is characterized in that including device for transporting objects (1), detection device
(2), screening plant (3) and automatic control unit；
Rivet of the device for transporting objects (1) for detection device conveying rivet and after will test is exported to screening
Device (3)；
The detection device (2) includes clamping device (21) and information collection mechanism (22), and clamping device (21) includes pneumatic hand
Refer to (210) gentle turn platform (211), is respectively equipped with the first grasping plate on two fingers of pneumatic-finger (210) free end
(212) and the second grasping plate (213), pneumatic-finger (210) control the first grasping plate (212) and the second grasping plate (213) opening or
Adduction is used for rivet；Pneumatic-finger (210) is connect with pneumatic turntable (211), and the pneumatic turntable (211) drives pneumatic hand
Refer to that (210) and the first grasping plate (212) and the second grasping plate (213) rotate in a circumferential direction movement；
The information collection mechanism (22) includes pull rod electronic ruler (220) and camera (221)；The pull rod electronic ruler (220) sets
In on the first grasping plate (212), the locater plate (222) for being adapted to pull rod electronic ruler (220) is set to the second grasping plate (213)；
The camera (221) is set to the side of the rivet of the first grasping plate (212) and the second grasping plate (213) clamping, grabs for obtaining first
The image information of the rivet clamped between plate (212) and the second grasping plate (213)；
The screening plant (3) includes sorting slot (31) and several sorting buckets (32), and the input terminal of the sorting slot (31) is placed in
The output end of device for transporting objects (1) drives sorting slot (31) rotation by driving mechanism, makes the output end court of sorting slot (31)
To different sorting buckets (32)；
The automatic control unit includes PLC controller, industrial personal computer and database；The industrial personal computer is for receiving information collection machine
The information of structure (22) acquisition and according to rivet type pre-stored in database and corresponding sieving and grading standard, to working as
Preceding detection rivet carries out quality grading, output test result；The PLC controller is for controlling device for transporting objects (1) conveying
It acts, for controlling clamping device (1) holding action, information collection mechanism (2) acquisition movement and according to industrial personal computer output
Testing result controls sorting slot (31) rotation and imports the rivet of different stage in corresponding sorting bucket (32).
2. a kind of rivet quality classification according to claim 1 and Automated Sorting System, which is characterized in that the material is defeated
Sending device (1) includes vibrating disk (11) and conveyer belt (12), the output end of the vibrating disk (11) and the input of conveyer belt (12)
End connection, conveyer belt (12) are located at below pneumatic-finger (210), and conveyer belt (12) is used for conveying rivet.
3. a kind of rivet quality classification according to claim 2 and Automated Sorting System, which is characterized in that the conveyer belt
(12) optoelectronic switch (13) are equipped with close to pneumatic-finger (210) side on, the optoelectronic switch (13) is for detecting conveyer belt
(12) position of the rivet on, and will test information and be sent to PLC controller, PLC controller is according to detection information control clamping
Mechanism (21) completes holding action.
4. a kind of rivet quality classification according to claim 1 and Automated Sorting System, which is characterized in that described first grabs
Plate (212) and pull rod electronic ruler (220) are fixed on one of finger of pneumatic-finger (210) by the first connection strap (214)
End, second grasping plate (213) and locater plate (222) are fixed on another of pneumatic-finger (1) by the second connection strap (215)
Finger end.
5. a kind of rivet quality classification according to claim 1 and Automated Sorting System, which is characterized in that the information is adopted
Collecting mechanism (22) further includes rectangular light source (223) and annular light source (224), the rectangular light source (223), annular light source (224)
It successively sorts and is located in a straight line with camera (221).
6. a kind of rivet quality classification according to claim 5 and Automated Sorting System, which is characterized in that the information is adopted
Collecting mechanism (22) further includes locating support (225), and the locating support (225) is equipped with sliding rail (226), the camera (221),
Rectangular light source (223) and annular light source (224) are connect by fixing clamp (227) with sliding rail (226), and fixing clamp (227) is logical
Sliding block is crossed to be adapted to sliding rail (226) sliding.
7. a kind of rivet quality classification according to claim 1 and Automated Sorting System, which is characterized in that the clamping machine
Structure (21) further includes Pneumatic slid platform (216)；The pneumatic turntable (211) connect with Pneumatic slid platform (216), the Pneumatic slid platform
(216) it is mounted on fixed plate (217), and Pneumatic slid platform (216) drives pneumatic turntable (211), pneumatic-finger (210), first
Grasping plate (212) and the second grasping plate (213) overall structure move up and down.
8. a kind of rivet quality classification according to claim 1 and Automated Sorting System, which is characterized in that the driving machine
Structure uses servo motor (34)；Screening plant (3) further includes supporting leg (33), and servo motor (34) is set on supporting leg (33), servo
The output end of motor (34) is connect with the axial one end bottom plate of sorting slot (31) by thrust bearing (35), sorting slot (31) is driven to turn
Dynamic movement；Radial width of the sorting slot (31) on Flow of Goods and Materials direction is gradually reduced, and the middle part in sorting slot (31)
Equipped with gib block (36).
9. based on a kind of described in any item screening techniques of rivet quality classification and Automated Sorting System of claim 1-8,
It is characterized in that, comprising the following steps:
Step 1, rivet to be sorted is placed upside down by device for transporting objects (1), and by certain rivet arrangement spacing and
Transmission speed is delivered to detection device (2)；
Step 2, PLC controller control pneumatic-finger (210) closure, the first grasping plate (212) and the second grasping plate (213) grab rivet
Tightly；By being arranged in the pull rod electronic ruler (220) on the first grasping plate (212) and the locater plate being located on the second grasping plate (213)
(222) cooperation obtains rivet stem diameters and is sent to industrial personal computer；
Step 3, it is taken pictures by camera (221) and obtains rivet side image, industrial personal computer carries out at image according to rivet side image
Reason obtains rivet length, countersunk head face cone angle；
Step 4, PLC controller, which controls pneumatic turntable (211) and is rotated by 90 ° counterclockwise, makes rivet top surface straight-on camera (221), camera
(221) rivet top image is shot, industrial personal computer obtains rivet top surface diameter dimension by image procossing and detects rivet top surface and lacks
It falls into；Pneumatic turntable (211) rotates clockwise 90 °, and pneumatic-finger (210) unclamps, and rivet returns on device for transporting objects (1)；
Step 5, industrial personal computer divides the credit rating of rivet according to the dimension data and case of surface defects of rivet, and will
Grade classification result is recorded and is transmitted to PLC controller；
Step 6, rivet is sent to corresponding mass according to grade classification result control sorting slot (31) rotation by PLC controller
The sorting bucket (32) of grade is recycled.
10. a kind of rivet quality classification according to claim 9 and automatic sorting method, which is characterized in that the step 6
In, it is from high to low respectively excellent product, qualified product, waste product three grades by the quality grade of rivet.
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| CN201811302913.3A CN109225915B (en) | 2018-11-02 | 2018-11-02 | A rivet quality rating and automatic sorting system and method |
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| CN201811302913.3A CN109225915B (en) | 2018-11-02 | 2018-11-02 | A rivet quality rating and automatic sorting system and method |
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| CN109909163A (en) * | 2019-04-15 | 2019-06-21 | 江西景旺精密电路有限公司 | A kind of sorting equipment of the pin of different length |
| CN110038813A (en) * | 2019-04-01 | 2019-07-23 | 山东理工大学 | A kind of disc brake pad Inner Defect Testing equipment based on sound |
| CN110059540A (en) * | 2019-02-28 | 2019-07-26 | 南京航空航天大学 | A kind of image processing method positioned for dissipating the identification of heap self-plugging rivet |
| CN111189387A (en) * | 2020-01-02 | 2020-05-22 | 西安工程大学 | A Machine Vision-Based Dimensional Detection Method for Industrial Parts |
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| CN112718546A (en) * | 2020-11-13 | 2021-04-30 | 南京工业大学 | Industrial product visual sorting equipment and sorting process thereof |
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| CN113953186A (en) * | 2021-12-22 | 2022-01-21 | 常州市武进大众标准件有限公司 | Finished screw quality testing is with rotatory discharging device |
| CN114433500A (en) * | 2021-12-22 | 2022-05-06 | 歌尔光学科技有限公司 | Screw sorting device |
| CN114433500B (en) * | 2021-12-22 | 2024-01-30 | 歌尔科技有限公司 | Screw sorting device |
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