Apparatus and method for automatically picking and placing a strike block and detecting material residue on a pot wall

Abstract

The application relates to a device and a method for automatically taking and placing a ram and detecting material residues on a pot wall, which comprises a position adjusting mechanism, a ram taking and placing mechanism and a visual detection mechanism; the position adjusting mechanism comprises a rotating platform, a lifting platform and a translation platform; the ram taking and placing mechanism comprises an electromagnet and a T-shaped support, the electromagnet is arranged on the T-shaped support, and the T-shaped support is connected with a moving lead screw module; the visual detection mechanism comprises a turnover cylinder, an electric index plate and an industrial camera, the turnover cylinder is arranged on the T-shaped support, a turnover head of the turnover cylinder is connected with the electric index plate, and the electric index plate is connected with the industrial camera. The ram taking and placing mechanism and the visual detection mechanism are fixedly installed on the position adjusting mechanism, and functions such as lifting, translation contraction and overall rotation are realized through the position adjusting mechanism, so that detection operation is realized. The application can realize online and full-automatic detection on residues on the side wall of a grinding pot, and solves the problems of complicated manual detection operation, time consumption and labor intensity.

Description

TECHNICAL FIELD

[0001] The present application relates to a device and method for automatically picking and placing a ram and detecting material residues on a pot wall, and belongs to the technical field of inspection and detection. BACKGROUND

[0002] In the field of sampling and testing, it is often necessary to grind minerals into powder samples for composition detection. A special grinding tool is used when grinding minerals. This grinding tool commonly used for grinding minerals is called a grinding pot, which mainly consists of a cover, a ram, and a pot body. The ram inside the grinding pot is the key device for crushing and grinding minerals. The working principle of the grinding pot is to fix the grinding pot on a vibrating platform, use a locking cylinder to open and close the cover and the pot body, drive the cover to press the pot body during grinding, and make the ram inside the grinding pot continuously hit the inner wall by vibrating the platform, thereby achieving the purpose of grinding minerals into powder. When the ram hits the cylindrical side wall of the pot body, a lot of mineral powder will adhere to the side wall, forming residues on the side wall of the grinding pot. Since the bottom surface of the ram is usually a tapered surface with a certain taper, the bottom of the pot will not form residues due to the interaction between the tapered top and the bottom surface of the pot during grinding. Therefore, the residues during the grinding and sampling process are mainly on the side wall of the pot, and the amount of residues after grinding different materials varies greatly. If the amount of residues is too large, it will have a serious impact on the purity of subsequent sample preparation. Therefore, the residues on the side wall should be detected in a timely manner after sample preparation, and the residues should be cleaned and warned according to the amount of residues.

[0003] The sample preparation grinding pot is usually installed on the vibrating platform inside the equipment. When the detection is stopped, the cover is separated from the pot body under the action of the cylinder and maintains a certain space distance. Then the pot body and the ram inside the grinding pot are manually removed from the vibrating platform. The operator judges the residues on the side wall of the pot body by naked eye. Due to the complex structure and small space of the sample preparation equipment, it is very troublesome to disassemble the pot body, and the amount of residues detected by naked eye completely depends on the experience of the operator, which has too low reliability. After the detection is completed, it also takes a lot of time and effort to reinstall the pot body on the vibrating platform. The in-situ detection and cleaning of residues on the side wall of the sample preparation grinding pot is a bottleneck problem in the field of sampling and testing. At present, there is a lack of simple and efficient detection equipment and effective detection methods. SUMMARY

[0004] In view of the difficulty that the grinding bowl is difficult to detect the residual condition of the inner wall of the bowl body in real time at present, the application designs a new and special automatic grabbing and placing of the grinding bowl and automatic detection device of the residual condition of the side wall. The device is fixed on the oscillation platform with the bowl body of the grinding bowl, the image detection technology is used to identify and locate the impact block in the bowl body, and the impact block is taken out from the bowl body and placed in the temporary storage position, then the image detection and identification technology is used to obtain the residual distribution image of the side wall of the bowl body, so as to provide data guarantee for the quantitative analysis and early warning of the residual condition of the bowl wall.

[0005] The technical scheme of the application is as follows:

[0006] The device for automatically taking and placing the impact block and detecting the residual material of the bowl wall comprises a position adjusting mechanism, an impact block taking and placing mechanism and a visual detection mechanism.

[0007] The position adjusting mechanism comprises a rotating platform, a lifting platform and a translation platform. The rotating platform comprises an internal meshing slewing bearing, a first servo motor, a straight gear and a main support frame. The output shaft of the first servo motor is drivingly connected with the straight gear, the straight gear is drivingly connected with the internal meshing slewing bearing, and the bottom end of the main support frame is arranged on the internal meshing slewing bearing. The lifting platform comprises a second servo motor and a lifting lead screw module. The lifting lead screw module is fixed on the main support frame, and the output shaft of the second servo motor is drivingly connected with the lifting lead screw module. The translation platform comprises a third servo motor and a moving lead screw module. The moving lead screw module is connected with the lifting lead screw module, and the output shaft of the third servo motor is drivingly connected with the moving lead screw module.

[0008] The impact block taking and placing mechanism comprises an electromagnet and a T-shaped support. The electromagnet is arranged on the T-shaped support, and the T-shaped support is connected with the moving lead screw module.

[0009] The visual detection mechanism comprises a turnover air cylinder, an electric index plate and an industrial camera. The turnover air cylinder is arranged on the T-shaped support, the turnover head of the turnover air cylinder is connected with the electric index plate, and the electric index plate is connected with the industrial camera.

[0010] Preferably, the impact block taking and placing mechanism further comprises a buffer pad. The electromagnet is connected with the T-shaped support through the buffer pad. The advantage of this design is that when the electromagnet absorbs the impact block, the impact of the impact block on the electromagnet is avoided.

[0011] Preferably, an annular light source is arranged on the outer periphery of the industrial camera.

[0012] Preferably, the annular light source adopts an LED lamp.

[0013] Preferably, the first servo motor, the second servo motor and the third servo motor are all selected to be integrated machines with a speed reducer.

[0014] Preferably, the lifting screw module comprises a screw, a sliding block and a vertical rack, the screw is arranged in the vertical rack, one end of the screw is rotatably connected with the vertical rack, the other end of the screw is drivingly connected with the second servo motor, and the sliding block is threadedly connected with the screw in the vertical rack.

[0015] Preferably, the moving screw module comprises a screw, a sliding block and a horizontal rack, the screw is arranged in the horizontal rack, one end of the screw is rotatably connected with the horizontal rack, the other end of the screw is drivingly connected with the third servo motor, and the sliding block is threadedly connected with the screw in the horizontal rack.

[0016] Preferably, the vertical rack is fixedly connected with the main support frame, and the horizontal rack is fixedly connected with the sliding block of the lifting screw module through the connecting plate.

[0017] Preferably, the T-shaped support is fixedly connected with the sliding block of the moving screw module.

[0018] Preferably, the device further comprises a control device, and the servo motor, the electromagnet, the turnover cylinder, the electric indexing disc and the industrial camera are all connected and controlled by the control device.

[0019] A working method of a device for automatically taking and placing a bump block and detecting material residues on a pot wall, the detection device is integrally installed on an oscillation platform and located at one side of a grinding pot, first, a device coordinate system o-xyz is established, the device coordinate system takes the intersection of the rotation axis of the inner meshing slewing bearing and the upper surface of the oscillation platform as the origin o, the direction along the rotation axis upward is the z-axis direction, when the device is in the zero position, the direction parallel to the moving direction of the moving screw module and away from the rotation axis of the inner meshing slewing bearing 1 is the x-axis direction, and the y-axis direction is determined according to the directions of the x-axis and the z-axis by the right-hand rule; the working method comprises the following steps:

[0020] 1) After the detection device is powered on, the axes are first returned to zero, and after reaching the set initialization position, the turnover head of the turnover cylinder is in the initial pose, at this time, the optical axis of the industrial camera is perpendicular to the bottom plane of the grinding pot;

[0021] 2) The second servo motor drives the lifting screw module to work, drives the moving screw module, the bump block taking and placing mechanism and the visual detection mechanism connected therewith to descend along the z-axis direction to the first station of the industrial camera;

[0022] 3) When the industrial camera reaches the first station, the ring-shaped light source is turned on, and the industrial camera takes multiple photos above the grinding pot to determine the position of the bump block in the grinding pot;

[0023] 4) The photographed pictures are sequentially extracted according to the shooting order, and then image registration is performed by using the feature points to splice the adjacent images and remove the overlapping boundaries, and finally the entire picture is spliced into a complete picture by using all the photographed pictures, and the center point of the upper surface circle of the block in the device coordinate system o-xyz is obtained by using the Hough circle detection technology, and since the height of the block is known, the center point of the upper surface of the block in the device coordinate system o-xyz can be obtained; then the first servo motor and the third servo motor are operated to move the center point of the electromagnet to the top of the center point of the upper surface circle of the block, the second servo motor is operated to slowly lower the electromagnet, and stops at a position where the bottom of the electromagnet is 1-2 mm above the block, and the current position of the electromagnet is saved;

[0024] 5) The electromagnet is turned on to adsorb the block on the electromagnet, the first servo motor, the second servo motor and the third servo motor are started, the position adjusting mechanism moves the block to the pre-set position on the oscillation platform according to the programmed motion path, the position information of the three axes at this time is recorded by the control device, the electromagnet is turned off to make the block fall on the oscillation platform, and then the detection device performs the zero reset operation to return to the initial position;

[0025] 6) After the zero reset operation of the device is completed, the overturning cylinder is started, the overturning head is rotated by 90 degrees, the second servo motor is started to drive the visual detection mechanism to descend along the z-axis to the position where the bottom of the camera is 5-8 mm above the bottom of the grinding bowl and the rotary shaft of the electric indexing disc coincides with the center axis of the grinding bowl, and stops at this time, at which time the industrial camera reaches the second station; at this time, the distance from the optical center of the industrial camera to the side wall of the grinding bowl is consistent with the distance from the optical center of the industrial camera to the upper surface of the grinding bowl when the industrial camera is located at the first station;

[0026] 7) The annular light source is turned on, the industrial camera completes the first shooting at the second station, and then the electric indexing disc rotates intermittently along the circumference of the grinding bowl to drive the industrial camera to rotate and shoot the side wall of the grinding bowl; the images obtained by two consecutive shootings should have a certain amount of overlap, based on which the rotation angle θ d for

[0027] θ d = 0.7V / r (11)

[0028] In order to obtain the images of the entire side wall of the grinding bowl, the indexing number n d for

[0029] n d = ceiling(2π / θ d ) (12)

[0030] The control device drives the electric indexing disc to complete n dSub-division, in each position, the industrial camera to complete a photo, and save the image acquisition;

[0031] 8) After the completion of the photograph, the industrial camera and the ring light source, the control device drive detection device to perform the zero operation; control device in the computer based on the image column mapping method, the image is mapped to the column expansion image in turn, using the image features matching between adjacent images, in turn, according to the photographing order image stitching, so as to obtain the complete grinding bowl side wall residue distribution plane expansion image;

[0032] 9) check the image obtained is valid image, control device drive position adjustment mechanism movement, driven by the electromagnetic iron return to the 4) step in the placement of the position of the block, then open the electromagnetic iron, the electromagnetic iron will block suction;

[0033] 10) control device drive position adjustment mechanism movement, driven by the electromagnetic iron block taking and placing mechanism and block return to the system saved when the electromagnetic iron position of the suction block, close the electromagnetic iron, the block falls into the bowl body, and then the detection device performs the zero operation back to the initial position waiting for the next operation.

[0034] Preferably, in step 3), before photographing, first determine the number of photographs required by the industrial camera and the photographing position, the number of photographs is determined by the radius r of the inner wall of the grinding bowl and the field of view HxV of the industrial camera at the first station, and the photographing position is determined by the angle of rotation of the moving lead screw module around the z axis and the translation displacement of the slider thereon;

[0035] The projection of the block column on the xoy plane of the detection device coordinate system is a small circle, and the center coordinates of the circle are the to-be-detected quantity; the projection of the inner wall column of the bowl on the xoy plane is a large circle, and the coordinates of the center C of the circle are (x0, y0), and the distance R from the point C to the origin o is

[0036]

[0037] The angle α0 between the line connecting the point C to the origin o and the x axis is

[0038] α0=tan -1 (y0 / x0) (2)

[0039] In order to ensure accurate splicing of the complete image reflecting the overall appearance of the bowl, there should be sufficient overlap between adjacent photos, and the minimum overlap along the H and V directions of the adjacent two times of photographing is 0.3, then the maximum rotation angle Δθ of the moving lead screw module around the z axis during photographing is determined by formula (3)

[0040] Δθ=0.7V / (r+R) (3)

[0041] The maximum displacement Δl of the moving lead screw module slider driving the camera translation during photographing is

[0042] Δl = 0.7H (4)

[0043] Two tangent lines of the great circle are made through the origin o, and the tangent points are P1 and P2 respectively. In order to determine the position of the striker in the bowl, the image covering the complete inner wall space of the bowl body needs to be obtained, and the camera needs to be photographed within the angle range formed by P1, P2 and the origin o. The number of rotations N of the moving lead screw module around the z axis is

[0044]

[0045] The angle θ0 between the tangent line oP1 and the x axis is

[0046] θ0 = α0 - sin -1 (r / R) (6)

[0047] When the moving lead screw module rotates for the first time, the projection of the optical center of the industrial camera on the xoy plane is adjusted to the tangent point P1 to start photographing. The camera only takes one picture at this point, and the photographing number n1 = 1. At this time, the projection of the camera optical center on the xoy plane is located at the tangent point P1, and its coordinates (x 11 , y 11 ) can be obtained by formula (7)

[0048]

[0049] After the first photographing is completed, the control device drives the moving lead screw module to rotate around the z axis by an angle Δθ. After each rotation, photographing is performed according to the calculated photographing number and the projection coordinate position of the camera optical center;

[0050] When the moving lead screw module rotates for the i-th time (1 < i < N), the angle θ i of the line connecting the projection of the camera optical center and the origin relative to the x axis is θ0 + (i-1)Δθ, and the photographing number n i of the camera during this rotation of the moving lead screw module is

[0051]

[0052] When the i-th rotation is performed, the projection coordinates of the camera optical center on the xoy plane during the j-th (1 ≤ j ≤ n i ) photographing are (x ij , y ij ), and the following formula is obtained

[0053]

[0054] When the moving lead screw module rotates for the N-th time, the projection of the camera optical center on the xoy plane is adjusted to the tangent point P2, and the last photographing is performed. The coordinates of the P2 point are (xN1 , y N1 )

[0055]

[0056] The control equipment drives the moving lead screw module to rotate to the corresponding angle in sequence according to the photographing position information obtained by the above method, and moves the industrial camera to the corresponding photographing position to take a photograph, and saves the photographed image, so that a series of images covering the whole inner cavity region of the grinding bowl can be obtained, after the photographing is completed, the camera is turned off, the light source is turned off, and then the three shafts realize the zero return operation and wait for the next instruction.

[0057] The technical features and beneficial effects of the present application are as follows:

[0058] 1. The detection device can detect the adhesion of the residual material on the side wall of the grinding bowl online, and can realize automatic detection after debugging, accurately position the impact block and realize automatic grabbing, moving out and putting in, and solve the problems of complicated manual detection operation, time-consuming and laborious.

[0059] 2. The detection device can effectively obtain the complete image of the residual material distribution on the side wall of the grinding bowl, and provide conditions for accurately analyzing the size of the residual material and accurately evaluating the influence of the residual material on the sample purity.

[0060] 3. The detection device can obtain the panoramic image of the side wall of the grinding bowl, accurately present the distribution of the cylindrical side wall of the grinding bowl and the residual material thereon on a plane image, greatly simplify the difficulty of subsequent residual material distribution area identification and residual amount size calculation, and lay a foundation for accurately analyzing the residual condition of the side wall of the grinding bowl and timely providing cleaning warning. DETAILED DESCRIPTION

[0061] Figure 1 It is a structural schematic diagram of the detection device of the present application;

[0062] Figure 2 It is a first station schematic diagram of the industrial camera;

[0063] Figure 3 It is a second station schematic diagram of the industrial camera;

[0064] Figure 4 It is a camera photographing coordinate point calculation schematic diagram when detecting the position of the impact block;

[0065] Figure 5 It is a whole operation flow chart of the detection device;

[0066] In the diagram: 1-Internal meshing slewing bearing, 2-Support cover plate, 3-Spur gear, 4-Reducer, 5-First servo motor, 6-Main support frame, 7-Second servo motor, 8-Lifting screw module, 9-Connecting plate, 10-Third servo motor, 11-Moving screw module, 12-T-shaped bracket, 13-Control equipment, 14-Electromagnet, 15-Buffer pad, 16-Tilting cylinder, 17-Indexing plate support plate, 18-Electric indexing plate, 19-Camera bracket, 20-Industrial camera, 21-Ring light source, 22-Vibration platform. Detailed Implementation

[0067] The present invention will be further described below with reference to the embodiments and accompanying drawings, but is not limited thereto.

[0068] Example 1:

[0069] like Figures 1-3 As shown, this embodiment provides an automatic device for picking up and placing impact blocks and detecting material residue on the bowl wall, including a position adjustment mechanism, an impact block picking and placing mechanism, and a vision inspection mechanism;

[0070] The position adjustment mechanism includes a rotating platform, a lifting platform, and a translating platform. The rotating platform includes an internal meshing slewing bearing 1, a first servo motor 5, a spur gear 3, and a main support frame 6. The output shaft of the first servo motor 5 is driven by the spur gear 3, and the spur gear 3 is driven by the internal meshing slewing bearing 1. The bottom end of the main support frame 6 is mounted on the internal meshing slewing bearing 1. The lifting platform includes a second servo motor 7 and a lifting screw module 8. The lifting screw module 8 is fixed to the main support frame 6, and the output shaft of the second servo motor 7 is driven by the lifting screw module 8. The translating platform includes a third servo motor 10 and a moving screw module 11. The moving screw module 11 is connected to the lifting screw module 8, and the output shaft of the third servo motor 10 is driven by the moving screw module 11.

[0071] The impact block picking and placing mechanism includes an electromagnet 14 and a T-shaped bracket 12. The electromagnet 14 is mounted on the T-shaped bracket 12, and the T-shaped bracket 12 is connected to the movable lead screw module 11.

[0072] The visual inspection mechanism includes a tilting cylinder 16, an electric indexing plate 18, and an industrial camera 20. The tilting cylinder 16 is mounted on a T-shaped bracket 12. The tilting head of the tilting cylinder 16 is connected to the electric indexing plate 18, and the electric indexing plate 18 is connected to the industrial camera 20.

[0073] Specifically, the impact block handling mechanism and the visual inspection mechanism are both fixedly mounted on the position adjustment mechanism. The position adjustment mechanism enables functions such as lifting, translation, retraction, and overall rotation to perform the inspection operation. The entire inspection device of this embodiment is mounted on the oscillation platform 22, located on one side of the grinding bowl on the oscillation platform.

[0074] The first servo motor 5, the second servo motor 7 and the third servo motor 10 are all selected as an integrated machine with a motor and a speed reducer.

[0075] The first servo motor 5 is drivingly connected with the straight gear 3 through the speed reducer 4, and the straight gear 3 is engaged with the internal gear of the internal meshing rotary support 1, so as to realize the rotary motion of the internal meshing rotary support, and further drive the whole detection device to rotate. The first servo motor 5 is fixedly installed on one side of the main support frame 6 through bolts, and the bottom end of the main support frame 6 is fixedly installed on the support cover plate 2 of the internal meshing rotary support 1 through bolts.

[0076] The lifting screw module 8 includes a screw, a sliding block and a vertical rack, and the vertical rack is fixedly installed on the other side of the main support frame through bolts and opposite to the first servo motor. The screw is arranged in the vertical rack, the bottom end of the screw is rotatably connected with the bottom end in the vertical rack through a bearing, the second servo motor is drivingly connected with the top end of the screw through a speed reducer, and the sliding block is threadedly connected with the screw in the vertical rack.

[0077] The moving screw module 11 includes a screw, a sliding block and a horizontal rack, the screw is arranged in the horizontal rack, the end of the screw is rotatably connected with the end in the horizontal rack through a bearing, the third servo motor 10 is drivingly connected with the front end of the screw through a speed reducer, and the sliding block is threadedly connected with the screw in the horizontal rack. The horizontal rack is fixedly connected with the sliding block of the lifting screw module through a connecting plate 9 and bolts, and the sliding block of the lifting screw module can drive the whole moving screw module to lift up and down during operation.

[0078] The T-shaped support 12 is fixedly connected with the sliding block of the moving screw module 11 through bolts. The electromagnet 14 is fixedly installed on the T-shaped support 12 through screws, and the on-off of the electromagnet 14 is used to realize the suction and release of the impact block. In order to ensure that the detection device does not collide with the grinding bowl when the impact block is taken and released, it is necessary to ensure that there is a safety distance of more than 5mm between the lower end surface of the moving screw module and the upper end surface of the grinding bowl when the electromagnet is lowered to the position of taking and releasing the impact block.

[0079] The turnover cylinder 16 is fixedly installed on the T-shaped support 12 by screws, the turnover head of the turnover cylinder 16 is connected with the index disc support plate 17, and the industrial camera 20 is fixedly connected with the electric index disc 18 fixed on the index disc support plate 17 through the camera support 19. During operation, the posture adjustment and the rotation angle adjustment of the industrial camera are realized through the turnover cylinder and the electric index disc, so that the photographing positioning of the impact block position and the photographing detection of the residues on the inner wall of the bowl body are realized. The 90-degree turnover function of the turnover cylinder enables the industrial camera of the visual detection mechanism to obtain two positions in which the optical axis is perpendicular to the bottom plane of the grinding bowl and parallel to the bottom plane of the grinding bowl, so that the industrial camera can realize the two functions of the position detection of the impact block in the grinding bowl and the detection of the residue distribution on the side wall of the bowl body. Through the rotation indexing of the electric index disc, the industrial camera can be driven to rotate around the axis of the bowl body by 360 degrees, so that the panoramic image of the entire side wall of the grinding bowl is effectively obtained.

[0080] The detection device further comprises a control device 13 mainly composed of a computer and a controller. The first servo motor, the second servo motor, the third servo motor, the electromagnet, the turnover cylinder, the electric index disc and the industrial camera are all connected and controlled by the control device. During operation, the servo motor, the electromagnet, the turnover cylinder, the electric index disc and the industrial camera are driven to work by the relevant controller according to the program set in the computer.

[0081] Embodiment 2:

[0082] An automatic impact block taking and placing device and a device for detecting residues on the wall of a bowl, which has the structure as described in Embodiment 1, and the difference is that the impact block taking and placing mechanism further comprises a buffer pad 15, and the electromagnet 14 is connected to the T-shaped support 12 through the buffer pad 15. When the electromagnet absorbs the impact block, the impact force of the impact block on the electromagnet is avoided, and the safe operation of the electromagnet is ensured.

[0083] Embodiment 3:

[0084] An automatic impact block taking and placing device and a device for detecting residues on the wall of a bowl, which has the structure as described in Embodiment 1, and the difference is that an annular light source 21 is arranged on the outer periphery of the industrial camera 20, and the annular light source is an LED lamp. The annular light source is sleeved on the industrial camera through the inner hole in the middle.

[0085] Embodiment 4:

[0086] A working method of a device for automatically picking and placing a bump and detecting material residues on a pot wall, the detection device of embodiment 3 is installed on a vibrating platform and located at one side of a grinding pot, first, a device coordinate system o-xyz is established, the device coordinate system takes the intersection of the rotation axis of the inner meshing slewing bearing and the upper surface of the vibrating platform as the origin o, the direction along the rotation axis upward is the z-axis direction, when the device is in the zero position, the direction of the x-axis is parallel to the moving screw module moving direction and away from the rotation axis of the inner meshing slewing bearing 1, the y-axis direction is determined according to the directions of the x-axis and the z-axis by the right-hand rule; the working method comprises the following steps:

[0087] 1) After the device is powered on, first, the axes are returned to zero, after reaching the set initialization position, the turnover head of the turnover cylinder 16 is in the initial pose, at this time, the optical axis of the camera is perpendicular to the bottom plane of the grinding pot;

[0088] 2) The second servo motor 7 drives the lifting screw module 8 to work, drives the moving screw module 11 and the bump picking and placing mechanism and the visual detection mechanism connected thereto to descend along the z-axis direction to the first station of the camera, as shown in Figure 2 At this time, the distance from the optical center of the industrial camera 20 to the upper surface of the grinding pot is consistent with the distance from the optical center of the camera to the side wall of the grinding pot when the camera is located at the second station, as shown in Figure 3 .

[0089] 3) When the industrial camera 20 reaches the first station under the control of the control equipment, turn on the ring light source 21, and take pictures to detect the position of the bump in the grinding pot. The camera needs to take pictures multiple times above the grinding pot to determine the position of the bump, first, the number of times of taking pictures and the position of taking pictures are determined, the number of times of taking pictures is determined by the radius r of the inner wall of the grinding pot and the field of view HxV of the camera at the first station, and the position of taking pictures is determined by the angle of rotation of the moving screw module 11 around the z-axis and the translation displacement of the slider thereon.

[0090] Figure 4 The first station of the camera is a schematic diagram of the number of times of taking pictures and the position of taking pictures, the small circle in the figure is the projection of the bump cylindrical surface on the xoy plane of the detection device coordinate system, and the center coordinates of the small circle are the to-be-detected quantities. The large circle is the projection of the inner wall cylindrical surface of the pot on the xoy plane, and the coordinates of the center C of the large circle are (x0, y0), the distance R from the point C to the origin o is

[0091]

[0092] The angle α0 between the line connecting the point C to the origin o and the x-axis is

[0093] α0=tan -1 (y0 / x0) (2)

[0094] In order to ensure accurate stitching of the complete image reflecting the overall appearance of the bowl, there should be sufficient overlap between adjacent photos. When the minimum overlap of the adjacent two photos in the H and V directions is 0.3, the maximum rotation angle Δθ of the moving screw module 11 around the z axis during the photographing process is determined by formula (3).

[0095] Δθ = 0.7V / (r+R) (3)

[0096] The maximum displacement Δl of the moving screw module 11 slider driving the camera translation during the photographing process is

[0097] Δl = 0.7H (4)

[0098] Two tangent lines of the great circle passing through the origin o are drawn, and the tangent points are P1 and P2. In order to determine the position of the striker in the bowl, the camera needs to be photographed within the angle range formed by P1, P2 and the origin o in order to obtain the image covering the complete inner wall space of the bowl. The number of rotations N of the moving screw module 11 around the z axis is

[0099]

[0100] The angle θ0 between the tangent line oP1 and the x axis is

[0101] θ0 = α0-sin -1 (r / R) (6)

[0102] When the moving screw module 11 rotates for the first time, the rotation angle θ0 around the z axis adjusts the projection of the optical center of the industrial camera 20 on the xoy plane to the tangent point P1 to start photographing. The camera only takes one photo at this point, and the photographing number n1 = 1. At this time, the projection of the camera optical center on the xoy plane is located at the tangent point P1, and its coordinates (x 11 , y 11 ) can be obtained by formula (7).

[0103]

[0104] After the first photographing is completed, the control device drives the moving screw module 11 to rotate around the z axis by angle Δθ in turn, and photographs according to the calculated photographing number and the projection coordinate position of the camera optical center after each rotation.

[0105] When the moving screw module 11 rotates for the i-th time (1 < i < N), the rotation angle θ i of the line connecting the projection of the optical center of the industrial camera 20 and the origin relative to the x axis is θ0 + (i-1)Δθ, and the photographing number n i of the camera 20 during this rotation of the moving screw module 11 is

[0106]

[0107] Let the projection coordinates of the optical center of the camera in the xoy plane at the jth(1≤j≤n i ) time of shooting be (x ij , y ij ) respectively, then

[0108]

[0109] The projection of the optical center of the industrial camera 20 in the xoy plane is adjusted to the point P2 when the mobile lead screw module 11 is rotated for the nth time, and the last shooting is performed, and the coordinates of the point P2 are (x N1 , y N1 )

[0110]

[0111] The control device 13 drives the mobile lead screw module 11 to rotate to the corresponding angle according to the shooting position information obtained by the above method, and moves the industrial camera 20 to the corresponding shooting position for shooting, and saves the photographed image, so as to obtain a series of images covering the entire inner cavity region of the grinding bowl. After shooting, the camera is turned off, the light source is turned off, and then the three axes (rotation axis, lifting axis, and translation axis) are returned to zero and wait for the next instruction.

[0112] 4) After the feature points are extracted from the pictures obtained by shooting in sequence, the feature points are used for image registration, the adjacent images are spliced and the overlapping boundaries are removed, and finally the complete picture is spliced from all the pictures obtained by shooting. The center point of the upper surface circle of the striker in the device coordinate system o-xyz is obtained by using the Hough circle detection technology. Since the height of the striker is known, the center point of the upper surface of the striker in the device coordinate system o-xyz can be obtained. Then the first servo motor 5 and the third servo motor 10 are driven to execute the interpolation instruction to move the center point of the electromagnet to the upper surface of the center point of the striker, and then the second servo motor 7 is driven to slowly lower the electromagnet to stop at a position 1-2 mm above the striker, and the current position of the electromagnet is saved.

[0113] 5) Turn on the electromagnet 14 to adsorb the striker on the electromagnet, start the first servo motor 5, the second servo motor 7 and the third servo motor 10, and the position adjusting mechanism moves the striker to the pre-set position on the vibration platform according to the movement path set by the program. The control device 13 records the position information of the three axes at this time, the electromagnet 14 is turned off, the magnetic force of the electromagnet disappears and the striker is no longer adsorbed, so that the striker stays on the platform, and then the detection device returns to the initial position.

[0114] 6) After the device zero-return operation is completed, the overturning cylinder is started, the overturning head is turned 90 degrees, the second servo motor 7 is started, and the visual detection mechanism is driven to descend along the z-axis to the bottom of the camera to the bottom of the grinding bowl 5-8 mm and stop when the rotation axis of the electric index plate 18 coincides with the center axis of the grinding bowl. At this time, the industrial camera 20 reaches the second working position shown in FIG. 2. Figure 3

[0115] 7) The annular light source 21 is turned on, the industrial camera 20 completes the first shooting at the current position, and then the electric index plate 18 is intermittently indexed and rotated along the circumference of the grinding bowl, driving the industrial camera 20 to rotate and shoot the side wall of the grinding bowl. In order to facilitate subsequent image stitching, the images obtained by two consecutive shootings should have a certain amount of overlap. Based on this, the rotation angle θ of the electric index plate at each index is d

[0116] θ d = 0.7V / r (11)

[0117] In order to obtain the image of the entire side wall of the grinding bowl, the number of indexes n of the electric index plate d

[0118] n d = ceiling(2π / θ d ) (12)

[0119] The control device 13 drives the electric index plate 18 to complete n d times of indexing according to the above indexing angle, and at each indexing position, the industrial camera 20 completes one shooting and saves the obtained image.

[0120] 8) After the shooting is completed, the camera and the light source are turned off, and the control device 13 drives the detection device to perform a zero-return operation. Based on the image cylindrical mapping method, the computer in the control device 13 sequentially maps the photographed images into cylindrical development images, matches the image features in the overlapping areas between adjacent images, sequentially performs image stitching according to the shooting order, and thus obtains a complete planar development image of the residual distribution on the side wall of the grinding bowl.

[0121] 9) After checking that the obtained image is a valid image, the control device 13 drives the position adjusting mechanism to move, driving the electromagnet 14 of the impact block taking and placing mechanism to return to the position in the 4) step when the impact block is placed, then the electromagnet 14 is turned on, and the electromagnet obtains magnetic force to attract the impact block.

[0122] 10) The control device 13 drives the position adjusting mechanism to move, driving the impact block taking and placing mechanism and the impact block to return to the position of the electromagnet when the impact block is sucked, turns off the electromagnet 14, and the impact block falls into the interior of the bowl body, and then the detection device performs a zero-return operation to return to the initial position and wait for the next operation.

[0123] ​​​Compared with the existing method which completely relies on manual visual judgment, the detection method of the embodiment can realize full-automatic detection, can accurately position the impact block and realize automatic grabbing, moving out and putting in operation, can also effectively obtain the complete image of the residual distribution on the side wall of the grinding bowl, and provides conditions for accurately analyzing the size of the residual amount and accurately evaluating the influence of the residual on the sample purity, and solves the problems of tedious and time-consuming manual detection operation.

[0124] The above merely describes specific embodiments of the present application, and the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application.

Claims

1. A working method of a device for automatically picking and placing a ram and detecting material residues on a pot wall, the detection device being integrally installed on an oscillating platform and located on one side of a grinding pot, first, a device coordinate system o-xyz is established, the device coordinate system takes the intersection of the rotation axis of the internal meshing slewing bearing and the upper surface of the oscillating platform as the origin o, the direction along the rotation axis upward is the z-axis direction, when the device is in the zero position, the direction of the moving screw module moving away from the rotation axis of the internal meshing slewing bearing is the x-axis direction, and the y-axis direction is determined according to the directions of the x-axis and the z-axis by the right-hand rule; wherein, The detection device comprises a position adjusting mechanism, a ram picking and placing mechanism, and a visual detection mechanism; The position adjusting mechanism comprises a rotating platform, a lifting platform, and a translation platform; wherein the rotating platform comprises an internal meshing slewing bearing, a first servo motor, a spur gear, and a main support frame, the output shaft of the first servo motor is drivingly connected with the spur gear, the spur gear is drivingly connected with the internal meshing slewing bearing, and the bottom end of the main support frame is arranged on the internal meshing slewing bearing; the lifting platform comprises a second servo motor and a lifting screw module, the lifting screw module is fixed on the main support frame, and the output shaft of the second servo motor is drivingly connected with the lifting screw module; the translation platform comprises a third servo motor and a moving screw module, the moving screw module is connected with the lifting screw module, and the output shaft of the third servo motor is drivingly connected with the moving screw module; The ram picking and placing mechanism comprises an electromagnet and a T-shaped support, the electromagnet is arranged on the T-shaped support, and the T-shaped support is connected with the moving screw module; The visual detection mechanism comprises a turnover cylinder, an electric index plate, and an industrial camera, the turnover cylinder is arranged on the T-shaped support, the turnover head of the turnover cylinder is connected with the electric index plate, and the electric index plate is connected with the industrial camera; The working method comprises the following steps: 1) After the detection device is powered on, the axes are first returned to zero, and after reaching the set initialization position, the turnover head of the turnover cylinder is in the initial pose, at this time, the optical axis of the industrial camera is perpendicular to the bottom plane of the grinding pot; 2) The second servo motor drives the lifting screw module to work, drives the moving screw module, and drives the ram picking and placing mechanism and the visual detection mechanism connected therewith to descend along the z-axis direction to the first station of the industrial camera; 3) When the industrial camera reaches the first station, the ring light source is turned on, and the industrial camera takes multiple pictures above the grinding pot to determine the position of the ram in the grinding pot; 4) The photographed pictures are sequentially subjected to feature point extraction according to the shooting order, and then image registration is performed by using the feature points, the adjacent images are spliced with each other and the overlapping boundaries are removed, and finally the complete picture is spliced by using all the photographed pictures, the center point of the upper surface circle of the block in the device coordinate system o-xyz is obtained by using the Hough circle detection technology, and since the height of the block is known, the center point of the upper surface of the block in the device coordinate system o-xyz can be obtained; then the first servo motor and the third servo motor are operated to move the center point of the electromagnet to the top of the center point of the upper surface circle of the block, the second servo motor is operated to slowly lower the electromagnet, and the electromagnet is stopped at a position 1-2 mm above the block, and the current position of the electromagnet is saved; 5) The electromagnet is turned on to adsorb the block on the electromagnet, the first servo motor, the second servo motor and the third servo motor are started, the position adjusting mechanism moves the block to the pre-set position on the oscillation platform according to the programmed movement path, the position information of the three axes at this time is recorded by the control device, the electromagnet is turned off to make the block fall on the oscillation platform, and then the detection device performs the zero return operation to return to the initial position; 6) After the zero return operation of the device is completed, the turnover cylinder is started, the turnover head is turned by 90 degrees, the second servo motor is started to drive the visual detection mechanism to descend along the z axis to the position 5-8 mm below the bottom of the grinding bowl and stop when the rotary shaft of the electric protractor is coincided with the center axis of the grinding bowl, at this time the industrial camera reaches the second station; at this time the distance from the optical center of the industrial camera to the side wall of the grinding bowl is consistent with the distance from the optical center of the industrial camera to the upper surface of the grinding bowl when the industrial camera is located at the first station; 7) ring light source is turned on, the industrial camera takes the first picture at the second station, then the electric indexing disc rotates intermittently along the circumference of the grinding bowl to drive the industrial camera to rotate and take pictures of the side wall of the grinding bowl; the images taken in succession should have a certain amount of overlap, based on which the rotation angle θ of the electric indexing disc at each indexing is d θ d = 0.7V / r (11) To obtain an image of the entire sidewall of the grinding bowl, the number of divisions n of the electric indexing plate is... d For n d =ceiling(2π / θ) d (12) The control device drives the electric index wheel to complete n d sub-gradations, at each index position, the industrial camera takes a picture and saves the acquired image; 8) After the photographing is completed, the industrial camera and the ring light source are turned off, and the control device drives the detection device to perform the zero return operation; the computer in the control device maps the photographed images into the cylindrical surface expansion images in sequence based on the image cylindrical surface mapping method, and the images are spliced in sequence by using the image feature matching of the overlapping areas between the adjacent images, so that the complete grinding bowl side wall residual distribution planar expansion image is obtained; 9) After the obtained image is checked to be a valid image, the control device drives the position adjusting mechanism to move, drives the electromagnet of the block taking and placing mechanism to return to the position in the step 4) when the block is placed, then the electromagnet is turned on to adsorb the block; 10) The control device drives the position adjusting mechanism to move, drives the block taking and placing mechanism and the block to return to the position of the electromagnet when the block is adsorbed, turns off the electromagnet, and the block falls into the bowl body, and then the detection device performs the zero return operation to return to the initial position to wait for the next operation.

2. The method of claim 1, wherein, In the step 3), the photographing times and the photographing positions required by the industrial camera are determined before photographing, the photographing times are determined by the radius r of the inner wall of the grinding bowl and the field of view HxV of the industrial camera at the first station, and the photographing positions are determined by the angle of rotation of the moving lead screw module around the z axis and the translation displacement of the slider thereon. The projection of the punch block cylindrical surface on the xoy plane of the detection device coordinate system is a small circle, and the center coordinates of the small circle are the to-be-detected quantity; the projection of the inner wall cylindrical surface of the bowl on the xoy plane is a large circle, and the coordinates of the center C of the large circle are (x0, y0), and the distance R from the point C to the origin o is The angle a0 between the line connecting the point C to the origin o and the x-axis is a0 = tan -1 (y0 / x0) (2) In order to ensure that the complete image reflecting the overall appearance of the bowl is accurately spliced, there should be sufficient overlap between adjacent photos, and the minimum overlap in the H and V directions of the adjacent two photos is 0.3, and then the maximum rotation angle Δθ of the moving lead screw module around the z axis during the photographing process is determined by formula (3) Δθ = 0.7V / (r+R) (3) The maximum displacement Δl of the moving lead screw module slider driving the camera to translate during the photographing process is Δl = 0.7H (4) Two tangent lines of the large circle are drawn through the origin o, and the tangent points are P1 and P2, respectively, in order to determine the position of the punch block in the bowl, the camera needs to be photographed within the angle range formed by P1, P2 and the origin o in order to obtain the image covering the complete inner wall space of the bowl, and the number of rotations N of the moving lead screw module around the z axis is The angle θ0of the tangent oP1with the x-axis is θ0= α0- sin -1 (r / R) (6) When the mobile lead screw module rotates for the first time, the projection of the optical center of the industrial camera on the xoy plane is adjusted to the tangent point P1 to start photographing. The camera only takes one picture at this point, and the number of photographs n1=1. At this time, the projection of the camera optical center on the xoy plane is located at the tangent point P1, and its coordinates (x 11 , y 11 ) can be obtained by formula (7) After the first photographing is completed, the control device drives the moving lead screw module to rotate around the z axis by an angle Δθ, and after each rotation, the photographing times and the projection coordinates of the camera optical center are calculated and photographed; When the mobile screw module is rotated for the i-th time, 1 < i < N, the angle θ between the line connecting the optical center of the camera and the origin and the x-axis i = θ0+ (i-1) Δθ, the number of times n that the camera needs to take pictures when the mobile screw module is rotated this time i , 1 < i ≤ N is Let the projection of the optical center of the camera in the xoy plane at the jth, 1≤j≤n i time of shooting be (x ij ,y ij ), then we have The projection of the optical center of the camera on the xoy plane is adjusted to the tangent point P2 when the Nth rotation of the mobile lead screw module is performed, and the last photograph is taken, the coordinates (x N1 , y N1 ) of the point P2 The control device drives the moving lead screw module to rotate to the corresponding angle according to the photographing position information obtained by the above method, and moves the industrial camera to the corresponding photographing position to take a photo, and saves the photographed image, so as to obtain a series of images covering the entire grinding bowl inner cavity region, after the photographing is completed, the camera is turned off, the light source is turned off, and then the three axes are returned to zero and wait for the next instruction.

3. The method of claim 1, wherein the step of operating the engine comprises: The outer periphery of the industrial camera is provided with a ring-shaped light source.

4. The method of claim 1, wherein, The first servo motor, the second servo motor and the third servo motor are all selected to be integrated machines with a motor and a speed reducer.

5. The method of claim 1, wherein, The lifting lead screw module includes a lead screw, a slider and a vertical rack, the lead screw is arranged in the vertical rack, one end of the lead screw is rotationally connected with the vertical rack, the other end of the lead screw is transmissionally connected with the second servo motor, and the slider is threadedly connected with the lead screw in the vertical rack.

6. The method of operation of claim 5, wherein, The moving lead screw module includes a lead screw, a slider and a horizontal rack, the lead screw is arranged in the horizontal rack, one end of the lead screw is rotationally connected with the horizontal rack, the other end of the lead screw is transmissionally connected with the third servo motor, and the slider is threadedly connected with the lead screw in the horizontal rack.

7. The method of operation of claim 6, wherein, The vertical rack is fixedly connected with the main support frame, and the horizontal rack is fixedly connected with the slider of the lifting lead screw module through a connecting plate.

8. The method of claim 6, wherein, The T-shaped support is fixedly connected with the slider of the moving lead screw module.

9. The method of claim 1, wherein, The device further includes a control device, and the servo motor, the electromagnet, the overturning cylinder, the electric indexing disc and the industrial camera are all connected and controlled by the control device.

Images