Radian detection and identification device
By designing a radian detection and identification device, using the coordinated work of the turntable and the robot, combined with the edge detection method, the problems of arc detection accuracy and speed of complex workpieces are solved, efficient and automated radian and thickness detection are achieved, and modern industry is satisfied with machinery High precision requirements for part measurement.
Patent Information
- Application Number
- CN202323611343.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-28
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2033-12-28
AI Technical Summary
Traditional inspection methods are difficult to meet the high accuracy and speed requirements for arc detection of complex workpieces, especially in modern industry, the accuracy and speed requirements for mechanical parts measurement are increasing.
A arc detection and identification device including a workbench, a turntable, a front view image collector, a side view image collector, a loading robot and a loading robot are designed. Through the rotation of the turntable and the coordinated work of the robot, automated detection is realized and edges are used. Detection method and multiple edge point voting mechanisms to accurately obtain the radian and center information of the workpiece.
It realizes high-precision detection and identification of workpiece arcs, improves detection efficiency, and can automatically identify the arc and thickness dimensions of complex shapes, improving detection accuracy and production efficiency.
Smart Images
Figure CN222211593U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of workpiece detection, in particular to a radian detection and identification device. Background Art
[0002] In mechanical processing, high-precision measurement of the geometric shape and size of industrial processing parts is an important part of industrial casting production. Its detection accuracy and speed directly affect production efficiency and product quality. Detect the key dimensions of the workpiece to determine whether the machining allowance or its machining accuracy meets the requirements.
[0003] And with the development and progress of modern industry, in the modern mechanical processing and inspection industry, the accuracy and speed of mechanical parts size measurement are increasingly required, and a large number of workpiece sizes need to be inspected, such as their length, diameter, aperture and curvature.
[0004] However, for the detection of irregular shapes such as curvature on workpieces, traditional detection methods have been difficult to meet the needs. Therefore, how to achieve fast and high-precision detection of complex workpiece dimensions has become a development trend. Summary of the invention
[0005] The utility model aims to provide a curvature detection and identification device which can automatically, efficiently and accurately identify the curvature size of a workpiece.
[0006] The embodiment of the utility model is realized through the following technical scheme: a curvature detection and identification device, comprising a workbench, a turntable is arranged on the workbench, the turntable is equipped with a plurality of fixed stations for placing workpieces, and the plurality of fixed stations are evenly spaced around the center of the turntable; a front view image collector and a side view image collector, the front view image collector is arranged above the fixed stations, and the side view image collector is arranged beside the turntable; the workbench is also equipped with a loading robot and a unloading robot located beside the turntable, and the loading robot and the unloading robot are separated by one fixed station.
[0007] Preferably, the front view image collector is connected to a first lifting assembly, which includes a support plate, a base plate and a lifting gear, and the back side of the support plate is provided with a lifting rack meshing with the lifting gear; the base plate is arranged inside the workbench, and the support plate passes through the base plate and is slidably connected thereto.
[0008] Preferably, a central column is installed on the bottom plate, the central column extends from the middle of the turntable, a second lifting assembly is installed on the central column, and the side view image collector is connected to the second lifting assembly.
[0009] Preferably, the second lifting assembly includes a guide rod, a screw rod and a top plate, the screw rod and the guide rod are respectively arranged at the front and rear ends of the side view image collector and are cooperatively connected therewith; and one end of the screw rod is connected to the top plate, and the other end thereof is connected to the center column.
[0010] Preferably, the center column is rotatably connected to the turntable; a gear ring is fixedly connected to the lower end of the turntable, and the gear ring is meshingly connected to a driving gear, and a bearing is provided between the center column and the turntable.
[0011] Preferably, it further comprises a fill light cover, which is a cylindrical structure, and the front view image collector is arranged in the fill light cover.
[0012] Preferably, an air suction cup is installed in the middle of the fixed station.
[0013] The technical solution of the embodiment of the utility model has at least the following advantages and beneficial effects: the utility model grabs the workpiece and places it on the fixed station through the loading manipulator, and the turntable rotates to the bottom of the front view image collector, so as to capture and extract the workpiece image through front view, obtain the main edge of the workpiece and enlarge the image, and combine the edge points to obtain the center of the circle and the radius to reversely infer the arc size, so that the detection accuracy is higher, and the turntable drives the fixed station to rotate a certain angle to switch to the next detection workpiece, so as to realize automatic and efficient detection of workpieces;
[0014] In addition, the side view image collector can not only identify the lateral curvature of the workpiece, but also detect the thickness of the detector. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 A schematic diagram of the internal structure of the arc detection and identification device provided in an embodiment of the utility model;
[0017] Figure 2 for Figure 1 A local enlarged view of point A in FIG.
[0018] Figure 3 It is a top view of the curvature detection and identification device in the utility model;
[0019] Figure 4 This is an operation logic diagram of the arc detection device of the utility model.
[0020] Icon: 1-workbench, 2-turntable, 3-fixed workstation, 31-air suction cup, 4-front view image collector, 5-first lifting assembly, 51-support plate, 52-lifting rack, 53-lifting gear, 6-second lifting assembly, 61-top plate, 62-guide rod, 63-screw, 7-bottom plate, 8-center column, 9-bearing, 10-gear ring, 11-driving gear, 12-unloading robot, 13-loading robot, 14-fill light cover, 15-side view image collector. Implementation
[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.
[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0023] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings. Example
[0024] The following is further described in conjunction with specific embodiments. Figure 1-Figure 3As shown, the present embodiment is a curvature detection and recognition device, comprising a workbench 1, a turntable 2 is arranged on the workbench 1, and a plurality of fixed stations 3 for placing workpieces are installed on the turntable 2, and the plurality of fixed stations 3 are evenly spaced around the center of the turntable 2; a front view image collector 4 and a side view image collector 15, the front view image collector 4 is arranged above the fixed station 3, and the side view image collector 15 is arranged beside the turntable 2; the workbench 1 is also equipped with a loading robot 13 and a unloading robot 12 located beside the turntable 2, and the loading robot 13 and the unloading robot 12 are separated by a fixed station 3; specifically, a workpiece loading box and a workpiece recovery box are installed beside the workbench 1 of the utility model, and the loading robot 13 takes the workpiece from the loading robot 13 to the unloading robot 12; While grabbing a plate-type workpiece in the material box and placing it in the fixed workstation 3, the unloading robot 12 will synchronously grab the next inspected workpiece from the fixed workstation 3 and put it back into the workpiece recovery box. The loading robot 13 and the unloading robot 12 are arranged closely together. For the curvature detection on the plate-type workpiece, the fixed workstation 3 plays a role of horizontal positioning. Every time the turntable 2 rotates in one direction, the fixed workstation 3 stops just below the front view image collector 4, ensuring the effect of clearly shooting and extracting the workpiece image, which is helpful to the accuracy of the detection data. Every time the turntable 2 rotates a fixed workstation 3, the front view image collector 4 and the side view image collector 15 take a picture once, and the loading robot 13 and the unloading robot 12 also work once, and the overall detection efficiency is relatively high.
[0025] The side view image collector 15 can not only capture the curvature of the side, but also be useful for obtaining the thickness of the workpiece.
[0026] Reference Figure 4 As shown, the front view image collector 4 and the side view image collector 15 obtain the radian data through the following detection and analysis steps:
[0027] 1) Edge detection of the entire device: Use edge detection methods (such as Canny edge detection) to find the edges in the image and form an image edge photo.
[0028] 2) Create an accumulator for the parameter space; the parameter space to be found contains three dimensions: the x-coordinate of the center of the circle, the y-coordinate, and the radius r. Therefore, a three-dimensional array (accumulator) is used to store the number of votes for each possible circle.
[0029] 3) Vote for each edge point; for each edge point (x, y) in the image, traverse all possible radii r (usually with a given range and step size). For each r, the coordinates of the center of the circle (a, b) can be calculated using the following formula:
[0030] a=xr cos(θ);
[0031] b=yr sin(θ).
[0032] Where θ∈[0,2π]. Every time a combination of (a,b,r) is calculated, 1 is added to the corresponding accumulator.
[0033] 4) Find the peak value in the accumulator; by setting the threshold, get the center and radius of the circle with the most votes in the accumulator. This circle is the most likely circle in the image, and the points on its edge constitute the information of the arc and arc line that need to be detected.
[0034] 5) Result display: Through the results detected in the above steps, the final results are displayed in the front-end interface to complete the curvature detection and information.
[0035] In order to ensure that the turntable 2 can be rotated exactly below the front view image collector 4 each time, a sensor can be provided, or the turntable 2 can be controlled to stop once each time it rotates the interval angle between the two fixed stations 3 .
[0036] In addition, if the workpiece to be inspected is made of magnetic material, the loading robot 13 and the unloading robot 12 can use electromagnets for grasping.
[0037] Reference Figure 1 As shown, the front view image collector 4 in this embodiment is connected to the first lifting assembly 5, and the first lifting assembly 5 includes a support plate 51, a base plate 7 and a lifting gear 53. The back side of the support plate 51 is provided with a lifting rack 52 meshing with the lifting gear 53; the base plate 7 is arranged inside the workbench 1, and the support plate 51 passes through the base plate 7 and is slidably connected thereto; specifically, according to actual use, the lifting gear 53 drives the support plate 51 and the lifting rack 52 to adjust the shooting distance between the front view image collector 4 and the fixed workstation 3, and debug the image ratio.
[0038] Reference Figure 1 and Figure 2 As shown, a central column 8 is installed on the bottom plate 7, and the central column 8 extends from the middle of the turntable 2. A second lifting assembly 6 is installed on the central column 8, and the side view image collector 15 is connected to the second lifting assembly 6; specifically, due to the different thicknesses of the workpieces, in order for the side view image collector 15 to be able to center and shoot the side view to achieve a better data collection effect, the second lifting assembly 6 can drive the side view image collector 15 to a vertical adjustment position.
[0039] Specifically, the second lifting assembly 6 includes a guide rod 62, a screw rod 63 and a top plate 61. The screw rod 63 and the guide rod 62 are respectively arranged at the front and rear ends of the side view image collector 15 and are connected thereto; and one end of the screw rod 63 is connected to the top plate 61, and the other end is connected to the center column 8. The screw rod 63 is driven by a servo motor and has high control accuracy.
[0040] Reference Figure 1As shown, the center column 8 in this embodiment is rotatably connected to the turntable 2; a gear ring 10 is fixedly connected to the lower end of the turntable 2, and the gear ring 10 is meshingly connected to the driving gear 11, and a bearing 9 is arranged between the center column 8 and the turntable 2; specifically, the power of the turntable 2 comes from the motor energizing to drive the driving gear 11 and the gear to rotate.
[0041] Reference Figure 1 As shown, the present embodiment further includes a fill light cover 14, which is a cylindrical structure, and the front view image collector 4 is disposed in the fill light cover 14; specifically, the fill light brightness is adjusted according to the ambient light level, so that the front view image collector 4 can clearly identify the edge line of the workpiece, and the curvature detection data is more accurate.
[0042] In order to prevent the workpiece from shifting during rotation and effectively fix it, an air suction cup 31 is installed in the middle of the fixing station 3. When the workpiece is placed on the fixing station 3 and contacts the air suction cup 31, the air suction cup 31 generates negative pressure to adsorb and fix it.
[0043] In summary, the shooting equipment and environment are greatly simplified, and the shooting equipment and workpiece do not need to be calibrated in advance. Since the present invention utilizes the overall edge detection and then performs the arc detection, the overall system does not need additional calibration position. It only needs to know the specifications and size of the standard workpiece, and then compare and map to obtain the real size and size; the calibration accuracy is increased, and since multiple edge point voting mechanisms are introduced, it is very accurate to find the true arc center, and a large number of interfering centers can be eliminated, which greatly improves the measurement accuracy.
[0044] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A curvature detection and recognition device, Features: The invention comprises a workbench (1), wherein a turntable (2) is arranged on the workbench (1), and the turntable (2) is provided with a plurality of fixed workstations (3) for placing workpieces, and the plurality of fixed workstations (3) are evenly spaced around the center of the turntable (2); A front view image collector (4) and a side view image collector (15), wherein the front view image collector (4) is arranged above the fixed workstation (3), and the side view image collector (15) is arranged beside the turntable (2); The workbench (1) is also equipped with a loading robot (13) and a unloading robot (12) located beside the turntable (2), and the loading robot (13) and the unloading robot (12) are separated by one fixed station (3).
2. The arc detection and identification device according to claim 1, Features: The front view image collector (4) is connected to a first lifting assembly (5), the first lifting assembly (5) comprising a support plate (51), a bottom plate (7) and a lifting gear (53), and a lifting rack (52) meshing with the lifting gear (53) is provided on the back side of the support plate (51); The bottom plate (7) is arranged inside the workbench (1), and the support plate (51) passes through the bottom plate (7) and is slidably connected thereto.
3. The arc detection and identification device according to claim 2, Features: A central column (8) is mounted on the bottom plate (7), the central column (8) extending from the middle of the turntable (2), a second lifting assembly (6) is mounted on the central column (8), and the side view image collector (15) is connected to the second lifting assembly (6).
4. The arc detection and identification device according to claim 3, Features: The second lifting assembly (6) comprises a guide rod (62), a screw rod (63) and a top plate (61), wherein the screw rod (63) and the guide rod (62) are respectively arranged at the front and rear ends of the side view image collector (15) and are connected thereto in a coordinated manner; One end of the screw rod (63) is connected to the top plate (61), and the other end is connected to the central column (8).
5. The arc detection and identification device according to claim 3, Features: The central column (8) is rotatably connected to the turntable (2); The lower end of the rotating disk (2) is fixedly connected with a gear ring (10), and the gear ring (10) is meshingly connected with a driving gear (11).
6. The arc detection and identification device according to claim 5, Features: A bearing (9) is provided between the central column (8) and the turntable (2).
7. The arc detection and identification device according to claim 1, Features: It also comprises a fill light cover (14), the fill light cover (14) is a cylindrical structure, and the front view image collector (4) is arranged in the fill light cover (14).
8. The arc detection and identification device according to claim 1, Features: An air suction cup (31) is installed in the middle of the fixed station (3).