Intelligent processing and sorting equipment and positioning method for porous anchors based on machine vision

Abstract

The present invention relates to an intelligent processing and sorting device and positioning method for porous anchor fittings based on machine vision, including a grasping device, a processing device, a conveying device, a sorting device and an electrical control system. Under the control of the electrical control system, the workpiece to be processed is grasped from the bin and placed at a specified position on the conveyor belt. The telescopic cylinder pushes the workpiece to be processed onto the processing disk. The processing disk rotates 90<supgt;0< / supgt>. The photoelectric sensor detects the workpiece to be processed, and the clamping cylinder clamps the workpiece to be processed. The vision camera accurately locates the position of the hole to be processed, and the drill bit processes it. The processing disk rotates 90<supgt;0< / supgt> again. The transfer device places the processed workpiece in the sorting area. During the movement of the conveyor belt, the ultrasonic sensor for sorting qualified products detects whether the workpiece is qualified. The telescopic cylinder pushes the qualified workpiece to the qualified product sorting area. If it is a non-conforming product, the non-conforming product sorting telescopic cylinder pushes it to the non-conforming product sorting area. It has the effects of being easy to operate, accurate in positioning and rapid in sorting.

Description

Technical Field

[0001] The present invention relates to a porous anchor processing and sorting device, and in particular to a porous anchor intelligent processing and sorting device and a positioning method based on machine vision. Background Art

[0002] The processing and sorting equipment for porous anchors is an important part of the anchor production line. In the production process of porous anchors, multiple anchor holes need to be chamfered as a whole, and the positioning accuracy will directly affect the yield rate of the product. In the existing manufacturing production technology, chamfering tools are used to process each anchor hole separately, with low positioning accuracy, and it is difficult to unify product specifications, resulting in large errors and low yield rates.

[0003] At present, there is no complete set of intelligent processing and sorting equipment for anchors on the manufacturing production line. The anchor processing procedures have only been optimized and improved, and the accuracy of anchor processing has only been improved, which still cannot meet the needs of precise processing. Summary of the invention

[0004] In order to effectively solve the above-mentioned problems, the present invention proposes a porous anchor intelligent processing and sorting equipment and positioning method based on machine vision, which takes into account many aspects such as product appearance, product function, and safety, so as to meet the requirements of industrial production and be easy for operators to operate, inspect and maintain. The specific technical scheme is a machine vision-based intelligent processing and sorting equipment for porous anchors, including a grasping device, a processing device, a conveying device, a sorting device and an electrical control system. The grasping device includes a grasping claw equipped with a telescopic cylinder and a clamping cylinder, a gantry frame, and a silo. The processing device includes a four-axis robot, a processing disk, a turntable, a drill, a visual camera, a processing photoelectric sensor, and a transfer device. The conveying device includes a conveyor belt for workpieces to be processed, a conveyor belt for processed workpieces, a photoelectric sensor for conveying workpieces to be processed, and a photoelectric sensor for conveying processed workpieces. The sorting device includes an ultrasonic sensor for sorting qualified products, an ultrasonic sensor for sorting unqualified products, a sorting telescopic cylinder and a slide plate. The grasping device, the processing device, and the conveying device are connected in series in sequence to form a U shape, and the sorting device is placed inside and outside the conveyor belt of the processed workpiece of the conveying device; the electrical control system is electrically and data connected to the grasping device, the processing device, the conveying device, and the sorting device respectively; forming an intelligent production line with grasping, processing, sorting, and conveying functions.

[0005] The grabbing claws with telescopic cylinders and clamping cylinders of the grabbing device are fixed on the gantry frame, and three grabbing servo motors respectively drive the frame to move forward and backward, left and right, and the grabbing claws with telescopic cylinders and clamping cylinders to move up and down. The silo is placed on a base under the gantry frame.

[0006] The processing disk of the processing device is an annular body, and the upper end surface has four 0 Symmetrical circular grooves, the size of which matches the workpiece to be processed, the processing disk is fixed on the turntable, the processing servo motor and its bracket are fixed on the bottom end surface of the turntable and fixed on the base, the four-axis robot is fixed on the base behind the processing disk, the processing servo motor drives the processing disk to rotate, the drill bit is installed on the drill rod of the four-axis robot, the visual camera is installed on the four-axis robot at the front end of the drill rod, the processing photoelectric sensor is fixed on the front end of the four-axis robot's propulsion cylinder and aligned with the radial center of the circular groove of the processing position of the processing disk, and a transfer device is fixed on the base on the side of the workpiece on the turntable, which is driven by the rotating cylinder to make 180 o It rotates back and forth, and there is a rectangular opening on one side of the transfer device, in which there is a clamping hand, which opens and closes under the drive of the clamping cylinder. The transfer device is located above the arc-shaped groove of the processing disk, so that the clamping hand can clamp the processed workpiece when it opens and closes.

[0007] The conveyor belt of the workpiece to be processed of the conveying device is placed between the material bin of the grasping device and the outer side of the processing disk of the processing device, the photoelectric sensor for conveying the workpiece to be processed is installed on the conveyor belt bracket of the workpiece to be processed at the circular groove facing the processing disk, the conveyor belt of the processed workpiece is placed below the transfer device of the processing device, and the photoelectric sensor for conveying the processed workpiece is installed on the conveyor belt bracket of the processed workpiece below the transfer device.

[0008] The qualified product sorting ultrasonic sensor and the unqualified product sorting ultrasonic sensor of the sorting device are respectively fixed to the upper end surface of the fixed frame, the two sorting telescopic cylinders are respectively fixed to the front end of the fixed frame, the two fixed frames are fixed to the inner side of the processed part conveyor belt, and the two slide plates are respectively fixed to the outer side of the processed part conveyor belt relative to the two sorting telescopic cylinders; the grasping device, the conveyor belt of the workpiece to be processed, the processing device, and the conveyor belt of the processed workpiece are sequentially connected in series and arranged in a U shape, and the sorting device is placed inside and outside the conveyor belt of the processed workpiece.

[0009] The electrical control system adopts PLC programming to control the mechanical movement of the grasping device, the mechanical movement of the conveying device, the mechanical movement of the processing device and the mechanical movement of the sorting device, as well as the electrical mechanism of the overall equipment.

[0010] The total installation error of the grabbing device, processing device, conveying device and sorting device does not exceed 0.05mm.

[0011] The positioning method for processing is: 1. Before installing the gripping device, processing device, conveying device, and sorting device, the positioning algorithm, image extraction, and image processing algorithm of the MVP algorithm platform are used to accurately position the visual camera to accurately position the multi-hole position of the workpiece to be processed. The four-axis robot is programmed and debugged by the ARM software to ensure that the four ends of the processing disk of the processing device are 90 degrees. 0The size of the symmetrical circular groove and the error of the workpiece to be processed shall not exceed 0.2mm and the four 90 0 The position error of the symmetrical circular groove does not exceed 0.5 0 , and ensure that the structure of the processing disk installed on the turntable and fixed on the base is stable and wear-free; 2. After the installation of each device is completed, initialize the overall equipment, adjust the position of the grabbing device, processing device, conveying device, and sorting device, and ensure that the overall equipment error does not exceed 0.05mm; 3. After the various parts of the mechanism are debugged, the processing is carried out, and the chamfering accuracy is measured. If the measurement results meet the standards and are qualified, continue processing. If they exceed the error range, proceed to the next step; 4. Recheck the correctness of the installation of each device, find the cause and solve it, and re-test it. Repeat this process until the overall error of the equipment meets the standard, and then continue processing.

[0012] The beneficial effects of the present invention are that the circular groove on the processing disk is shared with the tightening cylinder and the photoelectric sensor, which reduces the inaccurate positioning caused by the vibration error caused by the device and improves the positioning accuracy; through the optimization of the visual camera and the relevant visual algorithm, the positioning accuracy is improved after data processing; the original data in the visual camera is retained, and data analysis can be performed to analyze the ways that affect the accuracy of the device, so that technicians can improve the workpiece positioning and processing accuracy in a timely manner, which is convenient for operators to perform processing compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural diagram of the present invention;

[0014] Figure 2 It is a structural stereogram of the present invention;

[0015] Figure 3 It is a top view of the structure of the present invention;

[0016] Figure 4 It is a schematic diagram of the structure of the processing device of the present invention;

[0017] Figure 5 It is a structural stereogram of the sorting device of the present invention;

[0018] Figure 6 It is a three-dimensional diagram of the structure of a processed workpiece of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0020] like Figure 1 to Figure 6As shown, the intelligent processing and sorting equipment for porous anchors based on machine vision includes a grasping device 1, a processing device 2, a conveying device 3, a sorting device 4 and an electrical control system. The electrical control system is electrically and data-connected with the grasping device, the processing device, the conveying device and the sorting device respectively; forming an intelligent production line with grasping, processing, sorting and conveying functions.

[0021] The grabbing device includes a grabbing claw 1-1 equipped with a telescopic cylinder and a clamping cylinder, a gantry frame 1-3, and a silo 1-4. The grabbing claw 1-1 with the telescopic cylinder and the clamping cylinder is fixed on the crossbeam of the frame 1-3. Three grabbing servo motors drive the gantry frame 1-3 and the grabbing claw 1-1 with the telescopic cylinder and the clamping cylinder to move forward and backward, up and down, and left and right respectively. The silo 1-4 is placed under the frame 1-3 to ensure the grabbing speed and reduce the wear of the workpiece.

[0022] The processing device includes a four-axis robot 2-1, a processing disk 2-2, a turntable 2-3, a drill 2-4, a visual camera 2-7, a processing photoelectric sensor 2-8, and a transfer device 2-9. The processing disk 2-2 is an annular body with four 90-degree angles on the upper end surface. 0 Symmetrical circular grooves 2-5, the size of the grooves 2-5 matches the workpiece to be processed, the processing disk 2-2 is fixed on the turntable 2-3, the processing servo motor and its bracket are fixed on the bottom end surface of the turntable 2-3 and fixed on the base, the four-axis robot 2-1 is fixed on the base behind the processing disk 2-2, the processing servo motor drives the processing disk 2-2 to rotate, the drill bit 2-4 is installed on the drill rod of the four-axis robot 2-1, the visual camera 2-7 is installed on the four-axis robot 2-1 at the front end of the drill rod, the processing photoelectric sensor 2-8 is fixed on the front end of the four-axis robot 2-1 and is aligned with the radial center of the circular groove 2-5 of the processing position of the processing disk 2-2, and a transfer device 2-9 is fixed on the base on the side of the workpiece on the turntable 2-3, which is driven by the rotating cylinder to make 180 0 It rotates back and forth, and a rectangular opening 2-10 is provided on one side of the transfer device 2-9, in which a gripper is provided, which opens and closes under the drive of the clamping cylinder. The processed workpiece transfer device 2-9 is located above the arc-shaped groove 2-8 of the processing disk 2-2, so that the gripper can clamp the processed workpiece when it opens and closes; when a circular groove 2-5 on the processing disk 2-2 is in the processing position, the four-axis robot 2-1 moves so that the edge of the circular groove 2-5 is aligned with the drill bit 2-4 installed on the four-axis robot 2-1, the external opening of the arc-shaped groove 2-8 is facing the processing position photoelectric sensor 2-8 of the four-axis robot 2-1, and the visual camera 2-7 is facing the circular groove 2-5 of the processing position of the processing disk 2-2, and the rectangular opening 2-10 of the finished product transfer device 2-9 is aligned with 90 degrees from the circular groove 2-5 of the processing position of the processing disk 2-2. 0The circular groove 2-5 is formed, and the clamping cylinder of the four-axis robot 2-1 clamps the workpiece to be processed, which ensures the vibration error caused by the rotation of the motor and the tilt error of the workpiece to be processed caused by the uneven force caused by the four-axis robot 2-1 processing the workpiece to be processed, improves the positioning accuracy and processing accuracy, and also improves the processing efficiency and ensures the yield rate of the workpiece.

[0023] The conveying device includes a conveyor belt 3-1 for workpieces to be processed, a conveyor belt 3-2 for processed workpieces, a photoelectric sensor 3-4 for conveying workpieces to be processed, and a photoelectric sensor 3-3 for conveying processed workpieces. The conveyor belt 3-1 for workpieces to be processed is placed between the material bin 1-4 of the gripping device 1 and the outer side of the processing disk 2-2 of the processing device. The photoelectric sensor 3-4 for conveying workpieces to be processed is installed on a bracket for conveying workpieces to be processed 3-1 at a circular groove 2-5 facing the processing disk 2-2. The conveyor belt 3-2 for processed workpieces is placed below the processed workpiece transfer device 2-9 of the processing device. The photoelectric sensor 3-3 for conveying processed workpieces is installed on a bracket for conveying workpieces to be processed 3-2 below the processed workpiece transfer device 2-9.

[0024] The sorting device includes an ultrasonic sensor 4-1 for sorting qualified products, an ultrasonic sensor 4-2 for sorting unqualified products, a telescopic cylinder 4-3 for sorting and a slide plate 4-4. The ultrasonic sensor 4-1 for sorting qualified products and the ultrasonic sensor 4-2 for sorting unqualified products are respectively fixed to the upper end surface of a fixed frame, two telescopic cylinders 4-3 for sorting are respectively fixed to the front end of the fixed frame, the two fixed frames are fixed to the inner side of a processed part conveyor belt 3-2, and two slide plates 4-4 are respectively fixed to the outer side of the processed part conveyor belt 3-2 relative to the two telescopic cylinders 4-3.

[0025] The electrical control system is electrically and data-connected to the gripping device 1, the processing device 2, the conveying device 3, and the sorting device 4, respectively. The electrical control system PLC is programmed through the Siemens TIA Portal software to control the mechanical movement of the gripping part, the mechanical movement of the conveying unit, the mechanical movement of the processing unit, the mechanical movement of the sorting unit, and the overall electrical mechanism of the system;

[0026] The positioning method is to ensure the accuracy of the relative position between the workpiece to be processed and the processing disk 2-2, and the visual camera 2-1 accurately locates the position of the multiple holes to improve the positioning accuracy of the processing.

[0027] 1. Before installing the gripping device 1, processing device 2, conveying device 3, and sorting device 4, the positioning algorithm, image extraction, and image processing algorithm of the MVP algorithm platform are used to enable the visual camera 2-1 to accurately locate the multi-hole position of the workpiece to be processed. The four-axis robot 2-1 is programmed and debugged by the ARM software to ensure that the four upper end faces of the processing disk 2-2 of the processing device are 90 degrees. 0The size of the symmetrical circular grooves 2-5 and the error of the workpiece to be processed should not exceed 0.2mm and the four grooves should be 90 0 Symmetrical circular grooves 2-5 position error does not exceed 0.5 0 , and ensure that the processing disc 2-2 is installed on the turntable 2-3 and fixed on the base, the structure is stable and wear-free;

[0028] 2. After all devices are installed, initialize the whole equipment, adjust the positions of the grabbing device 1, processing device 2, conveying device 3, and sorting device 4, and ensure that the error of the whole equipment does not exceed 0.05mm;

[0029] 3. After all parts are debugged, they are processed and the chamfering accuracy is measured. If the measurement results meet the standards, the processing will continue. If they exceed the error range, the next step will be taken.

[0030] 4. Recheck the correctness of the installation of each device, find the cause, solve it and retest it, repeat this process until the overall error of the equipment meets the standard, then continue processing.

[0031] Advantages

[0032] 1. It greatly reduces labor costs and wear errors caused by people during transportation, while improving the efficiency of grasping and sorting, making the overall efficiency increased by nearly 40%.

[0033] 2. During processing, the positioning accuracy and processing accuracy of the workpiece are improved, and the processing accuracy is increased to 0.05mm, thereby improving the yield rate of the workpiece.

[0034] 3. It replaces manpower for intelligent sorting, improves sorting efficiency, and can perform secondary corrections on unqualified products to further improve the yield rate of workpieces.

[0035] 4. Since it is a complete set of intelligent processing and sorting equipment, the operator can have a better understanding of the equipment performance and accuracy, which is convenient for maintenance and has a higher guarantee for processing accuracy.

[0036] 5. The equipment has a high degree of intelligence and is more flexible. It is easy to upgrade and transform the current enterprise intelligent manufacturing and easy to communicate with third-party equipment.

[0037] The above is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the scope of protection of the present invention.

Claims

1. A machine vision-based intelligent processing and sorting device for porous anchors, comprising a gripping device (1), a processing device (2), a conveying device (3), a sorting device (4) and an electrical control system, wherein the gripping device comprises a gripping claw (1-1) equipped with a telescopic cylinder and a clamping cylinder, a gantry frame (1-3), and a silo (1-4); the processing device comprises a four-axis robot (2-1), a processing disk (2-2), a turntable (2-3), a drill bit (2-4), a visual camera (2-7), a processing photoelectric sensor (2-8), and a transfer device (2-9); the conveying device comprises a conveyor belt for workpieces to be processed (3-1), a conveyor belt for workpieces to be processed (3-2), a photoelectric sensor for conveying workpieces to be processed (3-4), and a photoelectric sensor for conveying workpieces to be processed (3-3); the sorting device comprises an ultrasonic sensor for sorting qualified products (4-1), an ultrasonic sensor for sorting unqualified products (4-2), a telescopic cylinder for sorting (4-3), and a slide plate (4-4), characterized in that: The grasping device (1), the processing device (2), and the conveying device (3) are sequentially connected in series and arranged in a U shape; the sorting device (4) is placed inside and outside the processed workpiece conveyor belt (3-2) of the conveying device (3); the electrical control system is electrically and data-connected to the grasping device (1), the processing device (2), the conveying device (3), and the sorting device (4), respectively, to form an intelligent production line with grasping, processing, sorting, and conveying functions; the processing disk (2-2) of the processing device (2) is an annular body, and the upper end surface has four 90 0 A symmetrical circular groove (2-5) is provided, wherein the size of the circular groove (2-5) matches the workpiece to be processed. A processing disk (2-2) is fixed on a turntable (2-3). A processing servo motor and a bracket thereof are fixed on the bottom end surface of the turntable (2-3) and fixed on a base. A four-axis robot (2-1) is fixed on a base behind the processing disk (2-2). The processing servo motor drives the processing disk (2-2) to rotate. A drill bit (2-4) is installed on a drill rod of the four-axis robot (2-1). A visual camera (2-7) is installed on the four-axis robot (2-1) at the front end of the drill rod. A processing photoelectric sensor (2-8) is fixed on the front end of a propulsion cylinder of the four-axis robot (2-1) and is aligned with the radial center of the circular groove (2-5) at the processing position of the processing disk (2-2). A transfer device (2-9) is fixed on the base on the side of the workpiece on the turntable (2-3) and is driven by a rotating cylinder to make a 180-degree rotation. o The transfer device (2-9) rotates back and forth, and one side of the transfer device (2-9) has a rectangular opening (2-10) in which a gripper is provided, which opens and closes under the drive of a clamping cylinder. The transfer device (2-9) is located above the circular groove (2-5) of the processing disk (2-2), so that the gripper can clamp the processed workpiece when it opens and closes. The workpiece conveyor belt (3-1) of the transfer device (3) is placed between the material bin (1-4) of the grasping device and the outer side of the processing disk (2-2) of the processing device, and the workpiece conveying photoelectric sensor (3-4) is installed on the workpiece conveyor belt (3-1) bracket facing the circular groove (2-5) of the processing disk (2-2). The processed workpiece conveyor belt (3-2) is placed below the transfer device (2-9) of the processing device, and the processed workpiece conveying photoelectric sensor (3-3) is installed on the transfer device (3). The device (2-9) is mounted on a support of a processed workpiece conveyor belt (3-2) below the device (2-9); the qualified product sorting ultrasonic sensor (4-1) and the unqualified product sorting ultrasonic sensor (4-2) of the sorting device (4) are respectively fixed to the upper end surface of the fixed frame, the two sorting telescopic cylinders (4-3) are respectively fixed to the front end of the fixed frame, the two fixed frames are fixed to the inner side of the processed workpiece conveyor belt (3-2), the two slide plates (4-4) are respectively fixed to the outer side of the processed workpiece conveyor belt (3-2) relative to the two sorting telescopic cylinders (4-3), and the electrical control system adopts PLC programming to control the mechanical movement of the grasping device (1), the mechanical movement of the conveying device (3), the mechanical movement of the processing device (2) and the mechanical movement of the sorting device (4), as well as the electrical mechanism of the overall equipment.

2. The machine vision-based intelligent processing and sorting equipment for porous anchors according to claim 1, characterized in that: The grabbing claw (1-1) with a telescopic cylinder and a clamping cylinder of the grabbing device (1) is fixed on a gantry frame (1-3), and three grabbing servo motors respectively drive the gantry frame (1-3) to move forward and backward, left and right, and the grabbing claw (1-1) with a telescopic cylinder and a clamping cylinder to move up and down, and the material bin (1-4) is placed on a base under the gantry frame (1-3).

3. The machine vision-based intelligent processing and sorting equipment for porous anchors according to claim 1, characterized in that: The total installation error of the grasping device (1), the processing device (2), the conveying device (3) and the sorting device (4) does not exceed 0.05 mm.

4. A positioning method for the intelligent processing and sorting equipment for porous anchors based on machine vision as claimed in any one of claims 1 to 3, characterized in that: The specific method is, (I) Before the installation of the gripping device (1), the processing device (2), the conveying device (3), and the sorting device (4), the positioning algorithm, image extraction, and image processing algorithm of the MVP algorithm platform are used to enable the visual camera (2-7) to accurately locate the position of the multi-holes of the workpiece to be processed. The four-axis robot (2-1) is programmed and debugged by the ARM software to ensure that the four upper end surfaces of the processing disk (2-2) of the processing device are 90 degrees. 0 The size of the symmetrical circular grooves (2-5) should not exceed 0.2mm with the workpiece and the four grooves should be 90 degrees apart. 0 Symmetrical circular grooves (2-5) with position error no more than 0.5 0 , and ensure that the processing disc (2-2) is installed on the rotating disc (2-3) and fixed on the base structure is stable and free of wear; (ii) After all devices are installed, initialize the entire equipment, adjust the positions of the gripping device (1), processing device (2), conveying device (3), and sorting device (4), and ensure that the error of the entire equipment does not exceed 0.05 mm; (III) After all parts are debugged, they are processed and the chamfering accuracy is measured. If the measurement results meet the standards, the processing will continue. If they exceed the error range, the next step will be taken. (IV) Recheck the correctness of the installation of each device, find out the cause, solve it and recheck it, repeat this process until the overall error of the equipment meets the standard, then continue processing.

Images