CN107755293A - A kind of unqualified accessory automatic removing device - Google Patents
A kind of unqualified accessory automatic removing device Download PDFInfo
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- CN107755293A CN107755293A CN201711261674.7A CN201711261674A CN107755293A CN 107755293 A CN107755293 A CN 107755293A CN 201711261674 A CN201711261674 A CN 201711261674A CN 107755293 A CN107755293 A CN 107755293A
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- 238000012360 testing method Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000000605 extraction Methods 0.000 claims description 8
- 238000003708 edge detection Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 3
- 230000001788 irregular Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- Image Analysis (AREA)
Abstract
The present invention provides a kind of unqualified accessory automatic removing device, and automatic removing device includes testboard, transmission belt, fixed station, accessory to be measured, image collecting device, testing jig, fixed seat, motor, manipulator, central control unit and motor.Use the image information of image acquisition device accessory to be measured, and image information is transmitted to central control unit, central control unit is by the way that image information is contrasted to judge whether accessory to be measured is qualified with standard picture information, the accuracy of detection to irregular accessory can not only be improved, moreover it is possible to by replacing standard picture information to be applicable accessory of different shapes.
Description
Technical Field
The invention relates to the field of intelligent testing, in particular to an automatic rejecting device for unqualified accessories.
Background
Mechanical assembly refers to the joining of mechanical parts or components according to design specifications to assemble the mechanical parts or components into a machine. Machine assembly is an important part in machine manufacturing and repair, and particularly for machine repair, assembly work is made special as the provision of assembled parts facilitates the situation in machine manufacturing. The quality of the assembly work plays a very important role in the efficiency of the machine, the duration of the repair, the labor and cost of the work, etc.
Along with the complication of a mechanical structure, mechanical parts are also transformed into irregular shapes from regular shapes, and the traditional checking device for the regular parts only checks the parts through a standard die and is not high in precision when being applied to checking the irregular parts, so that the mechanical assembly precision is influenced, unqualified parts need to be manually and automatically removed after checking, and the production efficiency of a part production line is not facilitated.
Disclosure of Invention
In order to overcome the problems, the invention provides an automatic unqualified accessory removing device, wherein an image acquisition device is used for acquiring image information of an accessory to be detected and transmitting the image information to a central control device, and the central control device judges whether the accessory to be detected is qualified or not by comparing the image information with standard image information, so that the detection precision of irregular accessories can be improved, and the accessory in different shapes can be adapted by replacing the standard image information.
According to one embodiment of the invention, the automatic rejecting device comprises a test board, a transmission belt, a fixed station, a to-be-detected accessory, an image acquisition device, a test frame, a fixed seat, a motor, a manipulator, a central control device and a driving motor;
the transmission belt is arranged on the test board, the driving motor is arranged on one side of the test board, the driving motor drives the transmission belt to move along the upper plane of the test board, the transmission belt drives the fixing station to move along the horizontal direction, the fixing station is arranged on the transmission belt, and the accessory to be tested is fixed in the clamping groove of the fixing station;
the fixed seat, the central control device and the motor are sequentially and fixedly connected to one side of the test frame, which faces the transmission belt, the image acquisition device is fixedly connected with the fixed seat, and the manipulator is fixedly connected with a transmission shaft of the motor;
the image acquisition device is used for acquiring image information of the accessory to be detected and transmitting the image information to the central control device, the central control device judges whether the accessory to be detected is qualified or not by comparing the image information with standard image information, and if the accessory to be detected is not qualified, the central control device controls the motor to drive the manipulator to grab the unqualified accessory.
Preferably, the central control device comprises an image processing device, an industrial personal computer, a memory and a controller, the image acquisition device is connected with the image acquisition device, the image processing device, the memory and the controller are respectively connected with the industrial personal computer, and the controller, the motor and the manipulator are sequentially connected.
Preferably, the part to be tested is irregularly shaped.
Preferably, the image processing apparatus extracts edge information of the image information to extract an image edge.
Preferably, the edge information of the image information is obtained by using an improved image edge extraction algorithm, and the improved image edge extraction algorithm comprises the following steps:
step 1: finding image gray values for lateral edge detectionDefined as a two-dimensional function f (x, y), where x, y are spatial coordinates, where,
=(-2) f(x-1,y-1)+2f(x+1,y-1)-3f(x-1,y)+3f(x+1,y)-2f(x-1,y+1)+2f(x+1,y+1)；
step 2: finding image gray values for longitudinal edge detectionWherein=2f(x-1,y-1)+3f(x+1,y-1)+2f(x+1,y-1) +1f(x+1,y)-2f(x-1,y+1)-2f(x+1,y+1)-3f(x,y+1)；
and step 3: determining gradient angles of an image；
And 4, step 4: the point coordinate when ɸ =0 is: (，) Then point (，) Is an image edge point, wherein n is a positive integer;
preferably, the central control device compares the image edge with a standard image edge in the memory, if the image edge is consistent with the standard image edge, the accessory to be tested is qualified, and if the image edge is inconsistent with the standard image edge, the controller controls the motor to drive the manipulator to grab an unqualified accessory.
Drawings
FIG. 1 is a schematic view of an automatic rejecting device for unqualified parts according to the present invention;
fig. 2 is a schematic block diagram of the central control apparatus of the present invention.
Reference numerals:
1-a test bench; 2, conveying the belt; 3-fixing the station; 4-fitting to be tested; 5-an image acquisition device; 6-a test frame; 7-a fixed seat; 8, a motor; 9-a manipulator; 10-a central control device; 11-driving the motor.
Detailed Description
The following describes the automatic rejecting device for unqualified fittings in detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1, the invention provides an automatic rejecting device for unqualified fittings, which uses an image acquisition device to acquire image information of a fitting to be detected and transmits the image information to a central control device, and the central control device compares the image information with standard image information to judge whether the fitting to be detected is qualified, so that the detection precision of irregular fittings can be improved, and the standard image information can be replaced to adapt to fittings of different shapes.
The automatic removing device comprises a test board (1), a conveying belt (2), a fixing station (3), a to-be-tested part (4), an image acquisition device (5), a test frame (6), a fixed seat (7), a motor (8), a manipulator (9), a central control device (10) and a driving motor (11); wherein,
the transmission belt (2) is arranged on the test board (1), the driving motor (11) is arranged on one side of the test board (1), the driving motor (11) drives the transmission belt (2) to move along the test board (1), the transmission belt (2) drives the fixed station (3) to move, the fixed station (3) is arranged on the transmission belt (2), and the accessory (4) to be tested is fixed in a clamping groove of the fixed station (3);
the fixed seat (7), the central control device (10) and the motor (8) are sequentially and fixedly connected to one side, facing the conveying belt (2), of the test frame (6), the image acquisition device (5) is fixedly connected with the fixed seat (7), and the manipulator (9) is fixedly connected with a transmission shaft of the motor (8);
laser transmitters (not shown in the figure) are respectively arranged on the fixed seat (7) and the manipulator (9), a laser receiver (not shown in the figure) is arranged on the fixed station (3), and when the laser receiver receives a laser signal, the central control device (10) controls the driving motor (11) to suspend the conveyor belt (2) for 3 seconds.
The image acquisition device (5) is used for acquiring image information of the accessory (4) to be detected and transmitting the image information to the central control device (10), the central control device (10) judges whether the accessory (4) to be detected is qualified or not by comparing the image information with standard image information, and if the accessory to be detected is not qualified, the central control device (10) controls the motor (8) to drive the mechanical arm (9) to capture the unqualified accessory.
As shown in fig. 2, the central control device (10) includes an image processing device, an industrial personal computer, a memory and a controller, the image acquisition device (5) is connected with the image acquisition device, the image processing device, the memory and the controller are respectively connected with the industrial personal computer, and the controller, the motor (8) and the manipulator (9) are sequentially connected.
The accessory (4) to be tested is irregular in shape.
The image processing apparatus extracts edge information of the image information to extract an image edge.
The edge information of the image information is obtained by using an improved image edge extraction algorithm, and the improved image edge extraction algorithm comprises the following steps:
step 1: finding image gray values for lateral edge detectionDefined as a two-dimensional function f (x, y), where x, y are spatial coordinates, where,
=(-2) f(x-1,y-1)+2f(x+1,y-1)-3f(x-1,y)+3f(x+1,y)-2f(x-1,y+1)+2f(x+1,y+1)；
step 2: finding image gray values for longitudinal edge detectionWherein=2f(x-1,y-1)+3f(x+1,y-1)+2f(x+1,y-1) +1f(x+1,y)-2f(x-1,y+1)-2f(x+1,y+1)-3f(x,y+1)；
and step 3: determining gradient angles of an image
And 4, step 4: the point coordinate when ɸ =0 is: (，) Then point (，) Is an image edge point, where n is a positive integer.
Traditional image edge information extraction algorithm, about according to the pixel about, adjacent point grey scale weight is poor, reach this phenomenon detection edge of extreme value at the edge, though have smooth effect to the noise, can provide comparatively accurate edge direction information, but edge positioning accuracy is not high enough, because the image profile of the accessory that awaits measuring generally is sharp or pitch arc, consequently need strengthen the edge that the continuous rule of image changes, use above-mentioned modified image edge extraction algorithm, when extracting the accessory edge that awaits measuring, can acquire more clear, accurate image edge information.
The central control device (10) compares the image edge with the standard image edge in the memory, if the image edge is consistent with the standard image edge, the accessory (4) to be tested is qualified, and if the image edge is inconsistent with the standard image edge, the controller controls the motor (8) to drive the mechanical arm (9) to grab the unqualified accessory.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. An automatic unqualified fitting removing device is characterized by comprising a test board (1), a conveying belt (2), a fixing station (3), a fitting to be tested (4), an image acquisition device (5), a test frame (6), a fixed seat (7), a motor (8), a manipulator (9), a central control device (10) and a driving motor (11); wherein,
the transmission belt (2) is arranged on the test board (1), the driving motor (11) is arranged on one side of the test board (1), the driving motor (11) drives the transmission belt (2) to move along the upper plane of the test board (1), the fixed station (3) is arranged on the transmission belt (2), the transmission belt (2) drives the fixed station (3) to move along the horizontal direction, and the accessory (4) to be tested is fixed in a clamping groove of the fixed station (3);
the fixed seat (7), the central control device (10) and the motor (8) are sequentially and fixedly connected to one side, facing the conveying belt (2), of the test frame (6), the image acquisition device (5) is fixedly connected with the fixed seat (7), and the manipulator (9) is fixedly connected with a transmission shaft of the motor (8);
the image acquisition device (5) is used for acquiring image information of the accessory (4) to be detected and transmitting the image information to the central control device (10), the central control device (10) judges whether the accessory (4) to be detected is qualified or not by comparing the image information with standard image information, and if the accessory is not qualified, the central control device (10) controls the motor (8) to drive the manipulator (9) to grab the unqualified accessory.
2. The automatic removing device according to claim 1, wherein the central control device (10) comprises an image processing device, an industrial personal computer, a memory and a controller, the image acquisition device (5) is connected with the image acquisition device, the image processing device, the memory and the controller are respectively connected with the industrial personal computer, and the controller, the motor (8) and the manipulator (9) are sequentially connected.
3. The automatic removal device according to claim 1, characterized in that the accessory (4) to be tested is irregularly shaped.
4. The automatic culling apparatus according to claim 2, wherein the image processing apparatus extracts edge information of the image information to extract an image edge.
5. The automatic rejection device according to claim 4, wherein an improved image edge extraction algorithm is used to obtain edge information of said image information, said improved image edge extraction algorithm comprising the steps of:
step 1: finding image gray values for lateral edge detectionDefined as a two-dimensional function f (x, y), where x, y are spatial coordinates, where,
=(-2) f(x-1,y-1)+2f(x+1,y-1)-3f(x-1,y)+3f(x+1,y)-2f(x-1,y+1)+2f(x+1,y+1)；
step 2: finding image gray values for longitudinal edge detectionWherein
=2f(x-1,y-1)+3f(x+1,y-1)+2f(x+1,y-1) +1f(x+1,y)-2f(x-1,y+1)-2f(x+1,y+1)-3f(x,y+1)；
and step 3: determining gradient angles of an image
And 4, step 4: the point coordinate when ɸ =0 is: (，) Then point (，) Is an image edge point, where n is a positive integer.
6. The automatic removing device as claimed in claim 4, characterised in that the central control device (10) compares the image edges with standard image edges in the memory, if the image edges are consistent, the part (4) to be detected is qualified, and if the image edges are inconsistent, the controller controls the motor (8) to drive the mechanical arm (9) to grab an unqualified part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261674.7A CN107755293A (en) | 2017-12-04 | 2017-12-04 | A kind of unqualified accessory automatic removing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261674.7A CN107755293A (en) | 2017-12-04 | 2017-12-04 | A kind of unqualified accessory automatic removing device |
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| CN107755293A true CN107755293A (en) | 2018-03-06 |
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| CN201711261674.7A Withdrawn CN107755293A (en) | 2017-12-04 | 2017-12-04 | A kind of unqualified accessory automatic removing device |
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Cited By (2)
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| CN108910452A (en) * | 2018-07-14 | 2018-11-30 | 芜湖益浩昌智能设备有限公司 | A kind of transmission device with process defencive function |
| CN108982515A (en) * | 2018-07-14 | 2018-12-11 | 芜湖益浩昌智能设备有限公司 | It is a kind of can continuous automatic load sample machine table |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108910452A (en) * | 2018-07-14 | 2018-11-30 | 芜湖益浩昌智能设备有限公司 | A kind of transmission device with process defencive function |
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Application publication date: 20180306 |
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