阅读说明：本技术 一种基于视觉系统的轮胎输送轨迹纠正设备 (Tire conveying track correction equipment based on vision system ) 是由 贾蕊绮 周海斌 廖勇 黄初敏 李昆霖 唐倩杰 于 2020-06-18 设计创作，主要内容包括：本发明公开了一种基于视觉系统的轮胎输送轨迹纠正设备,其包括输送辊床、顶升装置、纠正装置和视觉识别系统,输送辊床包括床体、辊筒和用于驱动辊筒旋转的辊筒驱动机构,多个辊筒在床体的上端平面形成辊道；顶升装置包括升降座和用于驱动升降座上下移动的升降驱动机构；纠正装置包括纠正链条和用于驱动纠正链条转动的链条驱动机构,纠正链条沿轮胎的输送方向间隔设有若干条,若干条纠正链条设置在升降座上且位于相邻的两个辊筒之间；视觉识别系统包括摄像头和图像处理器,摄像头通过图像处理器与PLC中央处理器电连接。本发明能够将偏离辊道中心的轮胎进行姿态纠正,有效降低因后段输送过程中轮胎堆叠导致的设备故障发生的概率。(The invention discloses tire conveying track correcting equipment based on a vision system, which comprises a conveying roller bed, a jacking device, a correcting device and a vision recognition system, wherein the conveying roller bed comprises a bed body, rollers and a roller driving mechanism for driving the rollers to rotate, and a plurality of rollers form a roller way on the upper end plane of the bed body; the jacking device comprises a lifting seat and a lifting driving mechanism for driving the lifting seat to move up and down; the correcting device comprises a correcting chain and a chain driving mechanism for driving the correcting chain to rotate, the correcting chain is provided with a plurality of correcting chains at intervals along the conveying direction of the tire, and the correcting chains are arranged on the lifting seat and positioned between two adjacent rollers; the visual recognition system comprises a camera and an image processor, and the camera is electrically connected with the PLC central processing unit through the image processor. The invention can correct the posture of the tire deviated from the center of the roller way, and effectively reduces the probability of equipment failure caused by tire stacking in the rear-section conveying process.)

1. A tire conveying track correction device based on a vision system is characterized by comprising a base frame, a conveying roller bed, a jacking device, a correction device, a vision recognition system and a PLC central processing unit,

the conveying roller bed comprises a bed body, a plurality of rollers and a roller driving mechanism, wherein the bed body is fixed on the base frame, the rollers are arranged at intervals along the conveying direction of a tire, the rollers are rotatably arranged on the upper end plane of the bed body to form a roller table, the roller driving mechanism is arranged on the bed body, and the power output end of the roller driving mechanism is connected with the rollers;

the jacking device comprises a lifting seat and a lifting driving mechanism, the lifting seat is arranged on the base frame in a vertically movable manner and is positioned below the roller way, the lifting driving mechanism is arranged on the base frame, and the power output end of the lifting driving mechanism is connected with the lifting seat;

the correcting device comprises a correcting chain and a chain driving mechanism, the correcting chain is provided with a plurality of chains at intervals along the conveying direction of the tire, the correcting chains are rotatably arranged on the lifting seat and positioned between two adjacent rollers, the chain driving mechanism is arranged on the base frame, and the power output end of the chain driving mechanism is connected with the correcting chain;

the visual recognition system comprises a camera and an image processor, the camera is arranged right above the conveying roller bed, and the camera is electrically connected with the input end of the image processor;

the input end of the PLC central processing unit is electrically connected with the output end of the image processor, and the output end of the PLC central processing unit is respectively electrically connected with the control circuit of the roller driving mechanism, the control circuit of the lifting driving mechanism and the control circuit of the chain driving mechanism.

2. The tire conveying track correcting device based on the vision system as claimed in claim 1, wherein a transition roller bed is connected to the front end of the conveying roller bed, and the conveying speed of the conveying roller bed is greater than that of the transition roller bed.

3. The vision system-based tire conveying track correcting apparatus as claimed in claim 2, wherein the structure of the transition roller bed is the same as that of the conveying roller bed.

4. The vision system-based tire conveying track correcting device as claimed in claim 2, wherein an inductive switch is arranged on the transition roller bed, and the inductive switch is electrically connected with the control circuit of the roller driving mechanism.

5. The vision system-based tire conveying track correcting device as claimed in claim 1, wherein the roller driving mechanism comprises a first motor, a first driving sprocket, a first driven sprocket and a driven chain, the first driven sprocket is coaxially mounted at the shaft end of each roller, the first motor is fixedly mounted at the bottom of the bed body, the rotating shaft of the first motor is connected with the first driving sprocket, and the driven chain is connected between the first driving sprocket and the first driven sprocket.

6. The vision system-based tire conveying track correcting device is characterized in that the lifting driving mechanism comprises a jacking cylinder, a first crankshaft, a second crankshaft and a connecting rod, wherein the first crankshaft and the second crankshaft are respectively and rotatably arranged on two sides of the base frame, and the first crankshaft and the second crankshaft are horizontally arranged; a first crank and a second crank are fixedly arranged at one end of the first crank, a third crank symmetrically parallel to the first crank and a fourth crank symmetrically parallel to the second crank are fixedly arranged at the other end of the first crank, a fifth crank and a sixth crank are fixedly arranged at one end of the second crank, an included angle formed by the fifth crank and the sixth crank is equal to an included angle formed by the third crank and the fourth crank, and a seventh crank symmetrically parallel to the sixth crank is fixedly arranged at the other end of the second crank; the axis of jacking cylinder with the axis of connecting rod is parallel, the one end of jacking cylinder with the base frame rotates to be connected, the other end of jacking cylinder with first crank rotates to be connected, the one end of connecting rod with third crank rotates to be connected, the other end of connecting rod with fifth crank rotates to be connected, second crank, fourth crank, sixth crank and seventh crank respectively with the seat that goes up and down rotates to be connected.

7. The vision system-based tire conveying track correction apparatus as claimed in claim 6, wherein said chain driving mechanism further comprises a tension sprocket capable of tensioning the correction chain.

8. The tire conveying track correcting device based on the vision system as claimed in claim 1, wherein the chain driving mechanism comprises a second motor, a second driving sprocket, a second driven sprocket and a correcting rotating shaft, the correcting rotating shaft is horizontally arranged and has two, the two correcting rotating shafts are respectively rotatably disposed at the left and right sides of the lifting seat, the two correcting rotating shafts are coaxially mounted with the second driven sprockets corresponding to the correcting chains one by one, the second motor is fixedly mounted on the lifting seat, the rotating shaft of the second motor is connected with the second driving sprocket, and the correcting chain is connected between the second driving sprocket and the second driven sprocket.

9. The vision system-based tire conveying track correcting device as claimed in claim 1, wherein the left and right sides of the conveying roller bed are respectively provided with guide rollers.

10. The vision system-based tire conveying track correcting device is characterized in that the camera is fixedly arranged right above the conveying roller bed through a portal frame.

Technical Field

The invention belongs to the technical field of roller way conveying equipment, and particularly relates to tire conveying track correction equipment based on a vision system.

Background

At present, because there is the difference in different motorcycle type tire size specifications among the automobile production technology, when using the roll table collineation to carry, because the tire carries the easy skew roll table center of gesture, therefore the unable condition of avoiding appearing the tire and piling up, the tire piles up and can lead to inductive switch's abnormal response to lead to the stopper unable to close, pile up the tire and take place to interfere with equipment, finally lead to equipment to damage, the line body breaks down, seriously influences the tire and normally carries.

Disclosure of Invention

The invention aims to provide tire conveying track correction equipment based on a vision system, which can correct the posture of a tire deviated from the center of a roller way and effectively reduce the probability of equipment failure caused by tire stacking in the rear-section conveying process.

In order to achieve the purpose, the invention provides tire conveying track correction equipment based on a vision system, which comprises a base frame, a conveying roller bed, a jacking device, a correction device, a vision recognition system and a PLC central processing unit;

the conveying roller bed comprises a bed body, a plurality of rollers and a roller driving mechanism, wherein the bed body is fixed on the base frame, the rollers are arranged at intervals along the conveying direction of a tire, the rollers are rotatably arranged on the upper end plane of the bed body to form a roller table, the roller driving mechanism is arranged on the bed body, and the power output end of the roller driving mechanism is connected with the rollers;

the jacking device comprises a lifting seat and a lifting driving mechanism, the lifting seat is arranged on the base frame in a vertically movable manner and is positioned below the roller way, the lifting driving mechanism is arranged on the base frame, and the power output end of the lifting driving mechanism is connected with the lifting seat;

the correcting device comprises a correcting chain and a chain driving mechanism, the correcting chain is provided with a plurality of chains at intervals along the conveying direction of the tire, the correcting chains are rotatably arranged on the lifting seat and positioned between two adjacent rollers, the chain driving mechanism is arranged on the base frame, and the power output end of the chain driving mechanism is connected with the correcting chain;

the visual recognition system comprises a camera and an image processor, the camera is arranged right above the conveying roller bed, and the camera is electrically connected with the input end of the image processor;

the input end of the PLC central processing unit is electrically connected with the output end of the image processor, and the output end of the PLC central processing unit is respectively electrically connected with the control circuit of the roller driving mechanism, the control circuit of the lifting driving mechanism and the control circuit of the chain driving mechanism.

In a preferred embodiment of the present invention, a transition roller bed is connected to a front end of the conveying roller bed, and a conveying speed of the conveying roller bed is greater than a conveying speed of the transition roller bed.

In a preferred embodiment of the present invention, the transition roller bed has the same structure as the transfer roller bed.

As the preferable scheme of the invention, the transition roller bed is provided with an inductive switch which is electrically connected with a control circuit of the roller driving mechanism.

As a preferable scheme of the invention, the roller driving mechanism comprises a first motor, a first driving sprocket, a first driven sprocket and a driven chain, the first driven sprocket is coaxially installed at the shaft end of each roller, the first motor is fixedly installed at the bottom of the bed body, a rotating shaft of the first motor is connected with the first driving sprocket, and the driven chain is connected between the first driving sprocket and the first driven sprocket.

As a preferable aspect of the present invention, the control circuit of the first motor is electrically connected to an output terminal of the PLC central processing unit.

As a preferable scheme of the present invention, the lifting driving mechanism includes a lifting cylinder, a first crankshaft, a second crankshaft and a connecting rod, the first crankshaft and the second crankshaft are respectively rotatably disposed at two sides of the base frame, and the first crankshaft and the second crankshaft are horizontally disposed; a first crank and a second crank are fixedly arranged at one end of the first crank, a third crank symmetrically parallel to the first crank and a fourth crank symmetrically parallel to the second crank are fixedly arranged at the other end of the first crank, a fifth crank and a sixth crank are fixedly arranged at one end of the second crank, an included angle formed by the fifth crank and the sixth crank is equal to an included angle formed by the third crank and the fourth crank, and a seventh crank symmetrically parallel to the sixth crank is fixedly arranged at the other end of the second crank; the axis of jacking cylinder with the axis of connecting rod is parallel, the one end of jacking cylinder with the base frame rotates to be connected, the other end of jacking cylinder with first crank rotates to be connected, the one end of connecting rod with third crank rotates to be connected, the other end of connecting rod with fifth crank rotates to be connected, second crank, fourth crank, sixth crank and seventh crank respectively with the seat that goes up and down rotates to be connected.

As the preferable scheme of the invention, the control circuit of the jacking cylinder is electrically connected with the output end of the PLC central processing unit.

As a preferable aspect of the present invention, the chain drive mechanism further includes a tension sprocket capable of tensioning the correction chain.

As a preferable scheme of the present invention, the chain driving mechanism includes two horizontally arranged correction rotating shafts, two of the correction rotating shafts are rotatably disposed on the left and right sides of the lifting seat, the two correction rotating shafts are coaxially mounted with the second driven sprockets corresponding to the correction chains one by one, the second motor is fixedly mounted on the lifting seat, the rotating shaft of the second motor is connected with the second driving sprocket, and the correction chain is connected between the second driving sprocket and the second driven sprocket.

As a preferable aspect of the present invention, the control circuit of the second motor is electrically connected to an output terminal of the PLC central processing unit.

As the preferable scheme of the invention, the left side and the right side of the conveying roller bed are respectively provided with the guide rollers.

As a preferable scheme of the invention, the camera is fixedly arranged right above the conveying roller bed through a portal frame.

Compared with the prior art, the tire conveying track correcting equipment based on the vision system has the beneficial effects that:

according to the invention, through the arrangement of the visual recognition system, whether the tire conveying posture deviates from the center of the roller way or not can be actively recognized, and meanwhile, through the organic combination of the jacking device and the correction device, the posture of the tire deviating from the center of the roller way can be corrected, so that the probability of equipment failure caused by tire stacking in the rear-section conveying process is effectively reduced; in addition, the invention utilizes the visual identification technology, can also carry out self-adaptive adjustment on the adjustment quantity according to the size of the tire, and has high applicability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.

FIG. 1 is a front view of a vision system based tire transport track correction apparatus provided by the present invention;

FIG. 2 is a side view of a vision system based tire transport track correction apparatus provided by the present invention;

FIG. 3 is a top view of a vision system based tire transport track correction apparatus provided in accordance with the present invention;

fig. 4 is a schematic structural view of the jacking device.

In the figure, 1, a base frame; 2. a conveying roller bed; 21. a bed body; 22. a roller; 23. a first driven sprocket; 24. a guide roller; 3. a jacking device; 31. a lifting seat; 32. jacking a cylinder; 33. a first crankshaft; 331. a first crank; 332. a second crank; 34. a second crankshaft; 35. a connecting rod; 4. a correction device; 41. correcting the chain; 42. a second motor; 43. a second drive sprocket; 44. a second driven sprocket; 45. correcting the rotating shaft; 46. a tension sprocket; 5. a visual recognition system; 51. a camera; 52. an image processor; 6. a gantry; 7. a transition roller bed.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the machine or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.

As shown in fig. 1 to 4, a preferred embodiment of the present invention is a tire conveying track correcting apparatus based on a vision system, which includes a base frame 1, a conveying roller bed 2, a lifting device 3, a correcting device 4, a vision recognition system 5 and a PLC central processing unit.

The conveying roller bed 2 of this embodiment is used for carrying the tire, and it includes bed body 21, roller 22 and roller actuating mechanism, bed body 21 is fixed on the base frame 1, roller 22 is equipped with a plurality ofly, a plurality ofly along the direction of delivery interval of tire roller 22 rotationally sets up the upper end plane of bed body 21 forms the roll table, roller actuating mechanism installs on the bed body 21, just roller actuating mechanism's power take off end with roller 22 connects.

Exemplarily, the roller driving mechanism includes a first motor, a first driving sprocket, a first driven sprocket 23 and a driven chain, the first driven sprocket 23 is coaxially installed at the shaft end of each roller 22, the first motor is fixedly installed at the bottom of the bed body 21, a rotating shaft of the first motor is connected with the first driving sprocket, and the driven chain is connected between the first driving sprocket and the first driven sprocket 23.

Furthermore, the left side and the right side of the conveying roller bed 2 are respectively provided with a guide roller 24 to prevent tires from separating from the roller bed.

The jacking device 3 of this embodiment is used for correcting 4 tops of device to the tire bottom, and it includes lift seat 31 and lift actuating mechanism, lift seat 31 can set up with reciprocating base frame 1 is last and be located the below of roll table, lift actuating mechanism installs base frame 1 is last, just lift actuating mechanism's power take off end with lift seat 31 connects.

Illustratively, the lifting driving mechanism comprises a lifting cylinder 32, a first crankshaft 33, a second crankshaft 34 and a connecting rod 35, the first crankshaft 33 and the second crankshaft 34 are respectively and rotatably arranged at two sides of the base frame 1, and the first crankshaft 33 and the second crankshaft 34 are horizontally arranged; a first crank 331 and a second crank 332 are fixedly arranged at one end of the first crank 33, a third crank symmetrically parallel to the first crank 331 and a fourth crank symmetrically parallel to the second crank 332 are fixedly arranged at the other end of the first crank 33, a fifth crank and a sixth crank are fixedly arranged at one end of the second crank 34, an included angle formed by the fifth crank and the sixth crank is equal to an included angle formed by the third crank and the fourth crank, and a seventh crank symmetrically parallel to the sixth crank is fixedly arranged at the other end of the second crank 34; the axis of jacking cylinder 32 with the axis of connecting rod 35 is parallel, jacking cylinder 32 one end with base frame 1 rotates to be connected, jacking cylinder 32 the other end with first crank 331 rotates to be connected, connecting rod 35 one end with third crank rotates to be connected, connecting rod 35 the other end with fifth crank rotates to be connected, second crank 332, fourth crank, sixth crank and seventh crank respectively with lift seat 31 rotates to be connected.

The tire at skew roll table center is used for correcting to correction device 4 of this embodiment, and it is including correcting chain 41 and chain drive mechanism, it is equipped with a plurality of, a plurality of to correct the direction of delivery interval of chain 41 edge tire correct chain 41 rotationally to set up on the lift seat 31 and be located adjacent two between the roller 22, chain drive mechanism installs base frame 1 is last, just chain drive mechanism's power take off end with correct chain 41 and connect.

Exemplarily, the chain driving mechanism includes a second motor 42 (preferably, a step motor), a second driving sprocket 43, a second driven sprocket 44 and a correcting rotating shaft 45, the correcting rotating shaft 45 is disposed horizontally and is provided with two, the correcting rotating shaft 45 is respectively and rotatably disposed at the left and right sides of the lifting seat 31, the correcting rotating shaft 45 is coaxially mounted with the second driven sprocket 44 corresponding to the correcting chain 41 one by one, the second motor 42 is fixedly mounted on the lifting seat 31, the rotating shaft of the second motor 42 is connected with the second driving sprocket 43, and the correcting chain 41 is connected between the second driving sprocket 43 and the second driven sprocket 44. Further, the chain drive mechanism further includes a tension sprocket 46 capable of tensioning the correction chain 41.

The vision recognition system 5 of this embodiment is used for initiatively recognizing whether the tire conveying posture deviates from the roller table center, and includes a camera 51 and an image processor 52, the camera 51 is arranged right above the conveying roller bed 2, and the camera 51 is electrically connected with the input end of the image processor 52. The camera 51 is fixedly arranged right above the conveying roller bed 2 through a portal frame 6.

The input end of the PLC cpu of this embodiment is electrically connected to the output end of the image processor 52, and the output end of the PLC cpu is electrically connected to the control circuit of the roller driving mechanism (i.e., the first motor), the control circuit of the lifting driving mechanism (i.e., the lifting cylinder 32), and the control circuit of the chain driving mechanism (i.e., the second motor 42), respectively.

The working process of the tire conveying track correcting device based on the vision system is as follows:

when the tire enters the conveying roller bed 2, the vision recognition system 5 photographs the tire, recognizes the size of the tire, and judges whether the tire deviates from the center of the roller bed according to the size of the tire and a preset reference point; if the tire is judged to deviate from the center of the roller way (namely when the adjustment is needed), the visual recognition system 5 adjusts direction and code value data to a PLC central processing unit interaction motor (namely a second motor 42) to carry out the next action; specifically, the conveying roller bed 2 stops conveying the tire, the jacking device 3 drives the correcting device 4 to ascend to the bottom of the tire, so that the correcting chain 41 is in contact with the bottom of the tire, then a second motor 42 of the correcting device 4 correspondingly rotates according to the direction and code value data adjusted by the vision recognition system 5 to the PLC central processing unit, and then the correcting chain 41 is driven to translate the tire to the center of the roller way until the tire is positioned at the center of the roller way; after the adjustment is completed, the jacking device 3 drives the correcting device 4 to descend to the lowest position, the conveying roller bed 2 is restarted to release the tire to the next station, and meanwhile, the next tire is allowed to enter the conveying roller bed 2 to circulate in sequence. If the tire is judged to be positioned at the center of the roller way (namely when adjustment is not needed), the signal is directly sent to the PLC central processing unit in an interactive mode, and the tire is continuously conveyed by the conveying roller bed 2.

It should be noted that, because a slip phenomenon may occur between the correction chain 41 and the tire is considered, after the motor rotates to the code value and stops, the vision recognition system 5 also needs to determine the real-time posture of the tire, and if it is determined that the tire still deviates from the center of the roller table, the adjustment step is repeated, and the tire is directly located at the center of the roller table.

Therefore, according to the tire conveying track correction equipment based on the vision system, whether the tire conveying posture deviates from the center of a roller way can be actively recognized through the arrangement of the vision recognition system 5, and meanwhile, the posture of the tire deviating from the center of the roller way can be corrected through the organic combination of the jacking device 3 and the correction device 4, so that the probability of equipment failure caused by tire stacking in the rear-section conveying process is effectively reduced; in addition, the invention utilizes the visual identification technology, can also carry out self-adaptive adjustment on the adjustment quantity according to the size of the tire, and has high applicability.

Based on the above embodiment, the front end of the conveying roller bed 2 is connected with the transition roller bed 7, the conveying speed of the conveying roller bed 2 is greater than the conveying speed of the transition roller bed 7, the transition roller bed 7 is provided with the inductive switch, and the inductive switch is electrically connected with the control circuit of the roller driving mechanism (i.e., the first motor). From this, when the tire got into inductive switch's response within range, the first motor on the delivery roller bed 2 began to rotate, utilizes the speed difference, will pile up the tire and separate, and back in the tire of front end got into delivery roller bed 2 alone, transition roller bed delivery motor stall prevents that other tires in rear from getting into in the delivery roller bed 2, can effectively solve the problem that the tire can't be corrected tire transport orbit under the prerequisite that the tire had taken place to pile up in the preceding section rollgang.

Illustratively, the inductive switch is preferably a photoelectric inductive switch, and the structure of the transition roller bed 7 is the same as that of the conveying roller bed 2, and is not described in detail here.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.