CN115060736A - Incoming material element quality detection integrated equipment based on stereoscopic space visual scanning - Google Patents
Incoming material element quality detection integrated equipment based on stereoscopic space visual scanning Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention provides incoming material element quality detection integrated equipment based on three-dimensional space visual scanning, which relates to the field of electronic element detection and comprises a surface detection device, a shape detection device, a performance detection device and a feeding device, wherein the surface detection device and the performance detection device are positioned on two sides of the shape detection device, a blanking mechanical device is arranged between the feeding device and the surface detection device, a feeding mechanical device is arranged between the performance detection device and the end part of the feeding device, both the feeding mechanical device and the blanking mechanical device are provided with clamping jaws, an annular guide rail is arranged in the surface detection device, a first camera and a second camera are arranged on a surface sliding block of the annular guide rail, the shape detection device comprises a fixed table, and a third camera is arranged at the top of the fixed table. The problem of carry out the in-process of pay-off and transporting to electronic component not accurate enough, to the problem of electronic component can not the omnidirectional detection and carry out the in-process inaccurate condition of visual detection to electronic component is solved.
Description
Technical Field
The invention relates to the technical field of electronic element detection, in particular to incoming material element quality detection integrated equipment based on three-dimensional space visual scanning.
Background
Multi-eye stereo vision is an important form of computer vision. Taking binocular stereo vision as an example, the process of using the binocular stereo vision to measure the surface topography comprises the following steps: the method comprises the following steps of image acquisition, feature extraction, multi-target calibration, feature matching and three-dimensional reconstruction, namely, two cameras synchronously shoot the same target area at different visual angles, and three-dimensional information of the surface topography to be measured is converted into a two-dimensional image; extracting certain characteristic in the image pair by using an image processing technology, and matching the same characteristic in images with different visual angles; and converting two-dimensional pixel coordinates of the same characteristic on the image pair into three-dimensional space coordinates of the surface to be measured through the established mapping relation from the image pixel space to the physical space, so as to realize the reconstruction of the surface topography.
Generally, electronic components have different physical characteristics, and therefore, they are often packaged or sorted by a detecting and sorting procedure, and due to the miniaturization and large-scale nature of electronic components, an apparatus for detecting and sorting electronic components, such as passive components or LED light emitting diodes, must provide rapid and accurate transportation. At present, with the continuous development of electronic technology, electronic components are applied more and more. After the production of electronic components, before the electronic components are shipped out, the electronic components generally need to be inspected so as to ensure the quality of the electronic components.
The invention discloses an electronic element detection device with the patent number of CN109100595B, which can greatly improve the detection efficiency of an electronic element, can realize automatic detection of signals and power supplies of the electronic element, can turn over the electronic element to perform size and visual detection on the front side and the back side of the electronic element, improves the detection reliability of the electronic element and ensures the delivery qualification rate of the electronic element.
Patent No. CN105964551B provides an electronic component detecting device, which includes: a plurality of discharge ports which are respectively connected with discharge pipes are arranged on the table top of the machine table in a circular array; a rotary table, which is arranged on the table top of the machine table and is provided with a plurality of carrying grooves which are arranged in a circle at equal intervals and are concavely arranged at the periphery, an intermittent rotating flow path is formed, and the detected element is conveyed in a conveying flow path from the carrying groove to the discharge port; a first sensing element composed of optical fiber and arranged below the carrying groove in the conveying flow path to form a receiving end; the second sensing element is arranged above the carrying groove in the conveying flow path to form a transmitting end; the first sensing element receives a light source signal of the second sensing element to detect whether the detected element is discharged from the carrying groove to the discharge port; the second sensing element is composed of LED and is arranged on a carrying piece in a plurality of numbers, which makes the mechanism above the turntable simple and reduces the cost.
According to the detection of the present electronic component, there are the following problems:
1. when the electronic element is positioned and conveyed, the positioning of the detection device is well combined with the positioning in the conveying process, and the subsequent detection of the surface or the shape of the electronic element is influenced by the whole detection flow;
2. at present, most of the detection of electronic elements is single detection, and the electronic elements cannot be detected in all directions, such as the detection of the electronic elements on the characteristics of shape, surface gloss, port connection, performance and the like, and cannot be integrally detected;
3. carry out visual detection's in-process to electronic component, carry out the feature extraction scanning through the camera and detect, need the cooperation of multiunit camera to detect, but it also can have certain restriction to increase the camera, for example traditional hole formation of image model is difficult to adapt to the scene that the multiple camera was markd to can lead to the resolution ratio in detection space low, the in-process condition of not being accurate at visual detection.
Disclosure of Invention
Solves the technical problem
Aiming at the defects of the prior art, the invention provides incoming material element quality detection integrated equipment based on three-dimensional space visual scanning, which solves the following problems: 1. the problem of insufficient precision in the process of feeding and transferring the electronic element; 2. the detection of electronic elements is mostly single detection, and the electronic elements cannot be detected in all directions; 3. the situation that the electronic element is not accurately detected in the process of visual detection.
Technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: supplied material component quality detection integration equipment based on cubical space vision scanning, including surface detection device, shape detection device, performance detection device and material feeding unit, surface detection device and performance detection device are located shape detection device's both sides, be equipped with unloading mechanical device between material feeding unit and the surface detection device, be equipped with material loading mechanical device between performance detection device and the material feeding unit tip, material loading mechanical device and unloading mechanical device all are equipped with the clamping jaw, the inside endless guide that includes of surface detection device, first camera and second camera are installed to endless guide surface slider, and on a diameter of endless guide of first camera and second camera, shape detection device includes the fixed station, the top installation third camera of fixed station.
Preferably, the top of ring rail is equipped with the support frame, first cylinder is installed at the top of support frame, the flexible end of first cylinder is equipped with the second spacing groove, be equipped with first spacing groove under the second spacing groove, and the vertical plane of projection of first spacing groove, second spacing groove and ring rail is same centre of a circle, the bottom of first spacing groove is equipped with the lifter, be equipped with the connection pad between lifter and the first spacing groove, the carousel has been inlayed to the top surface of connection pad, and the bottom in first spacing groove connects the carousel top surface, the bottom of carousel is equipped with first motor, and the output shaft tip and the carousel bottom surface of first motor are connected, the bottom of lifter is equipped with the second cylinder.
Preferably, the stand is installed to the inside bottom surface of support frame, the inside of stand and support frame is equipped with first linear electric motor and second linear electric motor respectively, and the inside slider of first linear electric motor, second linear electric motor is connected respectively at the both ends of annular guide.
Preferably, a first groove has been seted up to the inside of fixed station, the internally mounted of first groove has driving motor, driving motor's output shaft tip is equipped with the lead screw, and the tip and the recess inner wall swing joint of lead screw, the surface connection of lead screw has first slip table, and the lead screw runs through first slip table, and lead screw and first slip table threaded connection.
Preferably, the inside of first slip table is equipped with collapsible rotary drum, the bottom of collapsible rotary drum is equipped with two sets of runners, the center of runner runs through there is the loose axle, and the both ends of loose axle and the inner wall swing joint of first slip table, the tip of loose axle is equipped with the second motor, and the output shaft tip and the loose axle end connection of second motor, the surface of collapsible rotary drum is equipped with the spacing collar, and the runner inlays inside the spacing collar, and the contact surface of runner and spacing collar is tangent, and runner and spacing collar swing joint.
Preferably, the performance detection device is including the movable table, the second recess has been seted up to the inside of movable table, electronic component has been inlayed to the second recess inside, electronic component's one end is equipped with connection interface, and connection interface cup joints on electronic component tip surface, connection interface's tip is equipped with the fifth cylinder, and the flexible end and the connection interface end connection of fifth cylinder, and the inside swing joint of connection interface and movable table, the bottom of movable table is equipped with the slide rail, the surface of slide rail has inlayed the second slip table, and second slip table and slide rail sliding connection, and the movable table installs the top surface at the second slip table, the base is installed to the top surface of second slip table, and the top surface at the base is installed to the fifth cylinder.
Preferably, the top of movable table is equipped with the mount, third cylinder and fourth cylinder are installed at the top of mount, the bottom of third cylinder and fourth cylinder is equipped with unqualified marking mechanism and qualified mark subassembly respectively, unqualified marking mechanism all includes the movable rod with qualified mark subassembly is inside, the bottom of movable rod is equipped with the connector, be equipped with the telescopic link between connector and the movable rod tip, and the both ends of telescopic link are connected with connector, movable rod respectively, the spring has been cup jointed on the surface of telescopic link, and the both ends of spring are connected with connector, movable rod respectively, the bottom of connector is equipped with the mark head, and threaded connection between mark head and the connector.
Preferably, material feeding unit's inside is including annular mounting bracket, the internally mounted of annular mounting bracket has annular transmission line, annular transmission line's tip is equipped with drive arrangement, annular transmission line's side is equipped with blocks the subassembly, block the subassembly and include the pay-off case, and the pay-off case is located annular transmission line's surface, the third recess has been seted up at the pay-off case top, the side of pay-off case is equipped with the connecting plate, and connecting plate and annular mounting bracket connect, the support column is installed to the tip of connecting plate, the third motor is installed at the top of support column, the output shaft tip of third motor is equipped with the arc pin, the side-mounting of pay-off case has the dead lever, and the tip and the spacing cooperation in dead lever surface of arc pin.
Preferably, the bottom of the surface detection device, the bottom of the shape detection device and the bottom of the performance detection device are provided with detection tables, the bottom of each detection table is provided with a bottom plate, the detection tables, the feeding mechanical device, the discharging mechanical device and the feeding device are all arranged on the top surface of the bottom plate, and the surface of the bottom plate close to the feeding mechanical device is provided with a feeding box, a qualified storage tank and an unqualified storage tank.
The integrated equipment for detecting the quality of the supplied material element based on the stereoscopic space vision scanning comprises the following electronic elements:
sp 1: clamping the feeding material by a clamping jaw of the feeding mechanical device through a positioning control system, arranging the electronic elements in the third groove, feeding the material by a feeding device, and clamping the blanking by a clamping jaw of the blanking mechanical device;
sp 2: surface detection, namely fixing the electronic element, shooting through a first camera and a second camera, and visually scanning and analyzing the surface condition of the electronic element;
sp 3: detecting the end part of the electronic component and the rotating state by the third camera;
sp 4: detecting the performance of electronic elements including resistors, signals and power supplies by the inside of the fixed station and the connection interface;
sp 5: the surface detection and the shape detection are obtained through a visual analysis system and are sent to a control system through a signal transmission system, the performance detection comparison result is also sent to the control system through the signal transmission system, and the control system analyzes various corresponding detection results of one electronic element and judges the qualified condition;
sp 6: and sending the judgment result of the control system, so that the qualified marking assembly, the unqualified marking mechanism and the feeding mechanical device receive signals, and marking and classifying the electronic components.
Advantageous effects
The invention provides incoming material element quality detection integrated equipment based on three-dimensional space visual scanning. The method has the following beneficial effects:
1. according to the invention, the feeding device is adopted, the feeding device feeds materials through the annular transmission line, the feeding mechanical device and the discharging mechanical device are matched for transferring, the feeding box on the annular transmission line can be used for conveying electronic elements, the feeding box can be blocked by the blocking component in the conveying process, and the influence of the feeding box on the subsequent annular transmission line can not be received in the discharging process, so that the accuracy in the discharging process is ensured.
2. The invention adopts a surface detection device, a shape detection device and a performance detection device, wherein the surface detection device is mainly used for detecting the middle position of an electronic element and comprises the characteristics of the color, the damage condition, the flatness and the like of the surface of the electronic element, visual scanning is carried out through a first camera and a second camera, the scanned electronic element is visually scanned through a visual analysis system and finally analyzed with a standard finished product electronic element image, the shape scanning device is mainly used for detecting the integral deformation condition of the electronic element, the electronic element in the rotating process is detected through a third camera, judgment is carried out through visual scanning, the performance detection device is mainly used for detecting the characteristics of the resistance, the signal, the power supply and the like of the electronic element, the electronic element is placed in a second groove and is connected with the port of the electronic element through a connecting interface, the detection device detects the data of the electronic element through a universal meter and other detection devices, the detection result is uploaded to the control system, the data is analyzed through the control system and is downloaded to the performance detection device for judgment, whether the electronic element is qualified or not is judged by combining the detection results of the surface and the shape, the detection efficiency can be improved through the integrated detection device, the detection precision is improved, and the qualification rate of the finished electronic element is ensured.
3. The invention adopts multi-view stereo vision detection, which comprises a first camera, a second camera and a third camera, when the surface detection is carried out on an electronic element, the method comprises the modes of space calibration and shape measurement, the electronic element is clamped and fixed firstly, then the relative position relation of the first camera and the second camera is determined, the pixel coordinates of the characteristic points of the electronic element in the known space coordinates on each camera image plane are obtained through an image recognition algorithm, then a calibration neural network reflecting the mapping relation between the first camera and the second camera image plane and between the image plane and the physical space is established by using a neural network algorithm, when the shape measurement is carried out, speckles which are distributed pseudo-randomly are projected to the surface of the electronic element by matching with a diffraction optical element through a laser, and the first camera and the second camera are used for synchronous shooting, obtain the three-dimensional appearance of the surface that awaits measuring, after fixed electronic component carries out three-dimensional appearance measurement and accomplishes, it goes up and down or measure through drive electronic component pivoted mode to drive first camera normal running fit through annular guide rail, detect the electronic component of undulant in-process through laser instrument collocation optical element, the spatial neural network who establishes when using electronic component to fix, the new undulant speckle of collocation, shoot through first camera and second camera, and different detection position can be confirmed to the camera position of co-altitude not, make the detection position more abundant, thereby can make and detect more accurately.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a schematic perspective view of a feeding device according to the present invention;
FIG. 3 is a schematic perspective view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a schematic perspective view of a barrier assembly according to the present invention;
FIG. 6 is a plan view of the loading mechanism of the present invention;
FIG. 7 is a schematic perspective view of a portion of a surface inspection apparatus according to the present invention;
FIG. 8 is a partial cross-sectional view of a surface sensing device according to the present invention;
FIG. 9 is a schematic perspective view of a shape detection device according to the present invention;
FIG. 10 is a cross-sectional view of a shape sensing device according to the present invention;
FIG. 11 is a schematic perspective view of a performance testing apparatus according to the present invention
FIG. 12 is a three-dimensional view of a performance testing device of the present invention;
FIG. 13 is an enlarged view of the qualifying component of FIG. 12
FIG. 14 is a flow chart of the electronic device testing process of the present invention.
Wherein: 1. a surface detection device; 101. a first cylinder; 102. a support frame; 103. a column; 104. a first limit groove; 105. a connecting disc; 106. a lifting rod; 107. a second cylinder; 108. a first camera; 109. an annular guide rail; 1010. a first linear motor; 1011. a second limit groove; 1012. a turntable; 1013. a first motor; 1014. a second camera; 1015. a second linear motor; 2. a shape detection device; 201. a third camera; 202. a limiting ring; 203. a collapsible drum; 204. a first sliding table; 205. a second motor; 206. a first groove; 207. a screw rod; 208. a rotating wheel; 209. a movable shaft; 2010. a drive motor; 2011. a fixed table; 3. a performance detection device; 301. a third cylinder; 302. a fourth cylinder; 303. a qualified marking component; 30301. a movable rod; 30302. a telescopic rod; 30303. a spring; 30304. a connector; 30305. a marking head; 304. a fixed mount; 305. a fifth cylinder; 306. a base; 307. a slide rail; 308. an unqualified marking mechanism; 309. a movable stage; 3010. an electronic component; 3011. a second sliding table; 3012. a connection interface; 3013. a second groove; 4. a feeding device; 41. a blocking component; 4101. fixing the rod; 4102. a third groove; 4103. a feeding box; 4104. an arc-shaped stop lever; 4105. a connecting plate; 4106. a third motor; 4107. a support pillar; 42. a ring-shaped transmission line; 43. an annular mounting bracket; 44. a drive device; 5. feeding a material box; 6. a qualified storage tank; 7. unqualified material storage boxes; 8. a blanking mechanical device; 9. a base plate; 10. a feeding mechanical device; 11. a clamping jaw; 12. and (4) a detection table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, 2, 3, 5, and 6, the integrated apparatus for detecting quality of a feeding element based on stereoscopic space visual scanning includes a surface detection device 1, a shape detection device 2, a performance detection device 3, and a feeding device 4, where the surface detection device 1 and the performance detection device 3 are located at two sides of the shape detection device 2, a blanking mechanical device 8 is disposed between the feeding device 4 and the surface detection device 1, a feeding mechanical device 10 is disposed between the performance detection device 3 and an end of the feeding device 4, both the feeding mechanical device 10 and the blanking mechanical device 8 are provided with clamping jaws 11, the surface detection device 1 includes an annular guide rail 109 inside, a first camera 108 and a second camera 1014 are mounted on a surface slider of the annular guide rail 109, and the first camera 108 and the second camera 1014 are on one diameter of the annular guide rail 109, the shape detection device 2 includes a fixing platform 2011, the third camera 201 is mounted on the top of the fixed stand 2011.
The feeding device 4 comprises an annular mounting frame 43, an annular transmission line 42 is mounted inside the annular mounting frame 43, a driving device 44 is arranged at the end of the annular transmission line 42, a blocking component 41 is arranged on the side surface of the annular transmission line 42, the blocking component 41 comprises a feeding box 4103, the feeding box 4103 is positioned on the surface of the annular transmission line 42, a third groove 4102 is formed in the top of the feeding box 4103, a connecting plate 4015 is arranged on the side surface of the feeding box 4103, the connecting plate 4015 is connected with the annular mounting frame 43, a supporting column 4107 is mounted at the end of the connecting plate 4015, a third motor 4106 is mounted at the top of the supporting column 4107, an arc-shaped blocking rod 4104 is arranged at the end of an output shaft of the third motor 4106, a fixing rod 1 is mounted at the side surface of the feeding box 4103, the end of the arc-shaped blocking rod 4104 is in spacing fit with the surface of the fixing rod 4101, a detection table 12 is mounted at the bottoms of the surface detection device 1, the shape detection device 2 and the performance detection device 3, the bottom of the detection table 12 is provided with a bottom plate 9, the detection table 12, the feeding mechanical device 10, the discharging mechanical device 8 and the feeding device 4 are all installed on the top surface of the bottom plate 9, and a feeding box 5, a qualified storage tank 6 and an unqualified storage box 7 are installed on the surface of the bottom plate 9 close to the feeding mechanical device 10.
The feeding device 4 is adopted, the feeding device 4 feeds materials through the annular transmission line 42, the feeding mechanical device 10 and the blanking mechanical device 8 are matched for transferring, the feeding boxes 4103 on the annular transmission line 42 can convey the electronic components 3010, the feeding boxes 4103 can be blocked by the blocking component 41 in the conveying process, the feeding process is guaranteed not to be affected by the feeding boxes 4103 on the subsequent annular transmission line, the accuracy in the blanking process is guaranteed, the blocking component 41 is in the working process, when the feeding boxes 4103 waiting for blanking are about to reach the designated position, all third motors 4106 on the annular transmission line 42 are driven simultaneously, the arc blocking rods 4104 are driven to rotate through the third motors 4106, the arc blocking rods 4104 hook the fixing rods 4101 on the side surfaces of the feeding boxes 4103 through the arc end parts of the arc blocking rods 4104 in the rotating process, and the feeding boxes 4103 can be stabilized at one position, at this moment, the feeding mechanical device 10 also starts feeding, the discharging mechanical device 8 starts discharging, in the feeding process, the feeding mechanical device 10 can transfer each electronic component 3010 to the third groove 4102 inside the feeding box 4103, and can just be embedded inside the third groove 4102, so that the electronic component 3010 can be guaranteed to be stable in the feeding process, the discharging mechanical device 8 can be accurately transferred, the subsequent detection is more accurate, in the discharging process, the electronic component 3010 is clamped from the third groove 4102 through the clamping jaws 11 of the discharging mechanical device 8, and the accurate clamping transfer can be realized by matching with the high degree of freedom of the discharging mechanical device 8.
The second concrete embodiment:
as shown in fig. 1, 3, 4, 7, and 8, a supporting frame 102 is disposed on the top of the annular guide rail 109, a first cylinder 101 is mounted on the top of the supporting frame 102, a second limiting groove 1011 is disposed at the telescopic end of the first cylinder 101, a first limiting groove 104 is disposed under the second limiting groove 1011, the vertical projection surfaces of the first limiting groove 104, the second limiting groove 1011, and the annular guide rail 109 are at the same center, a lifting rod 106 is disposed at the bottom of the first limiting groove 104, a connecting disc 105 is disposed between the lifting rod 106 and the first limiting groove 104, a rotary disc 1012 is embedded on the top surface of the connecting disc 105, the bottom of the first limiting groove 104 is connected to the top surface of the rotary disc 1012, a first motor 1013 is disposed at the bottom of the rotary disc 1012, the end of an output shaft of the first motor 1013 is connected to the bottom surface of the rotary disc, a second cylinder 107 is disposed at the bottom end of the lifting rod 106, an upright column 103 is mounted on the bottom surface inside of the supporting frame 102, a first linear motor 1010 and a second linear motor 1015 are disposed inside the upright column 103 and the supporting frame 102, and the two ends of the annular guide rail 109 are respectively connected with the inner sliding blocks of the first linear motor 1010 and the second linear motor 1015.
The surface detection device 1 mainly detects the middle position of an electronic component 3010, including the characteristics of color, damage, flatness and the like of the surface of the electronic component 3010, performs visual scanning through a first camera 108 and a second camera 1014, performs visual scanning on the scanned electronic component 3010 through a visual analysis system, and finally analyzes the image of the electronic component 3010 with a standard finished product, when the electronic component 3010 is clamped by a clamping jaw 11 of a blanking mechanical device 8, clamps the electronic component 3010 to the middle of the surface detection device 1, enables the electronic component 3010 to keep a vertical device, then simultaneously drives a first cylinder 101 and a second cylinder 107, the first cylinder 101 and the second cylinder 107 can respectively drive a second limiting groove 1011 and a first limiting groove 104 to descend and ascend until two ends of the electronic component 3010 are clamped and fixed, enables the electronic component 3010 to keep a stable state, then, the first camera 108 and the second camera 1014 are driven to shoot the surface of the electronic component 3010, the electronic component 3010 in a vertical state is completely shot and scanned, the annular guide rail 109 is matched, the first camera 108 and the second camera 1014 are driven to rotate through the annular guide rail 109, the whole surface of the electronic component 3010 can be shot in a complete angle through the first camera 108 and the second camera 1014, finally, the first camera 108 and the second camera 1014 can be lifted through the driving of the first linear motor 1010 and the second linear motor 1015, in the lifting process, the machine positions of the first camera 108 and the second camera 1014 are determined to be shot in a rotating process, so that the electronic component 3010 can be completely modeled in a determined space position of the electronic component 3010 in a three-dimensional mode, and the appearance can be established under the condition of obtaining speckle characteristic points and optical patterns, the appearance of the electronic component 3010 in the current state is determined and compared with the appearance of the standard electronic component 3010, and the first camera 108, the second camera 1014, and the third camera 201 adopt industrial cameras.
The third concrete embodiment:
as shown in fig. 1, 9 and 10, a first groove 206 is formed in a fixed table 2011, a driving motor 2010 is installed in the first groove 206, a lead screw 207 is arranged at an end of an output shaft of the driving motor 2010, an end of the lead screw 207 is movably connected with an inner wall of the groove, a first sliding table 204 is connected to a surface of the lead screw 207, the lead screw 207 penetrates through the first sliding table 204, the lead screw 207 is in threaded connection with the first sliding table 204, a retractable rotating cylinder 203 is arranged in the first sliding table 204, two sets of rotating wheels 208 are arranged at the bottom of the retractable rotating cylinder 203, a movable shaft 209 penetrates through a center of the rotating wheels 208, two ends of the movable shaft 209 are movably connected with the inner wall of the first sliding table 204, a second motor 205 is arranged at an end of the movable shaft 209, an end of an output shaft of the second motor 205 is connected with an end of the movable shaft 209, a limit ring 202 is arranged on the surface of the retractable rotating cylinder 203, the rotating wheels 208 are embedded in the limit ring 202, and contact surfaces of the rotating wheels 208 and the limit ring 202 are tangent, and the rotating wheel 208 is movably connected with the spacing collar 202.
The shape scanning device mainly detects the overall deformation of the electronic component 3010, detects the electronic component 3010 in the rotation process through the third camera 201, determines again through visual scanning, after the surface detection is finished, clamps the electronic component 3010 through the blanking mechanical device 8, keeps the electronic component in the horizontal state, puts the electronic component 3010 in the horizontal state into the retractable rotary drum 203, limits and fixes the electronic component 3010 through the air bag in the retractable rotary drum 203, then drives the second motor 205, drives the rotation of the movable shaft 209 through the second motor 205, the movable shaft 209 drives the rotating wheel 208 to rotate, thereby enabling the retractable rotary drum 203 to rotate, in the rotation process, the retractable rotary drum 203 is guaranteed to keep stable in the rotation process through the limit between the limit ring 202 and the rotating wheel 208, thereby realizing the rotation of the electronic component 3010, in the process of rotating the electronic component 3010, the third camera 201 performs imaging detection on the end of the electronic component 3010 and the rotation process, the end detection of the electronic component 3010 includes detection of surface gloss, damage and the like, the detection in the rotation process mainly aims at whether the edge of the electronic component 3010 floats in the rotation process, on the premise that the rotation center is driven, if the edge floats in the rotation process, the shape of the end of the electronic component 3010 is determined to be an error, and if the edge floats outside the error, the end is determined to be a non-defective, and if the edge floats in the rotation process, the end is determined to be a defective.
The fourth concrete example:
as shown in fig. 11-13, the performance detecting apparatus 3 includes a movable table 309, a second recess 3013 is formed in the movable table 309, an electronic component 3010 is embedded in the second recess 3013, a connection interface 3012 is formed at one end of the electronic component 3010, the connection interface 3012 is sleeved on the surface of the end of the electronic component 3010, a fifth cylinder 305 is formed at the end of the connection interface 3012, the telescopic end of the fifth cylinder 305 is connected to the end of the connection interface 3012, the connection interface 3012 is movably connected to the inside of the movable table 309, a sliding rail 307 is formed at the bottom of the movable table 309, a second sliding table 3011 is embedded on the surface of the sliding rail 307, the second sliding table 3011 is slidably connected to the sliding rail 307, the movable table 309 is mounted on the top surface of the second sliding table 3011, a base 306 is mounted on the top surface of the second sliding table 3011, the fifth cylinder 305 is mounted on the top surface of the base 306, a fixed mount 304 is provided on the top of the movable table 309, a third cylinder 301 and a fourth cylinder 302 are mounted on the top of the fixed mount 304, the bottom of the third cylinder 301 and the bottom of the fourth cylinder 302 are respectively provided with an unqualified marking mechanism 308 and a qualified marking assembly 303, the interior of each unqualified marking mechanism 308 and the qualified marking assembly 303 comprise a movable rod 30301, the bottom of the movable rod 30301 is provided with a connector 30304, an expansion rod 30302 is arranged between the connector 30304 and the end of the movable rod 30301, two ends of the expansion rod 30302 are respectively connected with the connector 30304 and the movable rod 30301, the surface of the expansion rod 30302 is sleeved with a spring 30303, two ends of the spring 30303 are respectively connected with the connector 30304 and the movable rod 30301, the bottom of the connector 30304 is provided with a marking head 30305, and the marking head 30305 is in threaded connection with the connector 30304.
The performance detection device 3 mainly detects characteristics of the electronic component 3010, such as resistance, signals, and power, the electronic component 3010 after shape detection is clamped by the feeding mechanism 10, the electronic component 3010 is placed inside the second groove 3013, then the fifth cylinder 305 is pushed to drive the connection interface 3012 to move, the end of the electronic component 3010 is sleeved inside the connection interface 3012, so that one end of the electronic component 3010 is connected to the connection interface 3012, the other end is embedded inside the movable table 309, after connection, two ends of the electronic component 3010 detect data of the electronic component 3010 through a detection device such as a multimeter, for example, when detecting a diode, two ends of the diode are respectively connected with a small resistor and a large resistor, the small resistor may be tens of ohms to hundreds of ohms, the large resistor may be thousands of ohms, which indicates that there is no problem in resistance detection of the diode, then, for signal and power detection, as long as a signal can be output, and the voltage value of the power reaches a rated value, the detection result is uploaded to a control system, the data is analyzed by the control system and is downloaded to a performance detection device for judgment, and whether the electronic component 3010 is qualified or not is judged by combining the detection results of the surface and the shape, only when the surface detection, the shape detection and the performance detection are all qualified, the electronic component 3010 is judged to be qualified, otherwise, the electronic component 3010 is judged to be unqualified, for example, only one or two or all of the three items in the surface detection, the shape detection and the performance detection are unqualified, the electronic component 3010 is judged to be unqualified, the qualified and unqualified electronic component 3010 passes through a signal transmission system, the third cylinder 301 or the fourth cylinder 302 is driven to mark the electronic component 3010, the marking process is carried out a specific mark on the surface of the electronic component 3010 through the marking head 30305, for example, qualified electronic component 3010 is marked by qualified marking component 303, qualified marking component 303 is driven by fourth cylinder 302 to drive movable rod 30301 to descend, the movable rod 30301 and connector 30304 are buffered by spring 30303 and telescopic rod 30302 in a matching manner, damage of marking head 30305 to the surface of electronic component 3010 is reduced, similarly, when unqualified electronic component is marked, the position of electronic component 3010 is moved to the position right below third cylinder 301 by second sliding table 3011 in cooperation with sliding of sliding rail 307 to mark, the marking process is the same, except that the characteristics of marking head 30305 in qualified marking component 303 and unqualified marking mechanism 308 are different, finally electronic component 3010 is collected and placed in a partition manner by feeding mechanical device 10 and is divided into qualified storage tank 66 and unqualified storage tank 7, detection efficiency can be improved and detection precision is improved by integrated detection equipment, the qualification rate of the finished electronic component 3010 is guaranteed.
The fifth concrete embodiment:
as shown in fig. 7-9, the multi-view stereo vision inspection includes a first camera 108, a second camera 1014, and a third camera 201, where the first camera 108 and the second camera 1014 can move in a ring shape, and the third camera 201 is kept fixed, when performing surface inspection on an electronic component 3010, the method includes a space calibration and a topography measurement mode, first clamping and fixing the electronic component 3010, then determining a relative position relationship between the first camera 108 and the second camera 1014, obtaining pixel coordinates of feature points of the electronic component 3010 on each camera image plane in known space coordinates through an image recognition algorithm, further establishing a calibration neural network reflecting mapping relationships between image planes of the first camera 108 and the second camera 1014 and between the image planes and a physical space by using a neural network algorithm, projecting pseudo-randomly distributed speckles on the surface of the electronic component 3010 through a laser matching device diffraction optical element for the fixed electronic component 3010 during the topography measurement, and synchronously shooting by using the first camera 108 and the second camera 1014, mapping the obtained speckle pattern and the speckle point clouds on the image planes of the first camera 108 and the second camera 1014 to the same common image plane, matching the speckle point clouds by using an ant colony-PTV algorithm, then performing three-dimensional reconstruction on the matched speckle point clouds by using the mapping relation between the image planes and the physical space to obtain three-dimensional coordinates of the matched speckle point clouds in the physical space, finally performing filtering and interpolation fitting on the three-dimensional point cloud coordinates to obtain the three-dimensional morphology of the surface to be measured, after the fixed electronic element 3010 performs three-dimensional morphology measurement, driving the first camera 108 to rotate and coordinate with the first camera to lift or measure by driving the electronic element 3010 to rotate through the annular guide rail 109, detecting the electronic element 3010 in the fluctuation process through the laser matched with the optical element, using the space neural network established when the electronic element 3010 is fixed, the new undulant speckle of collocation is shot through first camera 108 and second camera 1014 to different detection position can be confirmed to the camera position of co-altitude not, makes detection position more abundant, thereby can make to detect more accurately.
The method of adopting a laser to match with a diffraction optical element adopts diffraction diffusion sheets, single-mode or multi-mode laser beams can be converted into clear shapes which are uniformly distributed, each diffusion sheet has a specified diffusion angle at the design wavelength, the diffusion angle and a lens control the size of a light spot together, the diffraction diffusion sheets have square or circular output, pseudo-randomly distributed speckles are generated by projection on the surface of the electronic element 3010 and serve as characteristic points, and the characteristic point identification process is as follows:
sp 1: selecting a field range area surrounding the surface to be detected of the electronic component 3010 from the photographed gray scale image;
sp 2: screening out a background, setting the gray value of other areas as 0, setting a gray threshold value, and performing binarization processing on the image and performing morphological opening operation;
sp 3: and searching connected domains, and calculating the horizontal and vertical coordinates of the centroid of each connected domain as the coordinates of the feature point on the position image plane, namely the feature point.
Matching of the same characteristic point on machine position images with different viewing angles is completed by using a tracing particle matching technology in the PTV, the shortest cross-frame displacement of the particles and the most similar matching criterion of particle swarm distribution form are mixed by using a mixed ant colony matching algorithm to construct an optimized objective function, the optimized objective function is further solved by using an improved ant colony algorithm to obtain the matching of the tracing particles in the two frames of images, coordinates of the matched characteristic point on all machine position image planes are input to a space calibration neural network, the output coordinates are three-dimensional coordinates of the characteristic point in a physical space, if the characteristic points are enough, the reconstructed three-dimensional point cloud can reflect the surface topography of an object to be detected, and the spatial resolution can be effectively improved.
The neural network algorithm is applied to carry out self-adaptive multi-view calibration on the multi-view stereoscopic vision system, so that the problem of limitation of the traditional calibration method on the number of cameras is solved, and the calibration complexity is reduced; by increasing the number of cameras, redundant information is provided, and the accuracy of surface topography measurement is improved; by applying the ant colony-based PTV algorithm, the single characteristic point is matched in the image group of the multi-view imaging, and the spatial resolution of measurement is effectively improved.
The sixth specific embodiment:
as shown in fig. 1 and 2, in the incoming component quality detection integrated device based on stereoscopic space visual scanning, the detection path of the electronic component 3010 is as follows:
sp 1: clamping the feeding by the clamping jaws 11 of the feeding mechanical device 10 through a positioning control system, arranging the electronic component 3010 in the third groove 4102, feeding by the feeding device 4, and clamping the blanking by the clamping jaws 11 of the blanking mechanical device 8;
sp 2: surface detection, namely fixing the electronic component 3010, shooting through the first camera 108 and the second camera 1014, and analyzing the surface condition of the electronic component 3010 through visual scanning;
sp 3: shape detection, which detects the end part and the rotation state of the electronic component 3010 by the third camera 201;
sp 4: the performance detection, which is to detect the electronic component 3010 including a resistor, a signal and a power supply by the inside of the fixed platform 2011 and the connection interface 3012, wherein the resistor is detected by connecting a universal meter during detection, the signal detection is used for sensing, measuring and data acquisition of an original signal in the electronic technical field, and in the communication field, the process of extracting a received signal containing interference noise is carried out, and the power supply detection is used for detecting the voltage condition of the electronic component 3010 by connecting the power supply;
sp 5: the surface detection and the shape detection are obtained by a visual analysis system and are sent to a control system by a signal transmission system, the performance detection comparison result is also sent to the control system by the signal transmission system, and the control system analyzes each corresponding detection result of one electronic component 3010 and judges the qualified condition;
sp 6: the control system determination result is transmitted, and the acceptable marking module 303, the unacceptable marking mechanism 308, and the loading mechanism 10 receive the signal, and mark and sort the electronic component 3010.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a reference structure" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Supplied materials component quality testing integration equipment based on cubical space vision scanning, including surface detection device (1), shape detection device (2), performance detection device (3) and material feeding unit (4), its characterized in that: the surface detection device (1) and the performance detection device (3) are positioned at two sides of the shape detection device (2), a blanking mechanical device (8) is arranged between the feeding device (4) and the surface detection device (1), a feeding mechanical device (10) is arranged between the performance detection device (3) and the end part of the feeding device (4), the feeding mechanical device (10) and the blanking mechanical device (8) are both provided with clamping jaws (11), the surface detection device (1) comprises an annular guide rail (109) inside, a first camera (108) and a second camera (1014) are installed on the surface of the annular guide rail (109) in a sliding manner, and the first camera (108) and the second camera (1014) are on one diameter of the circular guide rail (109), the shape detection device (2) comprises a fixed table (2011), and a third camera (201) is installed at the top of the fixed table (2011).
2. The incoming material element quality detection integrated equipment based on stereoscopic space vision scanning of claim 1, wherein: the top of ring rail (109) is equipped with support frame (102), first cylinder (101) is installed at the top of support frame (102), the flexible end of first cylinder (101) is equipped with second spacing groove (1011), be equipped with first spacing groove (104) under second spacing groove (1011), and the vertical projection face of first spacing groove (104), second spacing groove (1011) and ring rail (109) is same centre of a circle, the bottom of first spacing groove (104) is equipped with lifter (106), be equipped with connection pad (105) between lifter (106) and first spacing groove (104), carousel (1012) has been inlayed to the top surface of connection pad (105), and the bottom of first spacing groove (104) connects carousel (1012) top surface, the bottom of carousel (1012) is equipped with first motor (1013), and the output shaft tip and carousel (1012) bottom surface of first motor (1013) are connected, and a second cylinder (107) is arranged at the bottom end of the lifting rod (106).
3. The incoming material element quality detection integrated equipment based on stereoscopic space vision scanning of claim 2, wherein: the supporting frame is characterized in that an upright post (103) is installed on the bottom surface inside the supporting frame (102), a first linear motor (1010) and a second linear motor (1015) are respectively arranged inside the upright post (103) and the supporting frame (102), and the two ends of the annular guide rail (109) are respectively connected with the inner sliding blocks of the first linear motor (1010) and the second linear motor (1015).
4. The incoming material element quality detection integrated equipment based on stereoscopic space vision scanning of claim 1, wherein: first recess (206) have been seted up to the inside of fixed station (2011), the internally mounted of first recess (206) has driving motor (2010), the output shaft tip of driving motor (2010) is equipped with lead screw (207), and the tip and the recess inner wall swing joint of lead screw (207), the surface of lead screw (207) is connected with first slip table (204), and lead screw (207) run through first slip table (204), and lead screw (207) and first slip table (204) threaded connection.
5. The incoming material element quality detection integrated equipment based on stereoscopic space vision scanning of claim 4, wherein: the inside of first slip table (204) is equipped with collapsible rotary drum (203), the bottom of collapsible rotary drum (203) is equipped with two sets of runners (208), the center of runner (208) runs through loose axle (209), and the both ends of loose axle (209) and the inner wall swing joint of first slip table (204), the tip of loose axle (209) is equipped with second motor (205), and the output shaft tip and loose axle (209) end connection of second motor (205), the surface of collapsible rotary drum (203) is equipped with spacing collar (202), and runner (208) inlay in spacing collar (202) inside, and the contact surface of runner (208) and spacing collar (202) is tangent, and runner (208) and spacing collar (202) swing joint.
6. The incoming material element quality detection integrated equipment based on stereoscopic space vision scanning of claim 1, wherein: the performance detection device (3) comprises a movable table (309), a second groove (3013) is formed in the movable table (309), an electronic element (3010) is embedded in the second groove (3013), a connection interface (3012) is arranged at one end of the electronic element (3010), the connection interface (3012) is sleeved on the end surface of the electronic element (3010), a fifth cylinder (305) is arranged at the end of the connection interface (3012), the telescopic end of the fifth cylinder (305) is connected with the end of the connection interface (3012), the connection interface (3012) is movably connected with the movable table (309), a sliding rail (307) is arranged at the bottom of the movable table (309), a second sliding table (3011) is embedded on the surface of the sliding rail (307), the second sliding table (3011) is connected with the sliding rail (307) in a sliding mode, and the movable table (309) is installed on the top surface of the second sliding table (3011), base (306) are installed to the top surface of second slip table (3011), and install the top surface at base (306) fifth cylinder (305).
7. The incoming material element quality detection integrated equipment based on stereoscopic space vision scanning of claim 6, wherein: the top of the movable table (309) is provided with a fixed frame (304), the top of the fixed frame (304) is provided with a third air cylinder (301) and a fourth air cylinder (302), the bottoms of the third air cylinder (301) and the fourth air cylinder (302) are respectively provided with an unqualified marking mechanism (308) and a qualified marking component (303), the insides of the unqualified marking mechanism (308) and the qualified marking component (303) respectively comprise a movable rod (30301), the bottom of the movable rod (30301) is provided with a connector (30304), a telescopic rod (30302) is arranged between the connector (30304) and the end of the movable rod (30301), two ends of the telescopic rod (30302) are respectively connected with the connector (30304) and the movable rod (30301), the surface of the telescopic rod (30302) is sleeved with a spring (30303), two ends of the spring (30303) are respectively connected with the connector (30304) and the movable rod (30301), and the bottom of the spring (30304) is provided with a marking head (30305), and the marking head (30305) and the connecting head (30304) are in threaded connection.
8. The incoming material element quality detection integrated equipment based on stereoscopic space vision scanning of claim 1, wherein: the feeding device (4) is internally provided with an annular mounting frame (43), an annular transmission line (42) is mounted inside the annular mounting frame (43), the end part of the annular transmission line (42) is provided with a driving device (44), the side surface of the annular transmission line (42) is provided with a blocking component (41), the blocking component (41) comprises a feeding box (4103), the feeding box (4103) is positioned on the surface of the annular transmission line (42), the top part of the feeding box (4103) is provided with a third groove (4102), the side surface of the feeding box (4103) is provided with a connecting plate (4015), the connecting plate (4015) is connected with the annular mounting frame (43), the end part of the connecting plate (4015) is provided with a support column (7), the top part of the support column (4107) is provided with a third motor (4106), the end part of an output shaft of the third motor (4106) is provided with an arc-shaped stop lever (4104), the side surface of the feeding box (4103) is provided with a fixing rod (4101), and the end part of the arc-shaped blocking rod (4104) is in limit fit with the surface of the fixing rod (4101).
9. The incoming material element quality detection integrated equipment based on stereoscopic space visual scanning according to claim 1, characterized in that: the bottom of surface detection device (1), shape detection device (2) and performance detection device (3) is installed and is examined test table (12), the bottom of examining test table (12) is equipped with bottom plate (9), and examines test table (12), material loading mechanical device (10), unloading mechanical device (8) and material feeding unit (4) and all install the top surface at bottom plate (9), is close to material loading case (5), qualified stock chest (6) and unqualified stock chest (7) are installed to bottom plate (9) surface mounting of material loading mechanical device (10).
10. Supplied materials component quality testing integration equipment based on cubical space visual scanning, its characterized in that: the detection path of the electronic component (3010) is as follows:
sp 1: clamping the feeding by a clamping jaw (11) of a feeding mechanical device (10) through a positioning control system, arranging the electronic components (3010) in a third groove (4102), feeding by a feeding device (4), and clamping the blanking by the clamping jaw (11) of a blanking mechanical device (8);
sp 2: surface detection, namely fixing the electronic component (3010), shooting through a first camera (108) and a second camera (1014), and visually scanning and analyzing the surface condition of the electronic component (3010);
sp 3: shape detection, which detects the end part and the rotation state of the electronic component (3010) through a third camera (201);
sp 4: the performance detection is to detect the electronic component (3010) by the inside of the fixed table (2011) and the connection interface (3012), and comprises a resistor, a signal and a power supply;
sp 5: the surface detection and the shape detection are obtained through a visual analysis system and are sent to a control system through a signal transmission system, the performance detection comparison result is also sent to the control system through the signal transmission system, and the control system analyzes various corresponding detection results of one electronic component (3010) and judges the qualified condition;
sp 6: the control system determination result is transmitted, and the acceptable marking module (303), the unacceptable marking mechanism (308), and the feeding mechanism (10) receive signals to mark and sort the electronic component (3010).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210627364.7A CN115060736A (en) | 2022-06-06 | 2022-06-06 | Incoming material element quality detection integrated equipment based on stereoscopic space visual scanning |
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| CN202210627364.7A CN115060736A (en) | 2022-06-06 | 2022-06-06 | Incoming material element quality detection integrated equipment based on stereoscopic space visual scanning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116298524A (en) * | 2023-05-25 | 2023-06-23 | 华北电力大学（保定） | Electrical variable measuring equipment |
| CN116297434A (en) * | 2023-05-11 | 2023-06-23 | 常州美信机械科技股份有限公司 | Detection equipment for coating production line |
-
2022
- 2022-06-06 CN CN202210627364.7A patent/CN115060736A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116297434A (en) * | 2023-05-11 | 2023-06-23 | 常州美信机械科技股份有限公司 | Detection equipment for coating production line |
| CN116297434B (en) * | 2023-05-11 | 2023-08-15 | 常州美信机械科技股份有限公司 | Detection equipment for coating production line |
| CN116298524A (en) * | 2023-05-25 | 2023-06-23 | 华北电力大学（保定） | Electrical variable measuring equipment |
| CN116298524B (en) * | 2023-05-25 | 2023-09-12 | 华北电力大学（保定） | Electrical variable measuring equipment |
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Application publication date: 20220916 |