阅读说明：本技术 单目镜头视觉检测螺丝缺陷及螺丝自动分拣装置 (Monocular lens visual inspection screw defect and screw automatic sorting device ) 是由 钟回周 钱磊 张军辉 于 2021-09-29 设计创作，主要内容包括：本发明公开了一种单目镜头视觉检测螺丝缺陷及螺丝自动分拣装置,包括上料机构、分度盘、图像合并机构、图像采集机构和分拣机构；所述分度盘的边缘设置有若干均布的豁口,以用于接收上料机构传送的工件；所述分拣机构套接于分度盘外部,并设置有多个分拣通道；所述图像合并机构位于分度盘的上部,内置有多组透镜组；所述图像合并机构内的透镜组获取螺钉的至少一个角度的图像,并在同一视频窗口输出至图像采集机构。在本发明实施例中,本发明实现了单目摄像头获取工件各个检测面的图像,结构简单、紧凑,灵活应用于打螺丝工序前的检测和分拣,相比三目摄像头拍照系统,本装置造价低2/3左右。(The invention discloses a monocular head visual inspection screw defect and screw automatic sorting device, which comprises a feeding mechanism, an index plate, an image merging mechanism, an image acquisition mechanism and a sorting mechanism, wherein the feeding mechanism is arranged on the index plate; the edge of the indexing disc is provided with a plurality of uniformly distributed notches for receiving workpieces transmitted by the feeding mechanism; the sorting mechanism is sleeved outside the dividing plate and is provided with a plurality of sorting channels; the image merging mechanism is positioned at the upper part of the index plate and internally provided with a plurality of groups of lens groups; and the lens group in the image merging mechanism acquires an image of at least one angle of the screw and outputs the image to the image acquisition mechanism in the same video window. In the embodiment of the invention, the monocular camera is used for acquiring the images of all detection surfaces of the workpiece, the monocular camera is simple and compact in structure, and is flexibly applied to detection and sorting before a screw driving process, and compared with a trinocular camera photographing system, the monocular camera photographing device is low in manufacturing cost of about 2/3.)

1. A monocular head visual inspection screw defect and screw automatic sorting device is characterized by comprising a feeding mechanism, an index plate, an image merging mechanism, an image acquisition mechanism and a sorting mechanism;

the feeding mechanism is used for conveying the workpiece to the index plate;

the edge of the indexing disc is provided with a plurality of uniformly distributed notches for receiving workpieces transmitted by the feeding mechanism; the motor is arranged in the dividing plate and used for driving the output plate surface of the dividing plate to rotate;

the sorting mechanism is sleeved outside the dividing plate and is provided with a plurality of sorting channels; the sorting channels correspond to openings, and air nozzles are arranged on the inner sides of the corresponding openings; the air nozzle is used for blowing the workpiece to a sorting channel; the action of the air nozzle is controlled by the image acquisition mechanism;

the image merging mechanism is positioned at the upper part of the index plate and internally provided with a plurality of groups of lens groups; a lens group in the image merging mechanism acquires an image of at least one angle of the screw and outputs the image to the image acquisition mechanism in the same video window;

and the image acquisition mechanism is positioned above the image merging mechanism and performs graphic analysis according to the acquired video window data.

2. The monocular head vision inspection screw defect and screw automatic sorting device of claim 1, wherein the feeding mechanism uses a vibrating disk to shake the feeding.

3. The monocular head vision inspection screw defect and screw automatic sorting device of claim 1, wherein the notch is used for clamping a head of a screw;

and when the screws are positioned under the image merging structure, the openings of the dividing plate and the sorting mechanism fix the screws.

4. The monocular head vision inspection screw defect and screw automatic sorting device of claim 1, wherein the lens group comprises a side image lens group consisting of two sets of isosceles cylindrical lenses arranged side by side, which refracts a vertical image of the side of the screw onto a horizontally arranged video window and acquires the image by an image acquisition mechanism.

5. The monocular head vision inspection screw defect and screw automatic sorting device of claim 4, wherein the lens group comprises a front image lens group, consisting of two sets of isosceles cylindrical lenses arranged side by side, refracts a vertical image of the front of the screw onto a horizontally arranged video window, and an image is acquired by an image acquisition mechanism.

6. The monocular head vision inspection screw defect and screw automatic sorting device of claim 4 or 5, wherein the lens group comprises a top surface image lens group, which is composed of three sets of isosceles cylindrical lenses arranged side by side, and the image of the top surface of the screw is refracted onto a horizontally arranged video window and is acquired by an image acquisition mechanism.

7. The monocular head vision inspection screw defect and screw automatic sorting device of claim 1, a bottom side of the image merging mechanism is provided with two sets of crossed light sources, both facing the screw.

8. The monocular head vision inspection screw defect and screw automatic sorting device of claim 1, wherein the image capturing mechanism comprises a monocular camera as an image capturing device.

Technical Field

The invention relates to the technical field of intelligent manufacturing, in particular to a monocular head visual inspection screw defect and automatic screw sorting device.

Background

Automatic screw machine of beating has extensively been used for automation line, often can cause card machine because of screw compounding, screw defect reason and so on, leak to beat, damage equipment and product, need artifical frequent intervention scheduling problem, has had the multicamera (three or more usually, shoot screw top, front, side respectively) on the existing market and detects screw defect device, and this type of device is with high costs, occupation space is big, is not convenient for use screw detection and automatic sorting before the automatic screw process of beating.

Disclosure of Invention

In order to solve the technical problem, an embodiment of the invention provides a monocular head visual inspection screw defect and automatic screw sorting device, which comprises a feeding mechanism, an index plate, an image merging mechanism, an image acquisition mechanism and a sorting mechanism, wherein the feeding mechanism is used for feeding screws to the index plate;

the feeding mechanism is used for conveying the workpiece to the index plate;

the edge of the indexing disc is provided with a plurality of uniformly distributed notches for receiving workpieces transmitted by the feeding mechanism; the motor is arranged in the dividing plate and used for driving the output plate surface of the dividing plate to rotate;

the sorting mechanism is sleeved outside the dividing plate and is provided with a plurality of sorting channels; the sorting channels correspond to openings, and air nozzles are arranged on the inner sides of the corresponding openings; the air nozzle is used for blowing the workpiece to a sorting channel; the action of the air nozzle is controlled by the image acquisition mechanism;

the image merging mechanism is positioned at the upper part of the index plate and internally provided with a plurality of groups of lens groups; a lens group in the image merging mechanism acquires an image of at least one angle of the screw and outputs the image to the image acquisition mechanism in the same video window;

and the image acquisition mechanism is positioned above the image merging mechanism and performs graphic analysis according to the acquired video window data.

Further, the feeding mechanism adopts a vibrating disk to vibrate for feeding.

Further, the notch is used for clamping the head of the screw; and when the screws are positioned under the image merging structure, the openings of the dividing plate and the sorting mechanism fix the screws.

Furthermore, the lens group comprises a side image lens group which consists of two groups of isosceles cylindrical lenses arranged side by side, a vertical image on the side surface of the screw is refracted to a horizontally arranged video window, and an image is acquired by an image acquisition mechanism.

Furthermore, the lens group comprises a front image lens group which consists of two groups of isosceles cylindrical lenses arranged side by side, a vertical image on the front side of the screw is refracted to a horizontally arranged video window, and an image is acquired by an image acquisition mechanism.

Furthermore, the lens group comprises a top surface image lens group which consists of three groups of isosceles cylindrical lenses arranged side by side, the image on the top surface of the screw is refracted to the horizontally arranged video window, and the image is acquired by an image acquisition mechanism.

Furthermore, two groups of crossed light sources are arranged on the side face of the bottom of the image merging mechanism and face the screw.

Furthermore, the image acquisition mechanism comprises a monocular camera as an image acquisition device.

In the embodiment of the invention, the monocular camera is used for acquiring the images of all detection surfaces of the workpiece, the monocular camera is simple and compact in structure, and is flexibly applied to detection and sorting before a screw driving process, and compared with a trinocular camera photographing system, the monocular camera photographing device is low in manufacturing cost of about 2/3.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of an apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic side view of the structure of FIG. 1;

FIG. 3 is a schematic view of a portion of the structure of FIG. 1;

FIG. 4 is a schematic diagram of the backside structure of FIG. 2;

FIG. 5 is a schematic bottom view of the image merging mechanism;

FIG. 6 is a schematic view of the distribution of optical components within FIG. 5;

FIG. 7 is a top imaging schematic of the image merging mechanism;

FIG. 8 is a schematic top view of the indexing disk;

FIG. 9 is a schematic view of a partial air faucet structure.

The meaning of the reference symbols in the figures:

1-feeding mechanism, 2-dividing index plate, 21-gap, 3-image merging mechanism, 31-side image refraction layer, 32-top image refraction layer, 33-imaging plate, 4-image acquisition mechanism, 5-sorting mechanism, 51-sorting channel, 6-motor and 7-screw.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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 invention is further elucidated with reference to the drawings and the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The invention uses the total reflection lens to obtain each surface to be detected of the workpiece and then combines the surfaces to a detection plane, the monocular camera shoots each detection plane image at one time, the result is obtained after the computer calculation and analysis, and then the images automatically flow out from the corresponding sorting channels according to the set sorting channel parameters.

As shown in fig. 1, the present apparatus includes: the automatic sorting machine comprises five parts, namely a feeding mechanism 1, an index plate 2, an image merging mechanism 3, an image acquisition mechanism 4 and a sorting mechanism 5. During feed mechanism 1 sent screw 7 to graduated disk 2 of taking opening 21, feed mechanism 1 accomplished the material loading action through the shale shaker, and screw 7 is blocked by opening 21 and is realized stabilizing, and under the motor drive of graduated disk 2 bottoms, the graduated disk realizes at the uniform velocity rotating, rotates the in-process and realizes the action of edge material limit pivoted, and the rotation interval of motor control graduated disk is in order to accomplish actions such as material loading, detection and ejection of compact simultaneously.

As a specific embodiment, the dividing plate 2 has notches 21 uniformly arranged on its edge, the size of the notches is designed according to the specification of the screws, and the number of the notches is correspondingly recorded as a feeding position, a detection position, a sorting channel corresponding to screws with different specifications, a sorting channel corresponding to unqualified screws (including defective screws) 51, and the like. When the screw 7 is positioned right below the image merging structure 3, the notch 21 of the index plate 2 and the sorting mechanism 5 fix the screw 7. The sorting mechanism 5 is provided with a notch on the middle side surface of the part right below the image merging structure 3, the top of the sorting mechanism is matched with the notch 21 of the index plate to clamp the screw 7, the notch on the side surface is used for exposing the image on the side surface of the whole screw, and the image merging mechanism 3 acquires the image.

Under the drive of a motor, the screws are conveyed to the lower part of the image merging mechanism 3 by the index plate 2, an optical lens is arranged in the image merging mechanism 3, the images of the screws are refracted to a video window at the top of the screws by utilizing an optical principle, the images are collected by the image collecting mechanism above the screws and are transmitted to a computer for analysis and processing, and the screws are sorted out from corresponding channels by the sorting mechanism 5 according to the processing result of the computer.

As a specific example, the image combining mechanism 3 includes a lower side image refracting layer 31 and an upper top image refracting layer 32, and an imaging plate 33 is disposed on top of the lower side image refracting layer.

In the image merging mechanism 3, the head of the screw 7 is illuminated annularly, that is, the periphery of the top image refraction layer 32 is provided with annular illuminating lamps, white lamps are selected, so that the color of the head of the screw can be obtained, and the screw part of the screw is illuminated in a rear projection manner, that is, the side image refraction layer 31 is illuminated by a back light source. Three groups of isosceles right angle total reflection lenses are used for changing the thread imaging angle, so that images of the head part of the screw, the right front part of the thread and the side surface of the thread are combined into the same video window.

As a specific example, the arrangement of the lens group in space is shown in FIG. 5, which is divided into an upper part and a lower part, wherein the lower part is used for refracting out the side surface of the screw, and the upper part is used for refracting out the top image of the screw.

In the lower part, two groups of lens groups taking images of the thread surfaces are arranged to be mutually vertical and close together, and respectively take two thread surfaces in the vertical direction. The 3-1 lens isosceles surface is parallel to and opposite to the screw thread surface of the screw, the 3-2 lens isosceles surface is parallel to and opposite to the 3-1 other isosceles surface, the thread surface image is reflected for two times by 90 degrees through the 3-1 and 3-2 lens group, and finally the thread surface image is upwards output from the lens 3-2.

In the upper part of the lens group for taking the image of the head part of the screw, the first-class waist surface of the 3-3 lens is parallel to and opposite to the head part of the screw, the other isosceles surface is parallel to the 3-1 isosceles surface, the first-class waist surface of the 3-4 lens is parallel to and opposite to the 3-3 isosceles surface, the first-class waist surface of the 3-5 lens is parallel to and opposite to the 3-4 isosceles surface, and the other isosceles surface is downward. The image of the screw head is reflected by three times of 90 degrees through a 3-3 lens group, a 3-4 lens group and a 3-5 lens group, and finally is output upwards from the 3-5 lens group. The combined image is shown in fig. 7 and is displayed on the imaging plate 33 from top to bottom.

The image acquisition mechanism 4 acquires image data on the imaging plate 33, transmits the image data to the computer for analysis, controls the motor drive reversely, rotates the index plate to the corresponding sorting channel, and controls the air nozzle to act, as shown in fig. 9.

An air nozzle is arranged at each sorting outlet of the sorting mechanism, and compressed air is sprayed out from the air nozzles to blow screws out from the corresponding sorting channels. When the automatic screw driving machine is used in the next procedure, compressed air is not needed to blow out the screws, and the automatic screw driving machine directly takes the screws from the corresponding sorting channels.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.