CN105699393A - System suitable for magnetic tile appearance defect detection and method for realizing system - Google Patents
System suitable for magnetic tile appearance defect detection and method for realizing system Download PDFInfo
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- CN105699393A CN105699393A CN201610164168.5A CN201610164168A CN105699393A CN 105699393 A CN105699393 A CN 105699393A CN 201610164168 A CN201610164168 A CN 201610164168A CN 105699393 A CN105699393 A CN 105699393A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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Abstract
The invention discloses a system suitable for magnetic tile appearance defect detection. The system comprises a controller, a discharging conveying belt, a discharging detection sensor, a breakage detection optical camera, a first conveying belt, a first parallel robot, a magnetic tile outer-arc-surface defect detection camera, a magnetic tile front-end-face defect detection camera, a magnetic tile rear-end-face defect detection camera, a second conveying belt, a magnetic tile inner-arc-surface defect detection camera, a magnetic tile front-end R-angle defect detection camera, a magnetic tile rear-end R-angle defect detection camera, a magnetic tile left-side-face defect detection camera, a magnetic tile right-side-face defect detection camera and a defective product rejecting device. The invention further discloses a method for realizing the system suitable for the magnetic tile appearance defect detection. The system disclosed by the invention has the characteristics of simple structure, low price, quick detection speed, low detection cost, high automation degree, low cost, time saving, labor saving, good production quality and the like.
Description
Technical field
The present invention relates to magnetic shoe production technology, a kind of magnetic shoe open defect that is applicable to detects system and its implementation specifically。
Background technology
Magnetic shoe product needed after grinding machine mill processing and ultrasonic cleaning, drying machining is manually taken out from the outlet of cleaning drying machine, keeps in product and asks；Then it is transported to inspection point workshop again by artificial inspection point, the product having open defect is rejected, intact packaging products in boxes。Thus need that people is round-the-clock collects product in grinding machine exit incessantly, magnetic shoe open defect occurs in R angle, front and back end, internal and external cambered surface and each side, and product needed could detect vanning through a transfer, therefore can lost labor and product transfer district, and inefficiency, labor strength is high。
Summary of the invention
It is an object of the invention to the deficiency overcoming above prior art to exist, it is provided that a kind of simple in construction, low cost, detection speed is fast, testing cost is low, automaticity is high, with low cost, the time saving and energy saving and quality of production is good is applicable to magnetic shoe open defect detection system。
Another object of the present invention be in that provide a kind of suitable in magnetic shoe open defect detect system realize method。
In order to achieve the above object, the present invention is by the following technical solutions: a kind of be applicable to magnetic shoe open defect detection system, including discharging conveyor belts, discharging conveyor belts side is provided with discharging detection sensor, discharging detection sensor is provided above damage testing optical camera, damage testing optical camera faces toward discharging conveyor belts, discharging conveyor belts side is provided with the first conveyer belt, the first parallel robot it is provided with between discharging conveyor belts and the first conveyer belt, discharging conveyor belts outfan is provided with the first damaged garbage collection box, first belt edge is sequentially provided with magnetic shoe extrados defects detection camera along direction of advance, magnetic shoe front end face defects detection camera and magnetic shoe rear end face defects detection camera, first conveyer belt discharging end is provided with the second damaged garbage collection box, first limit, conveyer belt discharging side is provided with the second conveyer belt, the second parallel robot it is provided with between first conveyer belt and the second conveyer belt, second conveyer belt feeding end is provided with magnetic shoe intrados defects detection camera, magnetic shoe intrados defects detection camera is respectively provided on two sides with magnetic shoe front end R angular defect detection camera and magnetic shoe rear end R angular defect detection camera, along the second conveyer belt direction of advance, second conveyer belt is respectively arranged at two ends with magnetic shoe left surface defects detection camera and magnetic shoe right flank defects detection camera, second conveyer belt is provided with defective products device for eliminating, defective products disposable box is located at the second belt edge that defective products device for eliminating is corresponding, the discharge end of the second conveyer belt is provided with non-defective unit collecting box；Controller respectively with discharging conveyor belts, discharging detection sensor, damage testing optical camera, first conveyer belt, first parallel robot, magnetic shoe extrados defects detection camera, magnetic shoe front end face defects detection camera, magnetic shoe rear end face defects detection camera, second conveyer belt, magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, magnetic shoe rear end R angular defect detection camera, magnetic shoe left surface defects detection camera, magnetic shoe right flank defects detection camera, defective products device for eliminating connects。
Described discharging conveyor belts transmission direction, discharging detection sensor front is provided with the first magnetic shoe position-detection sensor；First belt edge of magnetic shoe extrados defects detection camera front end is provided with the second magnetic shoe position-detection sensor；First belt edge of magnetic shoe front end face defects detection camera front end is provided with the 3rd magnetic shoe position-detection sensor；First belt edge of magnetic shoe rear end face defects detection camera front end is provided with the 4th magnetic shoe position-detection sensor；Second belt edge of magnetic shoe left surface defects detection camera front end is provided with the 5th magnetic shoe position-detection sensor；Second belt edge of defective products device for eliminating front end is provided with the 6th magnetic shoe position-detection sensor。
Described first parallel robot and the second parallel manipulator include rotary cylinder per capita, and rotary cylinder is connected with vacuum cups。
Described first parallel robot and the second parallel manipulator are spider-shaped robot。
Described magnetic shoe extrados defects detection camera is located at above the first conveyer belt, and magnetic shoe front end face defects detection camera is located on the right side of the first conveyer belt, and magnetic shoe rear end face defects detection camera is located on the left of the first conveyer belt。
Described magnetic shoe intrados defects detection camera is vertically arranged, and R angular defect detection camera in magnetic shoe front end is inclined to set with magnetic shoe rear end R angular defect detection camera；Magnetic shoe left surface defects detection camera is located on the left of the second conveyer belt, and magnetic shoe right flank defects detection camera is located on the right side of the second conveyer belt。
Described defective products device for eliminating is impeller mechanism, and impeller mechanism includes central block, and central block is uniformly provided with some blades, and central block is connected with impeller mechanism drive motor。
Described controller is PLC。
Above-mentioned suitable in magnetic shoe open defect detect system realize method, comprise the following steps:
(1), the magnetic shoe after ultrasonic cleaning, drying machines is carried backward by discharging conveyor belts, when magnetic shoe conveying arrives discharging detection sensing station place, discharging detection sensor via controller sends, to damage testing optical camera, detection signal of taking pictures, damage testing optical camera capture analyzes magnetic shoe and with or without breakage and records information, when breaking occurs in the magnetic shoe analyzed by capture, this magnetic shoe that breaks directly will deliver into the first damaged garbage collection box via discharging conveyor belts backward；
(2), continuation is carried by the detected magnetic shoe intact without breakage, when arriving the first magnetic shoe position-detection sensor position, controller sends the signal drawing magnetic shoe to the first parallel robot, first parallel robot drives the suction nozzle with spinfunction to draw unabroken magnetic shoe, then its 90-degree rotation is placed on the first conveyer belt, afterwards the first parallel robot be further continued for repeating under the crawl of a piece of magnetic shoe；
(3) magnetic shoe, after 90-degree rotation is carried backward through the first conveyer belt, and when arriving extrados defects detection camera, extrados defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(4), magnetic shoe continue to be fed forward when arriving magnetic shoe front end face defects detection camera, magnetic shoe front end face defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(5), magnetic shoe continue to be fed forward and send detection signal of taking pictures when arriving magnetic shoe rear end face defects detection camera, magnetic shoe rear end face defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(6), in step (3)～(5), if having one group of camera calibration to go out product have defect, camera after will not carry out capture defects detection again, and magnetic shoe is directly via in the first tape transport to the damaged garbage collection box of end second；
(7), the flawless magnetic shoe of three groups of camera calibrations on the first conveyer belt continues conveying when to end, second parallel robot motion, second parallel robot drives the suction nozzle with spinfunction to draw unabroken magnetic shoe, then by its 90-degree rotation to side side by side second belt direction conveying, period is at magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, the position of magnetic shoe rear end R angular defect detection camera stops certain time, magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, the intrados of magnetic shoe is analyzed in capture of simultaneously taking pictures by magnetic shoe rear end R angular defect detection three cameras of camera respectively, R angle, front end, R angle, rear end carries out fault detection analysis, the numbering of controller this magnetic shoe of record simultaneously；
(8), when magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, magnetic shoe rear end R angular defect detection camera capture complete after, second parallel robot continues motion and is placed on the second conveyer belt by magnetic shoe, magnetic shoe continues to be fed forward via the second conveyer belt, second parallel robot is moved back simultaneously, the crawl of a piece of magnetic shoe under proceeding；
(9) magnetic shoe, on the second conveyer belt travels forward, and when arriving left surface defects detection camera, left surface defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(10), magnetic shoe continue to be fed forward when arriving magnetic shoe right flank defects detection camera position place, magnetic shoe right flank defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(11), magnetic shoe is carried on the second conveyer belt, if via left surface defects detection camera, right flank defects detection camera calibration process in have one group of camera calibration to go out product there is defect, camera after will not carry out capture defects detection again, defect magnetic shoe is directly carried backward via the second conveyer belt, when arriving defective products device for eliminating, defect magnetic shoe is rejected in defective products disposable box by defective products device for eliminating action；
(12), end will be continued transported to enter in non-defective unit collecting box through left surface defects detection camera, magnetic shoe that right flank defects detection camera calibration is intact。
Discharging conveyor belts transmission direction in described step (1)～(12), discharging detection sensor front is provided with the first magnetic shoe position-detection sensor；First belt edge of magnetic shoe extrados defects detection camera front end is provided with the second magnetic shoe position-detection sensor；First belt edge of magnetic shoe front end face defects detection camera front end is provided with the 3rd magnetic shoe position-detection sensor；First belt edge of magnetic shoe rear end face defects detection camera front end is provided with the 4th magnetic shoe position-detection sensor；Second belt edge of magnetic shoe left surface defects detection camera front end is provided with the 5th magnetic shoe position-detection sensor；Second belt edge of defective products device for eliminating front end is provided with the 6th magnetic shoe position-detection sensor；In described step (11), defective products device for eliminating is impeller mechanism, and impeller mechanism includes central block, and central block is uniformly provided with some blades, and central block is connected with impeller mechanism drive motor。
The present invention, relative to prior art, has such advantages as and effect:
1, the present invention includes controller, discharging conveyor belts, discharging detection sensor, damage testing optical camera, first conveyer belt, first parallel robot, magnetic shoe extrados defects detection camera, magnetic shoe front end face defects detection camera, magnetic shoe rear end face defects detection camera, second conveyer belt, magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, magnetic shoe rear end R angular defect detection camera, magnetic shoe left surface defects detection camera, magnetic shoe right flank defects detection camera, defective products device for eliminating, there is simple in construction, low cost, detection speed is fast, testing cost is low, automaticity is high, with low cost, the features such as the time saving and energy saving and quality of production is good。
2, the transmission of the discharging conveyor belts in present invention direction, discharging detection sensor front is provided with the first magnetic shoe position-detection sensor；First belt edge of magnetic shoe extrados defects detection camera front end is provided with the second magnetic shoe position-detection sensor；First belt edge of magnetic shoe front end face defects detection camera front end is provided with the 3rd magnetic shoe position-detection sensor；First belt edge of magnetic shoe rear end face defects detection camera front end is provided with the 4th magnetic shoe position-detection sensor；Second belt edge of magnetic shoe left surface defects detection camera front end is provided with the 5th magnetic shoe position-detection sensor；Second belt edge of defective products device for eliminating front end is provided with the 6th magnetic shoe position-detection sensor；Corresponding camera can be coordinated, play triggering inductive effects, stable and reliable for performance。
3, in the present invention, magnetic shoe intrados defects detection camera is vertically arranged, and R angular defect detection camera in magnetic shoe front end is inclined to set with magnetic shoe rear end R angular defect detection camera；Magnetic shoe left surface defects detection camera is located on the left of the second conveyer belt, and magnetic shoe right flank defects detection camera is located on the right side of the second conveyer belt, and all angles of magnetic shoe can be detected by a whole system。
4, the defective products device for eliminating in the present invention is impeller mechanism, and impeller mechanism includes central block, and central block is uniformly provided with some blades, and central block is connected with impeller mechanism drive motor；Simple in construction, designs ingenious, effective。
5, whole system of the present invention and method, can detect each position of magnetic shoe respectively, and automatization is fully achieved, and reduces hand labor intensity and cost, is provided with defect processing mechanism, and cooperative mechanical is moved, it is achieved unmanned management pattern。
Accompanying drawing explanation
Fig. 1 is a kind of overall structure schematic diagram detecting system suitable in magnetic shoe open defect；
Fig. 2 is the structural representation at the first conveyer belt in the present invention, the second conveyer belt place；
Fig. 3 is the structural representation of defective products device for eliminating in the present invention。
Number in the figure is as follows with title:
| 1 | Discharging conveyor belts | 2 | Discharging detection sensor |
| 3 | Damage testing optical camera | 4 | First conveyer belt |
| 5 | First parallel robot | 6 | First damaged garbage collection box |
| 7 | Magnetic shoe extrados defects detection camera | 8 | Magnetic shoe front end face defects detection camera |
| 9 | Magnetic shoe rear end face defects detection camera | 10 | Second damaged garbage collection box |
| 11 | Second conveyer belt | 12 | Second parallel robot |
| 13 | Magnetic shoe intrados defects detection camera | 14 | Magnetic shoe front end R angular defect detection camera |
| 15 | Magnetic shoe rear end R angular defect detection camera | 16 | Left surface defects detection camera |
| 17 | Magnetic shoe right flank defects detection camera | 18 | Defective products device for eliminating |
| 19 | Defective products disposable box | 20 | Non-defective unit collecting box |
| 21 | First magnetic shoe position-detection sensor | 22 | Second magnetic shoe position-detection sensor |
| 23 | 3rd magnetic shoe position-detection sensor | 24 | 4th magnetic shoe position-detection sensor |
| 25 | 5th magnetic shoe position-detection sensor | 26 | 6th magnetic shoe position-detection sensor |
| 27 | Central block | 28 | Blade |
| 29 | Impeller mechanism drive motor |
Detailed description of the invention
For ease of it will be appreciated by those skilled in the art that the present invention is described in further detail below in conjunction with drawings and Examples。
Embodiment 1:
As shown in Figures 1 to 3, a kind of magnetic shoe open defect that is applicable to detects system, including discharging conveyor belts, discharging conveyor belts side is provided with discharging detection sensor, discharging detection sensor is provided above damage testing optical camera, damage testing optical camera faces toward discharging conveyor belts, discharging conveyor belts side is provided with the first conveyer belt, the first parallel robot it is provided with between discharging conveyor belts and the first conveyer belt, discharging conveyor belts outfan is provided with the first damaged garbage collection box, first belt edge is sequentially provided with magnetic shoe extrados defects detection camera along direction of advance, magnetic shoe front end face defects detection camera and magnetic shoe rear end face defects detection camera, first conveyer belt discharging end is provided with the second damaged garbage collection box, first limit, conveyer belt discharging side is provided with the second conveyer belt, the second parallel robot it is provided with between first conveyer belt and the second conveyer belt, second conveyer belt feeding end is provided with magnetic shoe intrados defects detection camera, magnetic shoe intrados defects detection camera is respectively provided on two sides with magnetic shoe front end R angular defect detection camera and magnetic shoe rear end R angular defect detection camera, along the second conveyer belt direction of advance, second conveyer belt is respectively arranged at two ends with magnetic shoe left surface defects detection camera and magnetic shoe right flank defects detection camera, second conveyer belt is provided with defective products device for eliminating, defective products disposable box is located at the second belt edge that defective products device for eliminating is corresponding, the discharge end of the second conveyer belt is provided with non-defective unit collecting box；Controller respectively with discharging conveyor belts, discharging detection sensor, damage testing optical camera, first conveyer belt, first parallel robot, magnetic shoe extrados defects detection camera, magnetic shoe front end face defects detection camera, magnetic shoe rear end face defects detection camera, second conveyer belt, magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, magnetic shoe rear end R angular defect detection camera, magnetic shoe left surface defects detection camera, magnetic shoe right flank defects detection camera, defective products device for eliminating connects。
Discharging conveyor belts transmission direction in the present embodiment, discharging detection sensor front is provided with the first magnetic shoe position-detection sensor；First belt edge of magnetic shoe extrados defects detection camera front end is provided with the second magnetic shoe position-detection sensor；First belt edge of magnetic shoe front end face defects detection camera front end is provided with the 3rd magnetic shoe position-detection sensor；First belt edge of magnetic shoe rear end face defects detection camera front end is provided with the 4th magnetic shoe position-detection sensor；Second belt edge of magnetic shoe left surface defects detection camera front end is provided with the 5th magnetic shoe position-detection sensor；Second belt edge of defective products device for eliminating front end is provided with the 6th magnetic shoe position-detection sensor。
The first parallel robot and the second parallel manipulator in the present embodiment include rotary cylinder per capita, and rotary cylinder is connected with vacuum cups；First parallel robot and the second parallel manipulator are spider-shaped robot, spider-shaped machine artificial Fei Situo EXPT-45-E1 robot。
Magnetic shoe extrados defects detection camera in the present embodiment is located at above the first conveyer belt, and magnetic shoe front end face defects detection camera is located on the right side of the first conveyer belt, and magnetic shoe rear end face defects detection camera is located on the left of the first conveyer belt；Magnetic shoe intrados defects detection camera is vertically arranged, and R angular defect detection camera in magnetic shoe front end is inclined to set with magnetic shoe rear end R angular defect detection camera；Magnetic shoe left surface defects detection camera is located on the left of the second conveyer belt, and magnetic shoe right flank defects detection camera is located on the right side of the second conveyer belt；Controller is PLC。
In the present embodiment, defective products device for eliminating is impeller mechanism, and impeller mechanism includes central block, and central block is uniformly provided with some blades, and central block is connected with impeller mechanism drive motor。
Above-mentioned suitable in magnetic shoe open defect detect system realize method, comprise the following steps:
(1), the magnetic shoe after ultrasonic cleaning, drying machines is carried backward by discharging conveyor belts, when magnetic shoe conveying arrives discharging detection sensing station place, discharging detection sensor via controller sends, to damage testing optical camera, detection signal of taking pictures, damage testing optical camera capture analyzes magnetic shoe and with or without breakage and records information, when breaking occurs in the magnetic shoe analyzed by capture, this magnetic shoe that breaks directly will deliver into the first damaged garbage collection box via discharging conveyor belts backward；
(2), continuation is carried by the detected magnetic shoe intact without breakage, when arriving the first magnetic shoe position-detection sensor position, controller sends the signal drawing magnetic shoe to the first parallel robot, first parallel robot drives the suction nozzle with spinfunction to draw unabroken magnetic shoe, then its 90-degree rotation is placed on the first conveyer belt, afterwards the first parallel robot be further continued for repeating under the crawl of a piece of magnetic shoe；
(3) magnetic shoe, after 90-degree rotation is carried backward through the first conveyer belt, and when arriving extrados defects detection camera, extrados defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(4), magnetic shoe continue to be fed forward when arriving magnetic shoe front end face defects detection camera, magnetic shoe front end face defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(5), magnetic shoe continue to be fed forward and send detection signal of taking pictures when arriving magnetic shoe rear end face defects detection camera, magnetic shoe rear end face defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(6), in step (3)～(5), if having one group of camera calibration to go out product have defect, camera after will not carry out capture defects detection again, and magnetic shoe is directly via in the first tape transport to the damaged garbage collection box of end second；
(7), the flawless magnetic shoe of three groups of camera calibrations on the first conveyer belt continues conveying when to end, second parallel robot motion, second parallel robot drives the suction nozzle with spinfunction to draw unabroken magnetic shoe, then by its 90-degree rotation to side side by side second belt direction conveying, period is at magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, the position of magnetic shoe rear end R angular defect detection camera stops certain time, magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, the intrados of magnetic shoe is analyzed in capture of simultaneously taking pictures by magnetic shoe rear end R angular defect detection three cameras of camera respectively, R angle, front end, R angle, rear end carries out fault detection analysis, the numbering of controller this magnetic shoe of record simultaneously；
(8), when magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, magnetic shoe rear end R angular defect detection camera capture complete after, second parallel robot continues motion and is placed on the second conveyer belt by magnetic shoe, magnetic shoe continues to be fed forward via the second conveyer belt, second parallel robot is moved back simultaneously, the crawl of a piece of magnetic shoe under proceeding；
(9) magnetic shoe, on the second conveyer belt travels forward, and when arriving left surface defects detection camera, left surface defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(10), magnetic shoe continue to be fed forward when arriving magnetic shoe right flank defects detection camera position place, magnetic shoe right flank defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(11), magnetic shoe is carried on the second conveyer belt, if via left surface defects detection camera, right flank defects detection camera calibration process in have one group of camera calibration to go out product there is defect, camera after will not carry out capture defects detection again, defect magnetic shoe is directly carried backward via the second conveyer belt, when arriving defective products device for eliminating, defect magnetic shoe is rejected in defective products disposable box by defective products device for eliminating action；
(12), end will be continued transported to enter in non-defective unit collecting box through left surface defects detection camera, magnetic shoe that right flank defects detection camera calibration is intact。
Discharging conveyor belts transmission direction in described step (1)～(12), discharging detection sensor front is provided with the first magnetic shoe position-detection sensor；First belt edge of magnetic shoe extrados defects detection camera front end is provided with the second magnetic shoe position-detection sensor；First belt edge of magnetic shoe front end face defects detection camera front end is provided with the 3rd magnetic shoe position-detection sensor；First belt edge of magnetic shoe rear end face defects detection camera front end is provided with the 4th magnetic shoe position-detection sensor；Second belt edge of magnetic shoe left surface defects detection camera front end is provided with the 5th magnetic shoe position-detection sensor；Second belt edge of defective products device for eliminating front end is provided with the 6th magnetic shoe position-detection sensor；In described step (11), defective products device for eliminating is impeller mechanism, and impeller mechanism includes central block, and central block is uniformly provided with some blades, and central block is connected with impeller mechanism drive motor。
Adopt said structure and method, equipment on-line can be realized completely and product is carried out defect automatically detect, reduce production cost and labor strength, improve production efficiency and product quality。
Embodiment 2:
The present embodiment difference from Example 1 is in that: the defective products device for eliminating in the present embodiment is block pushing device, and including cylinder and pushing hands, cylinder is connected with controller。
Above-mentioned detailed description of the invention is the preferred embodiments of the present invention, can not limit the invention, and what other any made without departing from technical scheme change or the substitute mode of other equivalence, is included within protection scope of the present invention。
Claims (10)
1. one kind is applicable to magnetic shoe open defect detection system, it is characterized in that: include discharging conveyor belts, discharging conveyor belts side is provided with discharging detection sensor, discharging detection sensor is provided above damage testing optical camera, damage testing optical camera faces toward discharging conveyor belts, discharging conveyor belts side is provided with the first conveyer belt, the first parallel robot it is provided with between discharging conveyor belts and the first conveyer belt, discharging conveyor belts outfan is provided with the first damaged garbage collection box, first belt edge is sequentially provided with magnetic shoe extrados defects detection camera along direction of advance, magnetic shoe front end face defects detection camera and magnetic shoe rear end face defects detection camera, first conveyer belt discharging end is provided with the second damaged garbage collection box, first limit, conveyer belt discharging side is provided with the second conveyer belt, the second parallel robot it is provided with between first conveyer belt and the second conveyer belt, second conveyer belt feeding end is provided with magnetic shoe intrados defects detection camera, magnetic shoe intrados defects detection camera is respectively provided on two sides with magnetic shoe front end R angular defect detection camera and magnetic shoe rear end R angular defect detection camera, along the second conveyer belt direction of advance, second conveyer belt is respectively arranged at two ends with magnetic shoe left surface defects detection camera and magnetic shoe right flank defects detection camera, second conveyer belt is provided with defective products device for eliminating, defective products disposable box is located at the second belt edge that defective products device for eliminating is corresponding, the discharge end of the second conveyer belt is provided with non-defective unit collecting box；Controller respectively with discharging conveyor belts, discharging detection sensor, damage testing optical camera, first conveyer belt, first parallel robot, magnetic shoe extrados defects detection camera, magnetic shoe front end face defects detection camera, magnetic shoe rear end face defects detection camera, second conveyer belt, magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, magnetic shoe rear end R angular defect detection camera, magnetic shoe left surface defects detection camera, magnetic shoe right flank defects detection camera, defective products device for eliminating connects。
2. according to claim 1 suitable in magnetic shoe open defect detection system, it is characterised in that: described discharging conveyor belts transmission direction, discharging detection sensor front is provided with the first magnetic shoe position-detection sensor；First belt edge of magnetic shoe extrados defects detection camera front end is provided with the second magnetic shoe position-detection sensor；First belt edge of magnetic shoe front end face defects detection camera front end is provided with the 3rd magnetic shoe position-detection sensor；First belt edge of magnetic shoe rear end face defects detection camera front end is provided with the 4th magnetic shoe position-detection sensor；Second belt edge of magnetic shoe left surface defects detection camera front end is provided with the 5th magnetic shoe position-detection sensor；Second belt edge of defective products device for eliminating front end is provided with the 6th magnetic shoe position-detection sensor。
3. according to claim 1 suitable in magnetic shoe open defect detection system, it is characterised in that: described first parallel robot and the second parallel manipulator include rotary cylinder per capita, and rotary cylinder is connected with vacuum cups。
4. according to claim 3 suitable in magnetic shoe open defect detection system, it is characterised in that: described first parallel robot and the second parallel manipulator are spider-shaped robot。
5. the magnetic shoe open defect that is applicable to according to any one of Claims 1 to 4 detects system, it is characterized in that: described magnetic shoe extrados defects detection camera is located at above the first conveyer belt, magnetic shoe front end face defects detection camera is located on the right side of the first conveyer belt, and magnetic shoe rear end face defects detection camera is located on the left of the first conveyer belt。
6. according to claim 5 suitable in magnetic shoe open defect detection system, it is characterised in that: described magnetic shoe intrados defects detection camera is vertically arranged, and R angular defect detection camera in magnetic shoe front end is inclined to set with magnetic shoe rear end R angular defect detection camera；Magnetic shoe left surface defects detection camera is located on the left of the second conveyer belt, and magnetic shoe right flank defects detection camera is located on the right side of the second conveyer belt。
7. according to claim 6 suitable in magnetic shoe open defect detection system, it is characterized in that: described defective products device for eliminating is impeller mechanism, impeller mechanism includes central block, and central block is uniformly provided with some blades, and central block is connected with impeller mechanism drive motor。
8. according to claim 7 suitable in magnetic shoe open defect detection system, it is characterised in that: described controller is PLC。
9. according to any one of claim 1～8 be applicable to magnetic shoe open defect detection system realize method, it is characterised in that comprise the following steps:
(1), the magnetic shoe after ultrasonic cleaning, drying machines is carried backward by discharging conveyor belts, when magnetic shoe conveying arrives discharging detection sensing station place, discharging detection sensor via controller sends, to damage testing optical camera, detection signal of taking pictures, damage testing optical camera capture analyzes magnetic shoe and with or without breakage and records information, when breaking occurs in the magnetic shoe analyzed by capture, this magnetic shoe that breaks directly will deliver into the first damaged garbage collection box via discharging conveyor belts backward；
(2), continuation is carried by the detected magnetic shoe intact without breakage, when arriving the first magnetic shoe position-detection sensor position, controller sends the signal drawing magnetic shoe to the first parallel robot, first parallel robot drives the suction nozzle with spinfunction to draw unabroken magnetic shoe, then its 90-degree rotation is placed on the first conveyer belt, afterwards the first parallel robot be further continued for repeating under the crawl of a piece of magnetic shoe；
(3) magnetic shoe, after 90-degree rotation is carried backward through the first conveyer belt, and when arriving extrados defects detection camera, extrados defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(4), magnetic shoe continue to be fed forward when arriving magnetic shoe front end face defects detection camera, magnetic shoe front end face defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(5), magnetic shoe continue to be fed forward and send detection signal of taking pictures when arriving magnetic shoe rear end face defects detection camera, magnetic shoe rear end face defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(6), in step (3)～(5), if having one group of camera calibration to go out product have defect, camera after will not carry out capture defects detection again, and magnetic shoe is directly via in the first tape transport to the damaged garbage collection box of end second；
(7), the flawless magnetic shoe of three groups of camera calibrations on the first conveyer belt continues conveying when to end, second parallel robot motion, second parallel robot drives the suction nozzle with spinfunction to draw unabroken magnetic shoe, then by its 90-degree rotation to side side by side second belt direction conveying, period is at magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, the position of magnetic shoe rear end R angular defect detection camera stops certain time, magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, the intrados of magnetic shoe is analyzed in capture of simultaneously taking pictures by magnetic shoe rear end R angular defect detection three cameras of camera respectively, R angle, front end, R angle, rear end carries out fault detection analysis, the numbering of controller this magnetic shoe of record simultaneously；
(8), when magnetic shoe intrados defects detection camera, magnetic shoe front end R angular defect detection camera, magnetic shoe rear end R angular defect detection camera capture complete after, second parallel robot continues motion and is placed on the second conveyer belt by magnetic shoe, magnetic shoe continues to be fed forward via the second conveyer belt, second parallel robot is moved back simultaneously, the crawl of a piece of magnetic shoe under proceeding；
(9) magnetic shoe, on the second conveyer belt travels forward, and when arriving left surface defects detection camera, left surface defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(10), magnetic shoe continue to be fed forward when arriving magnetic shoe right flank defects detection camera position place, magnetic shoe right flank defects detection camera is taken pictures capture, and whether product analyzed by controller defective, records the individual number encoder of this magnetic shoe simultaneously；
(11), magnetic shoe is carried on the second conveyer belt, if via left surface defects detection camera, right flank defects detection camera calibration process in have one group of camera calibration to go out product there is defect, camera after will not carry out capture defects detection again, defect magnetic shoe is directly carried backward via the second conveyer belt, when arriving defective products device for eliminating, defect magnetic shoe is rejected in defective products disposable box by defective products device for eliminating action；
(12), end will be continued transported to enter in non-defective unit collecting box through left surface defects detection camera, magnetic shoe that right flank defects detection camera calibration is intact。
10. according to claim 9 suitable in magnetic shoe open defect detect system realize method, it is characterized in that: in described step (1)～(12) discharging conveyor belts transmission direction, discharging detection sensor front is provided with the first magnetic shoe position-detection sensor；First belt edge of magnetic shoe extrados defects detection camera front end is provided with the second magnetic shoe position-detection sensor；First belt edge of magnetic shoe front end face defects detection camera front end is provided with the 3rd magnetic shoe position-detection sensor；First belt edge of magnetic shoe rear end face defects detection camera front end is provided with the 4th magnetic shoe position-detection sensor；Second belt edge of magnetic shoe left surface defects detection camera front end is provided with the 5th magnetic shoe position-detection sensor；Second belt edge of defective products device for eliminating front end is provided with the 6th magnetic shoe position-detection sensor；In described step (11), defective products device for eliminating is impeller mechanism, and impeller mechanism includes central block, and central block is uniformly provided with some blades, and central block is connected with impeller mechanism drive motor。
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