CN219872617U - A five-axis linkage platform based on machine vision - Google Patents

Abstract

The utility model relates to the technical field of machine vision and discloses a five-axis linkage platform based on machine vision, which comprises an electrical control cabinet, a gantry, an objective table, an industrial camera, a light source, a manipulator, an X-axis adjusting module, a Y-axis adjusting module, a first Z-axis adjusting module, an R-axis adjusting module and a second Z-axis adjusting module, wherein the gantry and the Y-axis adjusting module are respectively arranged on the top surface of the electrical control cabinet, the objective table is arranged on the Y-axis adjusting module through the X-axis adjusting module, and the first Z-axis adjusting module and the second Z-axis adjusting module are respectively and overhead arranged above the objective table through the gantry. According to the utility model, through automatic adjustment of the heights of the industrial camera and the light source, rapid imaging is realized, the imaging quality of a visual system for automatically detecting any object in real time is realized, sorting and arbitrary angle placement of the objects are realized, a good visual control and machine debugging training environment can be provided for machine vision teaching, and the training effect of the machine vision teaching is improved.

Description

A five-axis linkage platform based on machine vision

Technical field

The utility model relates to the field of machine vision technology, and in particular to a five-axis linkage platform based on machine vision.

Background technique

Machine vision is a rapidly developing branch of artificial intelligence. It uses machines instead of human eyes to make measurements and judgments. The machine vision system converts the captured target into an image signal through machine vision products and transmits it to a dedicated image processing system. The obtained morphological information of the captured target is converted into a digital signal based on pixel distribution, brightness, color and other information; image The system performs various operations on these signals to extract the characteristics of the target, and then controls the on-site equipment actions based on the discrimination results. Machine vision technology can provide visual detection, positioning, identification, guidance and other functions for automated production, enabling traditional manufacturing to achieve higher automation and even intelligence.

With the continuous advancement of intelligent manufacturing in my country and the further demand of enterprises for the improvement of production models and production efficiency, the application of machine vision technology has become more and more extensive, and practical training platforms for machine vision teaching have also emerged. However, most of the existing machine vision teaching platforms only have demonstration teaching effects and cannot provide a good visual control and machine debugging training environment. Students' ability to program, control and debug machine vision systems is also a very important training point. Therefore, the existing machine vision teaching platform has limited teaching effects, and students' programming control and reasonable debugging abilities have not been fully trained.

Utility model content

The purpose of this utility model is to provide a five-axis linkage platform based on machine vision to address the above shortcomings. Through scientific and reasonable structural design, the five-axis linkage platform can automatically adjust the height of the industrial camera and light source to achieve rapid imaging. , ensure clear imaging of multiple objects, improve detection efficiency, realize the imaging quality of the visual system’s automatic real-time detection of any object, and realize the sorting and placement of objects at any angle, which can provide a good solution for machine vision teaching. Visual control and machine debugging training environment to improve the training effect of machine vision teaching.

The technical solution is as follows:

A five-axis linkage platform based on machine vision, including an electrical control cabinet, a gantry, a stage, an industrial camera, a light source, a manipulator, an X-axis adjustment module for driving the stage to move along the transverse axis, and a A Y-axis adjustment module that drives the X-axis adjustment module to move along the longitudinal axis, a first Z-axis adjustment module that drives the industrial camera and light source to move along the vertical axis, and a first Z-axis adjustment module that drives the manipulator to rotate along the vertical axis. The R-axis adjustment module and the second Z-axis adjustment module are used to drive the R-axis adjustment module to move along the vertical axis. The gantry frame and Y-axis adjustment module are respectively installed on the electrical control cabinet. On the top surface, the Y-axis adjustment module passes through the gantry, the stage is installed on the Y-axis adjustment module through the X-axis adjustment module, and the first Z-axis adjustment module The module and the second Z-axis adjustment module are respectively installed overhead above the stage through the portal frame. The industrial camera, light source, X-axis adjustment module, Y-axis adjustment module, and first Z-axis adjustment module are installed overhead. The axis adjustment module, the R-axis adjustment module, and the second Z-axis adjustment module are electrically connected to the electrical control cabinet respectively, and the manipulator is connected to the air source.

The manipulator includes a suction cup and a cylinder. The suction cup is connected to an air source through the cylinder. The R-axis adjustment module drives the suction cup to rotate along a vertical axis.

The X-axis adjustment module includes a first servo motor, a first screw slide, and a first slide block. The stage is installed on the first slide block, and the first slide block is connected to the first slide block. The screw slide is slidably connected, and the first screw slide drives the first slide block to move left and right along the transverse axis through the first servo motor.

The Y-axis adjustment module includes a second servo motor, a second screw slide, and a second slide block. The X-axis adjustment module is installed on the second slide block, and the second slide block is connected with the second slide block. The second screw slide is slidably connected, and the second screw slide drives the second slide block to move forward and backward along the longitudinal axis through the second servo motor.

The gantry frame includes a first vertical plate, a second vertical plate, and a gantry beam. The lower ends of the first vertical plate and the second vertical plate are respectively connected with the electrical control cabinets on the left and right sides of the Y-axis adjustment module. The top surface is connected, and the two ends of the portal beam are connected to the upper ends of the first vertical plate and the second vertical plate respectively. The first Z-axis adjustment module and the second Z-axis adjustment module are respectively installed on the On the beam of the door frame.

The first Z-axis adjustment module includes a third servo motor, a third screw slide, and a third slide block. The first Z-axis adjustment module is installed on the door through the third screw slide. On the crossbeam, the third slide block is slidingly connected to the third screw slide table, and the third screw slide table drives the third slide block up and down along the vertical axis through the third servo motor. Move, the industrial camera and light source are respectively installed on the third slider.

The first Z-axis adjustment module also includes a camera clamping bracket and a light source bracket. The industrial camera is installed on the third slider through the camera clamping bracket. The light source is installed on the third slider through the light source bracket. on the third slider.

The second Z-axis adjustment module includes a fourth servo motor, a fourth screw slide, and a fourth slide block. The second Z-axis adjustment module is installed on the door through the fourth screw slide. On the crossbeam, the fourth slide block is slidingly connected to the fourth screw slide table. The fourth screw slide table drives the fourth slide block up and down along the vertical axis through the fourth servo motor. Move, the manipulator is installed on the fourth slider through the R-axis adjustment module.

The R-axis adjustment module includes a fifth servo motor and a clamping plate. The fifth servo motor is installed on the fourth slider through the clamping plate. The manipulator is installed on the motor of the fifth servo motor. on the spindle.

It should be noted:

The aforementioned "first, second..." do not represent the specific number or order, but are only used to distinguish names.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship, or the orientation or positional relationship in which the product of the present utility model is usually placed when used, or the orientation or positional relationship that is commonly understood by those skilled in the art, is only for the convenience of describing the present utility model and simplifying the description. It is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be construed as a limitation on the present invention.

The direction of the aforementioned "transverse axis" is based on the left-right direction shown in the drawings, that is, the "X-axis" direction.

The direction of the aforementioned "longitudinal axis" is based on the front-to-back direction shown in the drawings, that is, the "Y-axis" direction.

The direction of the aforementioned "vertical axis" is based on the up and down direction shown in the drawings, that is, the "Z-axis" direction.

The advantages or principles of this utility model are described below:

1. The five-axis linkage platform based on machine vision provided by this utility model has a reasonable structural design and includes an electrical control cabinet, a gantry, a stage, an industrial camera, a light source, a manipulator, an X-axis adjustment module, and a Y-axis. Adjustment module, first Z-axis adjustment module, R-axis adjustment module, second Z-axis adjustment module, the electrical control cabinet has built-in imaging feedback system and motion controller, and the imaging of different objects is calculated through the PC segment tracking imaging system The working height is fed back to the first Z-axis adjustment module to realize automatic height adjustment of industrial cameras and light sources, achieve fast imaging, ensure clear imaging of multiple objects, improve detection efficiency, and realize imaging of the visual system's automatic real-time detection of any product. quality. Among them, the X-axis adjustment module and Y-axis adjustment module are used to adjust the plane position of the stage, the first Z-axis adjustment module is used to control the up and down height of the industrial camera and light source, and the second Z-axis adjustment module is used to To control the up and down height of the manipulator, the R-axis adjustment module is used to control the rotation angle of the manipulator to achieve five-axis linkage. Each motion axis is driven by a motor and connected to the motion controller of each communication interface through a servo driver. Through motion programming software Carry out motion control and diagnosis, and monitor the motion parameters of each motion axis in real time to achieve five-axis linkage imaging and sorting and placement of objects; when using it, first place the objects to be detected in the detection area on the stage, and use The motion controller controls the X-axis adjustment module and Y-axis adjustment module so that the object to be inspected placed on the stage inspection area is placed under the industrial camera, the light source is turned on, and the industrial camera pre-photographs the object to be inspected and provides feedback. To the imaging feedback system of the electrical control cabinet, the imaging working height of different objects is calculated through the PC segment tracking imaging system. The motion controller controls the first Z-axis adjustment module according to the calculated imaging working height of the object to adjust the shooting height of the industrial camera. Retake the photo to obtain an accurate and clear picture of the object to be inspected, and collect the precise coordinate position and angle of the object to be inspected, thereby realizing automatic height adjustment of the industrial camera and light source to ensure clear imaging of the object; then, adjust the X-axis and Y-axis through the The axis adjustment module controls the stage to continue moving, so that the object to be inspected placed on the detection area of the stage is placed under the manipulator. The motion controller controls the descent of the manipulator through the second Z-axis adjustment module, and uses the manipulator to absorb the object to be inspected. Detect the object, and then control the manipulator to rise through the second Z-axis adjustment module. At the same time, the manipulator sucks the object to be inspected away from the detection area of the stage, and controls the stage to continue moving through the X-axis adjustment module and Y-axis adjustment module. , so that the object to be inspected is placed above the placement area of the stage. At this time, the object to be inspected is put down from the manipulator to sort the objects. Before putting it down, the R-axis adjustment module is used to drive the manipulator vertically. By rotating the axis at a certain angle, objects can be placed at a specified angle; this five-axis linkage platform can program the rotation angle of each servo motor on the programming control system, allowing the industrial camera to capture images of the object to be inspected in a preset manner, and then The image information is sent to the image processing and display system for processing and visualization, so as to measure the component size, coordinate position and angle, installation position, etc. on the object to be inspected, or to conduct other practical training projects, and improve students' performance through practical operations. Programming control and reasonable debugging capabilities for machine vision systems. This five-axis linkage platform can provide a good visual control and machine debugging training environment for machine vision teaching, and improve the training effect of machine vision teaching.

2. The manipulator of the present utility model includes a suction cup and a cylinder. The suction cup controls the suction of objects through the cylinder, thereby improving the manipulator's suction efficiency of objects.

3. The X-axis adjustment module of the present utility model includes a first servo motor, a first screw slide, and a first slide block. The Y-axis adjustment module includes a second servo motor, a second screw slide, and a second slide. The block controls the movement of the stage in the plane position through the screw slide, thereby improving the accuracy and stability of the movement of the stage in the plane position.

4. The first Z-axis adjustment module of the present utility model includes a third servo motor, a third screw slide, a third slide block, a camera clamping bracket, and a light source bracket. The industrial camera is assembled and clamped using the camera clamping bracket. It can support adaptation to cameras of various types and sizes, including area scan cameras, line scan cameras, binocular 3D cameras, line laser 3D cameras, etc., reducing costs.

5. The R-axis adjustment module of the present utility model includes a fifth servo motor and a clamping plate. The fifth servo motor is installed on the fourth slider through the clamping plate, which facilitates the disassembly, assembly and maintenance of the R-axis adjusting module.

Description of the drawings

Figure 1 is a schematic diagram of the overall three-dimensional appearance of a five-axis linkage platform based on machine vision according to an embodiment of the present invention.

Figure 2 is a schematic diagram of the overall three-dimensional appearance of the five-axis linkage platform based on machine vision from another perspective according to the embodiment of the present invention.

Explanation of reference symbols:

10. Electrical control cabinet, 11. Gantry frame, 111. First vertical plate, 112. Second vertical plate, 113. Gantry beam, 12. Stage, 13. Industrial camera, 14. Light source, 20. Manipulator , 21. Suction cup, 22. Cylinder, 30. X-axis adjustment module, 31. First servo motor, 32. First screw slide, 33. First slide block, 40. Y-axis adjustment module, 41. The second servo motor, 42. The second screw slide table, 43. The second slide block, 50. The first Z-axis adjustment module, 51. The third servo motor, 52. The third screw slide table, 53. Three sliders, 54. Camera clamping bracket, 55. Light source bracket, 60. R-axis adjustment module, 61. Fifth servo motor, 62. Clamp plate, 70. Second Z-axis adjustment module, 71. Fourth Servo motor, 72. Fourth screw slide table, 73. Fourth slide block.

Detailed ways

The embodiments of the present utility model will be described in detail below.

Example

Referring to Figures 1 to 2, the five-axis linkage platform based on machine vision provided by this utility model is to provide a practical training environment for visual control and machine debugging for machine vision teaching for higher vocational college students, and to improve the students' machine vision teaching experience. Developed for practical training results.

In order to facilitate understanding of the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present utility model are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and comprehensive understanding of the disclosure.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

This embodiment provides a five-axis linkage platform based on machine vision, which includes an electrical control cabinet 10, a gantry 11, a stage 12, an industrial camera 13, a light source 14, a manipulator 20, and is used to drive the stage 12 in a horizontal direction. The X-axis adjustment module 30 that moves in the axial direction, the Y-axis adjustment module 40 that is used to drive the X-axis adjustment module 30 to move in the longitudinal axis direction, and the third module that is used to drive the industrial camera 13 and the light source 14 to move in the vertical axis direction. A Z-axis adjustment module 50, an R-axis adjustment module 60 for driving the manipulator 20 to rotate along the vertical axis, and a second Z-axis adjustment module 70 for driving the R-axis adjustment module 60 to move along the vertical axis. , the gantry 11 and the Y-axis adjustment module 40 are installed on the top surface of the electrical control cabinet 10 respectively, the Y-axis adjustment module 40 passes through the gantry 11, and the stage 12 is installed on the Y through the X-axis adjustment module 30 On the axis adjustment module 40, the first Z-axis adjustment module 50 and the second Z-axis adjustment module 70 are respectively installed overhead above the stage 12 through the gantry 11, and the industrial camera 13, light source 14, and X-axis adjustment The module 30, the Y-axis adjustment module 40, the first Z-axis adjustment module 50, the R-axis adjustment module 60, and the second Z-axis adjustment module 70 are electrically connected to the electrical control cabinet 10 respectively, and the manipulator 20 is connected to the air source. Connected.

The electrical control cabinet 10 has a built-in imaging feedback system and a motion controller. The imaging working height of different objects is calculated through the PC segment tracking imaging system and fed back to the first Z-axis adjustment module 50 to realize the adjustment of the industrial camera 13 and the light source 14. The height is automatically adjusted to achieve fast imaging, ensure clear imaging of multiple objects, improve detection efficiency, and realize the imaging quality of the visual system's automatic real-time detection of any product. Among them, the X-axis adjustment module 30 and the Y-axis adjustment module 40 are used to adjust the plane position of the stage 12, the first Z-axis adjustment module 50 is used to control the up and down height of the industrial camera 13 and the light source 14, and the second Z-axis adjustment module 50 is used to control the up and down height of the industrial camera 13 and the light source 14. The axis adjustment module 70 is used to control the up and down height of the manipulator 20, and the R-axis adjustment module 60 is used to control the rotation angle of the manipulator 20, thereby realizing five-axis linkage. Each motion axis is driven by a motor and communicates with each communication interface through a servo driver. Connected to the motion controller, motion control and diagnosis are carried out through motion programming software, and the motion parameters of each motion axis are monitored in real time, thereby realizing five-axis linkage imaging and sorting and placing of objects; when using, first place the objects to be detected In the detection area on the stage 12, the motion controller is used to control the X-axis adjustment module 30 and the Y-axis adjustment module 40, so that the object to be inspected placed on the detection area of the stage 12 is placed under the industrial camera 13 , turn on the light source 14, the industrial camera 13 pre-photographs the object to be detected, and feeds it back to the imaging feedback system of the electrical control cabinet 10. The PC segment tracking imaging system calculates the imaging working height of different objects, and the motion controller performs imaging according to the calculated objects. The working height controls the first Z-axis adjustment module 50, adjusts the shooting height of the industrial camera 13, and reshoots to obtain accurate and clear pictures of the object to be detected, and collects the precise coordinate position and angle of the object to be detected, thereby realizing the industrial camera 13 and The height of the light source 14 is automatically adjusted to ensure that the object is clearly imaged; then, the stage 12 is controlled to continue moving through the X-axis adjustment module 30 and the Y-axis adjustment module 40, so that the object to be detected placed on the detection area of the stage 12 Placed below the manipulator 20, the motion controller controls the manipulator 20 to descend through the second Z-axis adjustment module 70, and uses the manipulator 20 to absorb the object to be detected, and then controls the manipulator 20 to rise through the second Z-axis adjustment module 70. At the same time The manipulator 20 draws the object to be detected away from the detection area of the stage 12, and controls the stage 12 to continue moving through the X-axis adjustment module 30 and the Y-axis adjustment module 40, so that the object to be detected is placed on the pendulum of the stage 12. Above the placing area, at this time, the objects to be inspected are put down from the manipulator 20 to sort the objects. Before putting them down, the R-axis adjustment module 60 is used to drive the manipulator 20 to rotate at a certain angle along the vertical axis, so that the objects can be sorted according to the Placed at a specified angle; this five-axis linkage platform can program and control the rotation angle of each servo motor on the programming control system, so that the industrial camera 13 captures the image of the object to be inspected in a preset manner, and then transmits the image information to the image processing display The system performs processing and visualization to measure the component size, coordinate position and angle, installation position, etc. on the object to be inspected, or conduct other practical training projects to improve students' programming control and control of the machine vision system through students' practical operations. Reasonable debugging capabilities. This five-axis linkage platform can provide a good visual control and machine debugging training environment for machine vision teaching, and improve the training effect of machine vision teaching.

The manipulator 20 includes a suction cup 21 and a cylinder 22. The suction cup 21 is connected to the air source through the cylinder 22. The R-axis adjustment module 60 drives the suction cup 21 to rotate along the vertical axis. The air cylinder 22 is used to control the sucking of objects by the suction cup 21, thereby improving the efficiency of the manipulator 20 in sucking objects.

The X-axis adjustment module 30 includes a first servo motor 31, a first screw slide table 32, and a first slide block 33. The stage 12 is installed on the first slide block 33. The first slide block 33 and the first screw rod The slide table 32 is slidingly connected, and the first screw slide table 32 drives the first slide block 33 to move left and right along the transverse axis direction through the first servo motor 31 . The Y-axis adjustment module 40 includes a second servo motor 41, a second screw slide 42, and a second slide block 43. The X-axis adjustment module 30 is installed on the second slide block 43. The second slide block 43 is connected to the second slide block 43. The screw slide 42 is slidably connected, and the second screw slide 42 drives the second slide block 43 to move forward and backward along the longitudinal axis through the second servo motor 41 . The movement of the stage 12 in the plane position is controlled by the screw slide, thereby improving the accuracy and stability of the movement of the stage 12 in the plane position.

The gantry frame 11 includes a first vertical plate 111 , a second vertical plate 112 , and a gantry beam 113 . The lower ends of the first vertical plate 111 and the second vertical plate 112 are connected to the electrical control cabinets on the left and right sides of the Y-axis adjustment module 40 respectively. 10, the two ends of the mast beam 113 are respectively connected to the upper ends of the first vertical plate 111 and the second vertical plate 112, and the first Z-axis adjustment module 50 and the second Z-axis adjustment module 70 are respectively installed on On the mast beam 113.

The first Z-axis adjustment module 50 includes a third servo motor 51, a third screw slide 52, a third slider 53, a camera clamping bracket 54, and a light source bracket 55. The first Z-axis adjustment module 50 passes through the third The screw slide table 52 is installed on the gantry beam 113. The third slide block 53 is slidingly connected to the third screw slide table 52. The third screw slide table 52 drives the third slide block 53 along the vertical direction through the third servo motor 51. Moving up and down in the axial direction, the industrial camera 13 and the light source 14 are installed on the third slider 53 respectively. The industrial camera 13 is installed on the third slider 53 through the camera clamping bracket 54 , and the light source 14 is installed on the third slider 53 through the light source bracket 55 . The industrial camera 13 is assembled and clamped by the camera clamping bracket 54, which can support adaptation to cameras of various types and sizes, including area scan cameras, line scan cameras, binocular 3D cameras, line laser 3D cameras, etc., reducing costs.

The second Z-axis adjustment module 70 includes a fourth servo motor 71, a fourth screw slide 72, and a fourth slide block 73. The second Z-axis adjustment module 70 is installed on the mast beam through the fourth screw slide 72. 113, the fourth slide block 73 is slidingly connected to the fourth screw slide table 72. The fourth screw slide table 72 drives the fourth slide block 73 to move up and down along the vertical axis through the fourth servo motor 71. The manipulator 20 passes through R The shaft adjustment module 60 is installed on the fourth slide block 73 . The R-axis adjustment module 60 includes a fifth servo motor 61 and a clamping plate 62. The fifth servo motor 61 is installed on the fourth slider 73 through the clamping plate 62. The manipulator 20 is installed on the motor shaft of the fifth servo motor 61. The fifth servo motor 61 is installed on the fourth slider 73 through the clamp plate 62 to facilitate the disassembly, assembly and maintenance of the R-axis adjustment module 60 .

This embodiment also provides a practical training example of using the present utility model to teach students machine vision:

A creative arranging of jigsaw puzzles in the application of machine vision systems, for example, the square patterns of jigsaw puzzles; before use, students will use graphical programming software to complete the software process design in advance according to the detection requirements and save it to the electrical control cabinet In the control system within 10 years, the pattern placement process of the creative jigsaw puzzle includes the following steps:

S11. The student places the jigsaw puzzle in the detection area of the stage 12. The positions of each small piece of the jigsaw puzzle are random and do not overlap;

S12. Call the square pattern configuration;

S13. The motion controller controls the movement of the stage 12 through the X-axis adjustment module 30 and the Y-axis adjustment module 40, and moves the detection area of the stage 12 to below the industrial camera 13;

S14. The light source 14 is triggered to light up and triggers the camera to pre-photograph at the same time; and it is fed back to the imaging feedback system of the electrical control cabinet 10. The PC segment tracking imaging system calculates the imaging working height of different objects, and the motion controller performs imaging work according to the calculated objects. Height control the first Z-axis adjustment module 50, adjust the shooting height of the industrial camera 13, and re-shoot to obtain accurate and clear pictures of each small panel of the tangram;

S15. Based on the clear pictures obtained by shooting, mark the colors of each small piece of the tangram randomly placed in the detection area, and display it in the software graphics display area;

S16. Obtain the precise coordinate position and angle of each small piece of the tangram in the detection area of the stage 12, and display it in the software graphics display area;

S17. Based on the square pattern configuration, the system automatically calculates the placement coordinates of each small piece of the tangram puzzle;

S18. Start placing the square pattern according to the pendulum coordinate position; control the stage 12 to continue moving through the X-axis adjustment module 30 and the Y-axis adjustment module 40, so that any one of the jigsaw puzzles placed on the detection area of the stage 12 The board is placed under the suction cup 21. The motion controller controls the suction cup 21 to descend through the second Z-axis adjustment module 70, and uses the suction cup 21 to suck any small piece of the tangram puzzle, and then controls the suction cup 21 through the second Z-axis adjustment module 70. At the same time, the suction cup 21 sucks any small piece of the jigsaw puzzle away from the detection area of the stage 12, and controls the stage 12 to continue to move through the X-axis adjustment module 30 and the Y-axis adjustment module 40, so that any small piece of the jigsaw puzzle is positioned Above the placement area of the stage 12, use the R-axis adjustment module 60 to drive the suction cup 21 to rotate along the vertical axis until the plane coordinates of any small piece of the tangram match the coordinates of the puzzle. At this time, the suction cup 21 is released from the pair of tangrams. The absorption of any small board causes the small boards of the tangram to be placed on the placement area of the stage 12 until the square pattern is placed.

This embodiment also provides the second practical training case of using the present utility model to teach students machine vision:

Logistics package measurement and sorting in a machine vision system application. Before use, students will use graphical programming software to complete the software process design in advance according to the detection requirements and save it to the control system in the electrical control cabinet 10. Logistics The main workflow of parcel measurement and sorting includes the following steps:

S21. Students place the logistics packages in the inspection area of the stage 12. The placement of the logistics packages is random, does not overlap, and does not exceed the field of view of the inspection area;

S22. The motion controller controls the movement of the stage 12 through the X-axis adjustment module 30 and the Y-axis adjustment module 40, and moves the detection area of the stage 12 to below the industrial camera 13

S23. The PLC sends a photographing signal to trigger the 3D camera to pre-photograph; and feeds it back to the imaging feedback system of the electrical control cabinet 10. The PC segment tracking imaging system calculates the imaging working height of different packages, and the motion controller performs the imaging work of each package according to the calculation. The height control first Z-axis adjustment module 50 adjusts the shooting height of the industrial camera 13 and reshoots to obtain accurate and clear pictures of each package;

S24. Locate the three-dimensional position coordinates of the package;

S25. Extract the package area and measure various data of the package;

S26. According to the 3D position of the package, calculate the appropriate code reading and photographing position of the 2D camera, and place each package under the camera in sequence by moving the stage 12 to take pictures;

S27. According to the barcode information of each package, the X-axis adjustment module 30 and the Y-axis adjustment module 40 control the stage 12 to continue to move, so that any package placed on the detection area of the stage 12 is placed on the suction cup 21 Below, the motion controller controls the suction cup 21 to descend through the second Z-axis adjustment module 70, and uses the suction cup 21 to suck any package, and then controls the suction cup 21 to rise through the second Z-axis adjustment module 70. At the same time, the suction cup 21 moves any package. The package is sucked away from the detection area of the stage 12, and the stage 12 is controlled to continue moving through the X-axis adjustment module 30 and the Y-axis adjustment module 40, so that any package is placed above the placement area of the stage 12 and the suction cup is released. 21. Pick up any package and sort the packages to the corresponding placement area until the sorting and placement of each package is completed.

The principle prototype of the five-axis linkage platform based on machine vision provided by this utility model has been actually tested in the machine vision teaching of colleges and universities under the condition of small-scale confidentiality. Through actual testing, it was found that it can provide students with a good training environment for visual control and machine debugging, improve the training effect of machine vision teaching, and stimulate students' interest in learning and desire for knowledge.

The above are only specific embodiments of the present utility model, and do not limit the scope of protection of the present utility model; any substitutions and improvements made without violating the concept of the present utility model fall within the scope of protection of the present utility model.

Claims (9)

1. The utility model provides a five-axis linkage platform based on machine vision, its characterized in that, including electrical control cabinet, portal frame, objective table, industry camera, light source, manipulator, be used for driving the objective table along the X axle adjusting module that horizontal axis direction moved, be used for driving the Y axle adjusting module that X axle adjusting module moved along the vertical axis direction, be used for driving industry camera and light source along the first Z axle adjusting module that vertical axis moved, be used for driving the manipulator along the rotatory R axle adjusting module of vertical axis, be used for driving the second Z axle adjusting module that R axle adjusting module moved along the vertical axis direction, portal frame, Y axle adjusting module are installed respectively on the top surface of electrical control cabinet, Y axle adjusting module passes the portal frame, the objective table passes through X axle adjusting module is installed on the Y axle adjusting module, first Z axle adjusting module, second Z axle adjusting module are respectively through portal frame overhead to be installed the top of objective table, industry camera, light source, X axle adjusting module, Y axle adjusting module, first Z axle adjusting module, R axle adjusting module, second Z axle adjusting module respectively with electrical connection with the electrical control cabinet.

2. The machine vision-based five-axis linkage platform according to claim 1, wherein the manipulator comprises a sucker and an air cylinder, the sucker is communicated with an air source through the air cylinder, and the R-axis adjusting module drives the sucker to rotate along a vertical axis.

3. The machine vision-based five-axis linkage platform according to claim 1, wherein the X-axis adjusting module comprises a first servo motor, a first screw rod sliding table and a first sliding block, the object stage is mounted on the first sliding block, the first sliding block is in sliding connection with the first screw rod sliding table, and the first screw rod sliding table drives the first sliding block to move left and right along the transverse axis direction through the first servo motor.

4. The machine vision-based five-axis linkage platform according to claim 3, wherein the Y-axis adjusting module comprises a second servo motor, a second screw rod sliding table and a second sliding block, the X-axis adjusting module is installed on the second sliding block, the second sliding block is in sliding connection with the second screw rod sliding table, and the second screw rod sliding table drives the second sliding block to move forwards and backwards along the longitudinal axis direction through the second servo motor.

5. The machine vision-based five-axis linkage platform according to any one of claims 1 to 4, wherein the portal frame comprises a first vertical plate, a second vertical plate and a portal beam, the lower ends of the first vertical plate and the second vertical plate are respectively connected with the top surfaces of the electric control cabinets on the left side and the right side of the Y-axis adjusting module, the two ends of the portal beam are respectively connected with the upper ends of the first vertical plate and the second vertical plate, and the first Z-axis adjusting module and the second Z-axis adjusting module are respectively installed on the portal beam.

6. The machine vision-based five-axis linkage platform according to claim 5, wherein the first Z-axis adjusting module comprises a third servo motor, a third screw rod sliding table and a third sliding block, the first Z-axis adjusting module is installed on the portal beam through the third screw rod sliding table, the third sliding block is in sliding connection with the third screw rod sliding table, the third screw rod sliding table drives the third sliding block to move up and down along the vertical axis direction through the third servo motor, and the industrial camera and the light source are installed on the third sliding block respectively.

7. The machine vision based five-axis linkage platform of claim 6, wherein the first Z-axis adjustment module further comprises a camera clamping bracket, a light source bracket, wherein the industrial camera is mounted on the third slider via the camera clamping bracket, and wherein the light source is mounted on the third slider via the light source bracket.

8. The machine vision-based five-axis linkage platform according to claim 5, wherein the second Z-axis adjusting module comprises a fourth servo motor, a fourth screw rod sliding table and a fourth sliding block, the second Z-axis adjusting module is installed on the portal beam through the fourth screw rod sliding table, the fourth sliding block is in sliding connection with the fourth screw rod sliding table, the fourth screw rod sliding table drives the fourth sliding block to move up and down along the vertical axis direction through the fourth servo motor, and the manipulator is installed on the fourth sliding block through the R-axis adjusting module.

9. The machine vision-based five-axis linkage platform according to claim 8, wherein the R-axis adjusting module comprises a fifth servo motor and a clamp plate, the fifth servo motor is mounted on the fourth slider through the clamp plate, and the manipulator is mounted on a motor rotating shaft of the fifth servo motor.