CN109499916B - Pipe joint visual detection method - Google Patents

Pipe joint visual detection method Download PDF

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Publication number
CN109499916B
CN109499916B CN201811392049.0A CN201811392049A CN109499916B CN 109499916 B CN109499916 B CN 109499916B CN 201811392049 A CN201811392049 A CN 201811392049A CN 109499916 B CN109499916 B CN 109499916B
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China
Prior art keywords
pipe joint
driving cylinder
conveying
pipe
feeding
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CN201811392049.0A
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Chinese (zh)
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CN109499916A (en
Inventor
张晋
俞兴
洪灵
程旗凯
陈源通
王京
陈卸件
朱振
余晓春
盛晓祥
潘浩雷
俞妙春
朱鑫城
黄兴
汪小平
胡顺程
吴洪鑫
曹俊
徐悦新
赵俊汀
徐文韬
李陈凯
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Zhejiang Seokho Robot Technology Co Ltd
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Zhejiang Seokho Robot Technology Co Ltd
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Priority to CN201811392049.0A priority Critical patent/CN109499916B/en
Publication of CN109499916A publication Critical patent/CN109499916A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/30Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • G01N21/94Investigating contamination, e.g. dust
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • G01N21/95Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/954Inspecting the inner surface of hollow bodies, e.g. bores
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • G01N21/94Investigating contamination, e.g. dust
    • G01N2021/945Liquid or solid deposits of macroscopic size on surfaces, e.g. drops, films, or clustered contaminants

Abstract

The invention discloses a visual detection method for a pipe joint, which well realizes automatic pipe joint conveying through a conveying line, detects whether sundries exist in the pipe joint or not through an endoscopic detection mechanism, detects the surface flatness of the pipe joint through an outer surface detection mechanism and detects whether bump damage exists at the end part of the pipe joint or whether the inner wall is rusty through a three-phase machine detection mechanism which are sequentially arranged in the conveying process, can sort and collect the pipe joint after identifying whether the pipe joint is a qualified product or a defective product or a waste product, integrally realizes mechanical automation, can realize monitoring and control of the device only by one person, effectively saves manpower, improves quality detection efficiency and quality detection quality, is beneficial to improving product quality and ensures economic benefits.

Description

Pipe joint visual detection method
Technical Field
The invention relates to a workpiece detection method, in particular to a pipe joint visual detection method.
Background
In the prior art, the quality detection of the water pipe joint is mostly directly judged by naked eyes of quality testing personnel, the accuracy is not guaranteed well, defective products are easily leaked due to naked eye errors or long-time quality testing fatigue, and the quality of the products is not guaranteed favorably. In order to solve the problem of errors caused by manual work, more devices adopting visual detection are adopted at present, after the water pipe joint is placed on the visual detection device, the conditions of the outside and the inside of the water pipe joint are shot through devices such as a camera and the like, and then the conditions are compared with standard parameters, the qualified product is obtained according to the parameters, the unqualified product is defective or waste, the defective product is collected for rework, and the waste is collected for scrapping treatment. However, the water pipe joint needs to detect parameters at a plurality of positions, so that a plurality of visual detection devices are needed to be matched for use; the transfer detection process of the water pipe joint needs manual realization, and the efficiency is low; the manual work can also produce the mistake in the in-process of categorised collection, the mistake of putting of product probably appears, confuses certified products, substandard product and waste product, causes unnecessary repetitive work, and even later stage defective goods flow into market, cause the loss to the enterprise.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a visual detection method for a pipe joint, which is used for visually detecting a plurality of positions of the pipe joint through an automatic conveying line and respectively collecting qualified products, defective products and waste products.
The invention adopts the following technical scheme: the pipe joint visual detection method comprises the following steps:
step 1: manually placing the pipe joints to be detected into the pipe joint input mechanism, sequentially arranging and conveying the pipe joints through the pipe joint input mechanism, and placing and linearly conveying the pipe joints on the pipe joint conveying mechanism through placing seats arranged at intervals after the pipe joints reach the pipe joint conveying mechanism one by one;
step 2: stopping conveying the pipe joint to be detected to the endoscopic detection mechanism by the pipe joint conveying mechanism, detecting whether impurities exist in the pipe joint by the endoscopic detection mechanism, and continuously conveying after detection is finished;
and step 3: stopping conveying the pipe joint to be detected to the outer surface detection mechanism by the pipe joint conveying mechanism, detecting the surface flatness of the pipe joint by the outer surface detection mechanism, and continuously conveying after detection is finished;
and 4, step 4: stopping conveying the pipe joint to be detected to a three-phase machine detection mechanism by a pipe joint conveying mechanism, detecting whether the end part of the pipe joint is collided or not and whether the inner wall is rusted or not by the three-phase machine detection mechanism, and continuing conveying after detection is finished;
and 5: and (4) conveying the pipe joints detected in the steps 2, 3 and 4 to an outlet end by a pipe joint conveying mechanism, taking the pipe joints away from the pipe joint conveying mechanism by a discharging sorting mechanism, and respectively collecting the pipe joints according to whether the pipe joints belong to qualified products or defective products or waste products.
The pipe joint input mechanism comprises a vibration disc and a feeding mechanism, wherein the vibration disc is used for placing pipe joints and outputting the pipe joints in sequence, the feeding mechanism is arranged at the outlet end of the vibration disc, and the feeding mechanism is used for receiving the pipe joints conveyed from the vibration disc and feeding the pipe joints one by one to the pipe joint conveying mechanism; the pipe joint conveying mechanism comprises a conveying belt, and the placing seats are arranged on the conveying belt at uniform intervals.
As an improvement, the endoscopic detection mechanism comprises a mounting bracket and a pair of ejectors arranged on the mounting bracket, wherein the pair of ejectors are respectively arranged at two sides of the width of the conveying belt and are opposite in position, and the height of the ejectors is matched with that of the placing seats, so that whether sundries exist in the pipe joint or not can be detected when the pipe joint stays between the pair of ejectors.
As an improvement, surface detection mechanism includes the linear array camera, a pair of liftout, first drive actuating cylinder and first driving motor, a pair of liftout sets up respectively in the width both sides of conveyer belt and the position is relative, the height of liftout with place the high looks adaptation of seat, be used for to support the coupling in both sides, a pair of liftout sets up on first drive actuating cylinder and carries out mutual being close to or keeping away from by the drive of first drive actuating cylinder through a pair of mounting panel, first driving motor sets up on one of them mounting panel and links with a liftout, make the liftout can carry out axial rotation, camera linear array sets up directly over the conveyer belt and the position is corresponding with a pair of liftout, be used for stopping in its below and by a pair of liftout drive rotatory coupling and shoot and gather image data.
As an improvement, the three-phase machine detection mechanism comprises a positive camera positioned on one side of the conveying belt, two side cameras positioned on the other side of the conveying belt and a reversing mechanism arranged right above the conveying belt, wherein the positive camera is arranged right opposite to the conveying belt, the sides of the two side cameras are arranged at an angle of 45 degrees relative to the conveying belt, the two side cameras are bilaterally symmetrical by taking the positive camera as a reference, and the heights of the positive camera and the side cameras are matched with the height of the placing seat and used for taking pictures and collecting image data when the pipe joint is stopped at a position between the positive camera and the side cameras; the reversing mechanism is arranged right above the conveying belt corresponding to the positions of the front camera and the side camera and is used for turning the pipe joint staying below the reversing mechanism by 180 degrees; reversing mechanism includes that the second drives actuating cylinder, utensil is inhaled to second revolving cylinder and first electro-magnet, the second drives actuating cylinder and sets up on the outside support, second revolving cylinder sets up on the second drives actuating cylinder and drives actuating cylinder drive by the second and carry out the oscilaltion, utensil is inhaled to first electro-magnet sets up on second revolving cylinder and drives by second revolving cylinder and carry out 180 degrees and turn to, utensil is inhaled to first electro-magnet includes overcoat and magnetic core, the overcoat is provided with the groove of supporting with coupling external diameter looks adaptation, the magnetic core sets up in supporting the inslot and can produce magnetic force when the circular telegram and adsorb the coupling.
As an improvement, feeding mechanism includes that the third drives actuating cylinder, chute feeder and support base, a pan feeding groove is seted up to the side of supporting the base, the pan feeding groove is relative with the vibration dish exit end, it supports the base to supply the coupling to get into from the vibration dish, it can gliding a carriage to set up to support the base, the carriage is the U-shaped, the opening of its U-shaped is towards the pan feeding groove, the U-shaped middle part forms the chute feeder, the third drives actuating cylinder and sets up in supporting base one side and be connected with the carriage, it is provided with the blanking breach that supplies the coupling to drop for the distal end that the third drove actuating cylinder, blanking breach below is just to the conveyer belt, the third drives actuating cylinder and moves about between pan feeding groove and blanking breach at the during operation.
As an improvement, one side of the opening of the feeding frame is provided with a blocking edge extending towards the third driving cylinder, and when the feeding frame is driven by the third driving cylinder to reach the blanking notch, the blocking edge just faces the feeding groove to block a subsequent pipe joint.
As an improvement, the U-shaped bottom of the feeding frame is provided with a slot, the slot is used for inserting positioning blocks with different specifications, and the positioning blocks limit the depth of the feeding groove by the thickness of the positioning blocks.
As an improvement, the discharging sorting mechanism comprises a piece taking mechanism and a material discharging mechanism, wherein the piece taking mechanism takes the pipe joints from the output end of the conveying belt and places the pipe joints in different areas of the material discharging mechanism to collect qualified products, defective products and waste products respectively; the part taking mechanism comprises a first horizontal driving cylinder, a vertical driving cylinder and a second electromagnet suction tool, the first horizontal driving cylinder is arranged on an external support, the vertical driving cylinder is arranged on the first horizontal driving cylinder and is driven by the first horizontal driving cylinder to perform horizontal movement, the second electromagnet suction tool is arranged on the vertical driving cylinder and is driven by the vertical driving cylinder to lift up and down, the second electromagnet suction tool comprises an outer sleeve and a magnetic core, the outer sleeve is provided with a butt groove matched with the outer diameter of the pipe joint, and the magnetic core is arranged in the butt groove and can generate magnetic force to adsorb the pipe joint when being electrified; drop feed mechanism includes that the second level drives actuating cylinder, the certified products is stacked the case, the case and the waste runner are stacked to the substandard product, the second level drives actuating cylinder and carry out perpendicular arranging relatively first level, the certified products is stacked case and substandard product and is stacked the case and arrange and set up on the actuating cylinder is driven to the second level together to drive actuating cylinder and drive and carry out horizontal activity by the second level and make the certified products stack case and the substandard product stack the case and move and just to vertically drive actuating cylinder, the waste runner is fixed to be set up in the side that the actuating cylinder was driven to the second level and just to vertically drive actuating cylinder, waste runner slant is down.
As an improvement, the length of the inner space of the qualified product stacking box along the direction of the second horizontal driving cylinder is set to be integral multiple relative to the length of the pipe joint, and the length of the inner space of the substandard product stacking box along the direction of the second horizontal driving cylinder is set to be equal to the length of the pipe joint.
The invention has the beneficial effects that: according to the method, automatic pipe joint conveying is well realized through one conveying line, respective detection functions are respectively realized through the endoscopic detection mechanism, the outer surface detection mechanism and the three-phase machine detection mechanism which are sequentially arranged in the conveying process, the pipe joints can be sorted and collected after being distinguished as qualified products or defective products or waste products, mechanical automation is integrally realized, monitoring and control over the device can be realized only by one person, manpower is effectively saved, quality inspection efficiency and quality inspection quality are improved, product quality is favorably improved, and economic benefits are guaranteed.
Drawings
Fig. 1 is a schematic perspective view of a product used in the present invention.
Fig. 2 is a partial perspective view of an endoscopic inspection mechanism for a product used in the present invention.
Fig. 3 is a partial perspective view of a product used in the present invention at an outer surface inspection mechanism.
Fig. 4 is a partial perspective view of a three-phase machine inspection mechanism of a product used in the present invention.
Fig. 5 is a schematic perspective view of a feeding mechanism for a product used in the present invention.
Fig. 6 is a schematic perspective view of the product used in the present invention at the outfeed sortation mechanism.
Fig. 7 is a schematic perspective view of an electromagnet holder of a product used in the present invention.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
Fig. 1-7 show a specific embodiment of the visual inspection method for pipe joints according to the present invention. This embodiment comprises the steps of:
step 1: manually placing the pipe joints to be detected into the pipe joint input mechanism 1, sequentially arranging and conveying the pipe joints through the pipe joint input mechanism 1, and placing and linearly conveying the pipe joints on the pipe joint conveying mechanism 2 through placing seats 22 arranged at intervals after the pipe joints reach the pipe joint conveying mechanism 2 one by one;
step 2: stopping conveying the pipe joint to be detected to the endoscopic detection mechanism 3 by the pipe joint conveying mechanism 2, detecting whether impurities exist in the pipe joint by the endoscopic detection mechanism 3, and continuously conveying after detection is finished;
and step 3: stopping when the pipe joint to be detected is conveyed from the pipe joint conveying mechanism 2 to the outer surface detection mechanism 4, detecting the surface flatness of the pipe joint by the outer surface detection mechanism 4, and continuing conveying after detection is finished;
and 4, step 4: the pipe joint to be detected is stopped when being conveyed to the three-phase machine detection mechanism 5 by the pipe joint conveying mechanism 2, the three-phase machine detection mechanism 5 detects whether the end part of the pipe joint is collided and damaged and whether the inner wall is rusted, and the pipe joint is continuously conveyed after the detection is finished;
and 5: and (4) conveying the pipe joints detected in the steps 2, 3 and 4 to an outlet end by the pipe joint conveying mechanism 2, taking the pipe joints away from the pipe joint conveying mechanism 2 by the discharging sorting mechanism 6, and respectively collecting the pipe joints according to whether the pipe joints belong to qualified products or defective products or waste products.
When the method is operated, the worker can monitor and control the conveying line, the pipe joints are fed to the pipe joint input mechanism 1, the collected pipe joints are taken away from the discharging and sorting mechanism 6, and other processes can be automatically completed by the mechanized conveying line. The labor is effectively saved; the mechanical automation is integrally realized, the quality inspection efficiency and quality inspection quality are improved, the product quality is favorably improved, and the economic benefit is ensured.
As an improved specific embodiment, the pipe joint input mechanism 1 comprises a vibration disk 11 for placing the pipe joints and outputting the pipe joints in sequence and a feeding mechanism 12 arranged at the outlet end of the vibration disk 11, wherein the feeding mechanism 12 receives the pipe joints conveyed from the vibration disk 11 and sends the pipe joints to the pipe joint conveying mechanism 2 one by one; the pipe joint conveying mechanism 2 comprises a conveying belt 21, and placing seats 22 are arranged on the conveying belt 21 at even intervals.
The pipe joints to be detected are placed in a vibration disc 11 of a pipe joint input mechanism 1, the pipe joints are arranged in a vibration mode by starting the vibration disc 11, the head and the tail of the pipe joints are sequentially arranged and output from an outlet end of the vibration disc 11, the pipe joints are of a columnar structure, and arrangement and conveying can be achieved through the structure of the vibration disc 11 in the prior art; the conveyer belt 21 can be started and stopped by the existing driving components such as a stepping motor, a servo motor and the like, when one placing seat 22 is positioned at the outlet end of the feeding mechanism 12, the conveyer belt 21 stops running, and a pipe joint reaching the feeding mechanism 12 is conveyed to the placing seat 22; the pipe joints are placed on the placing seat 22 one by one to be conveyed forwards along with the operation and the stop of the conveying belt 21, the pipe joints are stopped and detected whether sundries exist in the pipe joints when reaching the endoscopic detection mechanism 3, the pipe joints are stopped and detected whether the surface flatness of the pipe joints when reaching the outer surface detection mechanism 4, and the pipe joints are detected whether the end parts of the pipe joints are damaged by knocking and whether the inner walls of the pipe joints are rusted when reaching the three-phase machine detection mechanism 5; the endoscopic detection mechanism 3, the outer surface detection mechanism 4 and the three-phase machine detection mechanism 5 can be in signal connection with an external controller, and the results are obtained by comparing the endoscopic detection mechanism with the parameters prestored in the external controller. Judging the pipe joint to be a defective product when sundries exist in the pipe joint and the end part of the pipe joint is knocked and damaged; when the inner surface and the outer surface of the pipe joint have problems, judging the pipe joint to be a waste product; the product is qualified when no problem exists.
As a modified embodiment, the endoscopic detection mechanism 3 includes a mounting bracket 31 and a pair of opposite ejectors 32 disposed on the mounting bracket 31, the pair of opposite ejectors 32 are disposed on both sides of the width of the conveyor belt 21 and are located oppositely, and the height of the opposite ejectors 32 is adapted to the height of the placing seat 22 for detecting whether there is any foreign matter inside the pipe joint when the pipe joint stays between the pair of opposite ejectors 32.
As shown in fig. 1 and 2, the mounting bracket 31 may be specifically configured in the shape of a door, and a proximity switch may be provided above to signal the stop of the conveyor belt 21 when the next pipe joint arrives; a pair of opposite ejectors 32 are respectively provided on both sides of the mounting bracket 31, and the position where the coupling stays is opposite to the opposite ejectors 32 on both sides, and when there is a foreign object (e.g., a stone caught in the surface cleaning of the previous process) in the interior of the coupling, the optical path between the opposite ejectors 32 is blocked, thereby sending a signal, and as a result, a foreign object is found, and the coupling is determined to be a defective product. Above simple structure is practical, and the cost is lower, can realize the detection through mechanized structure is automatic, and accurate judgement coupling is inside whether has the foreign matter.
As a modified embodiment, the outer surface detection mechanism 4 includes a line camera 41, a pair of top members 42, a first driving cylinder 43 and a first driving motor 44, the pair of top members 42 are respectively disposed at both sides of the width of the conveyor belt 21 and are oppositely positioned, the height of the top members 42 is adapted to the height of the placing base 22, for abutting against the pipe joint at both sides, a pair of head members 42 are provided on a first driving cylinder 43 through a pair of mounting plates 45 and driven by the first driving cylinder 43 to approach or separate from each other, a first driving motor 44 is provided on one of the mounting plates 45 and is interlocked with one head member 42 so that the head member 42 can rotate axially, a linear camera 41 is provided right above the conveyor belt 21 and at a position corresponding to the pair of head members 42, the device is used for photographing the pipe joint which stays below the device and is driven by the pair of top pieces 42 to rotate so as to acquire image data.
As shown in fig. 1 and 3, when the pipe joint to be detected stays at the outer surface detection mechanism 4, the first driving cylinder 43 drives the mounting plates 45 on both sides to fold, that is, the top pieces 42 on both sides fold and are inserted into both ends of the pipe joint to be propped against, the first driving motor 44 drives the pipe joint propped against by the top pieces 42 to rotate, the linear array camera 41 above takes a picture to collect image data on the surface of the pipe joint, and after comparing with parameters, the pipe joint which does not meet the parameters is determined that the surface flatness does not reach the standard and is a waste product. After the test is completed, the first driving cylinder 43 drives the pair of head members 42 apart, and the pipe joint can be conveyed further. The pipe joint surface flatness detection device has the advantages that the structural arrangement is reasonable, the data acquisition of the circumferential surface of the pipe joint can be well realized, the detection can be automatically realized through a mechanized structure, and the flatness of the surface of the pipe joint can be accurately judged.
As a modified embodiment, the three-phase machine detection mechanism 5 includes a normal phase machine 51 located at one side of the conveyor belt 21, two side phase machines 52 located at the other side of the conveyor belt 21, and a reversing mechanism 53 located directly above the conveyor belt 21, the normal phase machine 51 is located right opposite to the conveyor belt 21, the two side phase machines 52 are located at 45 degrees to the conveyor belt 21, and the two side phase machines 52 are bilaterally symmetrical with the normal phase machine 51 as a reference, the heights of the normal phase machine 51 and the side phase machines 52 are adapted to the height of the placing seat 22, and the three-phase machine detection mechanism is used for taking pictures and collecting image data when the pipe joint stays at a position between the normal phase machine 51 and the side phase; the reversing mechanism 53 is arranged right above the conveyor belt 21 corresponding to the positions of the normal camera 51 and the side camera 52 and is used for turning the pipe joint staying below the reversing mechanism by 180 degrees; the reversing mechanism 53 comprises a second driving cylinder 531, a second rotating cylinder 532 and a first electromagnet suction tool 533, the second driving cylinder 531 is arranged on the external support, the second rotating cylinder 532 is arranged on the second driving cylinder 531 and is driven by the second driving cylinder 531 to lift up and down, the first electromagnet suction tool 533 is arranged on the second rotating cylinder 532 and is driven by the second rotating cylinder 532 to turn 180 degrees, the first electromagnet suction tool 533 comprises an outer sleeve 5331 and a magnetic core 5332, the outer sleeve 5331 is provided with a butting groove 5333 matched with the outer diameter of the pipe joint, and the magnetic core 5332 is arranged in the butting groove 5333 and can generate magnetic force to adsorb the pipe joint when being electrified.
As shown in fig. 1, 4 and 7, when the pipe joint to be detected stays at the three-phase machine detection mechanism 5, a positive camera 51 takes a picture of the end part of the pipe joint for acquiring image data of the end part, and the image data is compared with parameters to determine whether the end part has a bump damage; the other side camera 52 shoots the other end of the pipe joint from 45 degrees on the left side and the right side, image data of an internal port on the other end is collected, the shooting in the left direction and the right direction can cover 360-degree images of the internal port, whether the inner wall rusts or not is determined, and the image data of the collected port can directly judge the rusting condition because the rusting spreads from the outside to the inside. After the shooting operation is completed once, the reversing mechanism 53 takes the pipe joint to turn 180 degrees, and then the positive camera 51 and the side camera 52 shoot the reversed pipe joint to acquire another group of information. After comparing with the parameters, the pipe joint which does not meet the end parameters is determined as a defective product with the end part having collision damage; a pipe joint that does not meet the internal port parameters is determined to have rust on the inner wall as a waste product. The structure is reasonable in arrangement, the peripheral space of the conveying belt 21 is effectively utilized for automatic data acquisition, manual participation is not needed, the normal phase camera 51 and the side camera 52 can accurately and completely acquire required image data, and the positioning and conveying of the conveying belt 21 and the placing seat 22 to the pipe joints are not influenced.
When the pipe joint needs to be reversed, the second driving cylinder 531 works and descends to enable the second rotating cylinder 532 and the first electromagnet suction tool 533 to reach the pipe joint, the abutting groove 5333 at the lower end of the outer sleeve 5331 is attached to the pipe joint, and the magnetic core 5332 generates suction force on metal when being electrified, so that the pipe joint is sucked; then the second driving cylinder 531 is operated to ascend, the second rotating cylinder 532 is operated to rotate the first electromagnet holder 533 by 180 degrees, and then the second driving cylinder 531 is operated to descend, and the magnetic core 5332 is powered off to place the pipe joint on the placing base 22 again. Above good realization of structure to the switching-over of coupling, the stroke of cylinder is stable, can guarantee better effect that targets in place to the mode of magnetism is occupation space not, is favorable to getting in narrow and small conveyer belt 21 space to placing the coupling on the seat 22 and putting.
As an improved specific embodiment, the feeding mechanism 12 includes a third driving cylinder 121, a feeding slot 122 and a supporting base 123, a feeding slot 1231 is opened at a side of the supporting base 123, the feeding slot 1231 is opposite to an outlet end of the vibration tray 11, a pipe joint enters the supporting base 123 from the vibration tray 11, a feeding frame 124 is slidably disposed on the supporting base 123, the feeding frame 124 is U-shaped, an opening of the U-shape faces the feeding slot 1231, the feeding slot 122 is formed in the middle of the U-shape, the third driving cylinder 121 is disposed on one side of the supporting base 123 and connected to the feeding frame 124, a blanking notch 1232 for dropping the pipe joint is disposed at a distal end of the supporting base 123 opposite to the third driving cylinder 121, the conveying belt 21 is directly opposite to the blanking 123notch 2, and the feeding frame 124 is driven to move between the feeding slot 1231 and the blanking notch 1232 when the third driving cylinder 121 works.
As shown in fig. 1 and 5, the feeding frame 124 initially stays at a position opposite to the feeding groove 1231, after one pipe joint reaches the feeding mechanism 12 from the outlet end of the vibration plate 11, the pipe joint enters the supporting base 123 from the feeding groove 1231, and completely enters the feeding groove 122 of the feeding frame 124 under the pushing of the latter pipe joint, as an optimization, a proximity switch may be disposed at the other side of the supporting base 123 opposite to the feeding groove 1231 for receiving the message that the pipe joint is in place, so as to feed back a signal to the third driving cylinder 121, the third driving cylinder 121 operates to drive the feeding frame 124 to move to the blanking notch 1232, the pipe joint may drop from the blanking notch 1232 after being in place, and the placing seat 22 on the conveying belt 21 just stays below the blanking notch 1232 to receive the pipe joint, thereby achieving feeding. After the feeding frame 124 is driven by the third driving cylinder 121 to reset, the next pipe joint can enter the process repeatedly. The pipe joint conveying device has the advantages that the pipe joint conveying device is good in structure, the pipe joint is well conveyed one by one, the conversion feeding of the pipe joint on two mechanisms is well realized, the structure is simple, the pipe joint is not required to be arranged in a complex structure, clamping or transferring is carried out on the pipe joint, the conveying occupied space of the pipe joint is smaller, and the stability is higher.
For the feeding mechanism 12, the endoscopic detection mechanism 3, the outer surface detection mechanism 4, the three-phase machine detection mechanism 5 and the rear pickup mechanism 61, the positions of the feeding mechanism 12, the endoscopic detection mechanism 3, the outer surface detection mechanism 4, the three-phase machine detection mechanism 5 and the rear pickup mechanism 61 can be well matched with the placing seat 22, so that the placing seat 22, the feeding mechanism 12, the endoscopic detection mechanism 3, the outer surface detection mechanism 4, the three-phase machine detection mechanism 5 and the pickup mechanism 61, which are different in position, correspond to each other when the conveying belt 21 stops running, the simultaneous working of each station is realized.
As an improved specific embodiment, a blocking edge 1241 extending toward the third driving cylinder 121 is disposed on one side of the opening of the feeding frame 124, and when the feeding frame 124 is driven by the third driving cylinder 121 to reach the blanking notch 1232, the blocking edge 1241 faces the feeding groove 1231 to block a subsequent pipe joint.
As shown in fig. 5, the arrangement of the blocking edge 1241 ensures that the pipe joint is well blocked and limited after entering from the feeding groove 1231, and when the feeding frame 124 is reset, the pipe joint which has partially entered into the feeding groove 1231 can smoothly enter the feeding groove 1231 along with the shifting of the blocking edge 1241 to the feeding groove 122 and the relative movement between the feeding groove 122 and the feeding groove 1231, thereby ensuring the smooth and orderly conveying of the pipe joint.
As a modified embodiment, the sidewall of the opening of the feeding frame 124 on the side where the blocking edge 1241 is located is shorter than the sidewall of the opening on the other side. So set up the pipe joint that has partly got into pan feeding groove 1231 and partly got into inside supporting base 123, when pay-off frame 124 resets, this pipe joint receives long opening lateral wall to block, then can be smooth stable entering pay-off groove 122, reach better transport effect.
As a modified embodiment, the feeding frame 124 is provided with a slot 1242 at the U-shaped bottom, the slot 1242 is used for inserting a positioning block 1243 with different specifications, and the positioning block 1243 limits the depth of the feeding chute 122 by its thickness.
As shown in fig. 5, when the positioning block 1243 is taken down, the feeding chute 122 has the deepest depth, and after the inserting slot 1242 is inserted into the positioning block 1243 with different thickness, the depth of the feeding chute 122 can be adjusted, so that pipe joints with different lengths and specifications can be limited and conveyed, the position of the pipe joint can be accurately placed on the placing seat 22, and the first electromagnet suction tool 533 and the second electromagnet suction tool 613 can be accurately adsorbed and taken later.
As a modified specific embodiment, the discharging sorting mechanism 6 comprises a picking mechanism 61 and a discharging mechanism 62, wherein the picking mechanism 61 picks up pipe joints from the output end of the conveying belt 21 and places the pipe joints in different areas of the discharging mechanism 62 to collect qualified products, defective products and waste products respectively; the part taking mechanism 61 comprises a first horizontal driving cylinder 611, a vertical driving cylinder 612 and a second electromagnet suction tool 613, the first horizontal driving cylinder 611 is arranged on the external support, the vertical driving cylinder 612 is arranged on the first horizontal driving cylinder 611 and is driven by the first horizontal driving cylinder 611 to perform horizontal movement, the second electromagnet suction tool 613 is arranged on the vertical driving cylinder 612 and is driven by the vertical driving cylinder 612 to perform vertical lifting, the second electromagnet suction tool 613 comprises an outer sleeve 5331 and a magnetic core 5332, the outer sleeve 5331 is provided with a butting groove 5333 matched with the outer diameter of the pipe joint, and the magnetic core 5332 is arranged in the butting groove 5333 and can generate magnetic force to adsorb the pipe joint when being electrified; the discharging mechanism 62 comprises a second horizontal driving cylinder 621, a qualified product stacking box 622, a defective product stacking box 623 and a waste runner 624, wherein the second horizontal driving cylinder 621 is vertically arranged relative to the first horizontal driving cylinder 611, the qualified product stacking box 622 and the defective product stacking box 623 are adjacently arranged and are arranged on the second horizontal driving cylinder 621 together, the second horizontal driving cylinder 621 drives the qualified product stacking box 622 and the defective product stacking box 623 to move to be opposite to the vertical driving cylinder 612 through horizontal movement, the waste runner 624 is fixedly arranged on the side edge of the second horizontal driving cylinder 621 and is opposite to the vertical driving cylinder 612, and the waste runner 624 extends outwards in a downward inclined mode.
As shown in fig. 1 and 6, after being conveyed to the outlet end of the conveyor belt 21, the pipe joints are taken by the taking mechanism 61 of the discharge sorting mechanism 6 and placed in different areas of the discharge mechanism 62 according to whether the pipe joints are qualified products, defective products or waste products, so that the automatic sorting is completed. Specifically, the second electromagnet suction tool 613 is driven by the ascending and descending of the vertical driving cylinder 612 to suck and place the pipe joint, the second electromagnet suction tool 613 sucking the pipe joint can reach the positions of the qualified product stacking box 622 and the inferior product stacking box 623 or the position of the waste runner 624 in a remote place by the translation of the first horizontal driving cylinder 611, the waste directly falls from the waste runner 624, and a collecting device is arranged outside for collecting the waste. The switch between the qualified product stacking box 622 and the defective product stacking box 623 is realized by the second horizontal driving cylinder 621, and according to the information fed back by the controller, the qualified product stacking box 622 or the defective product stacking box 623 is moved to the position below the vertical driving cylinder 612 for placing the corresponding qualified product or defective product. The second electromagnet pickup 613 has the same structure as the first electromagnet pickup 533, and the second electromagnet pickup 613 is provided to facilitate the placement of the pipe joints into the non-defective product stacking box 622 and the defective product stacking box 623 from above without being interfered by the influence of the existing pipe joints therein. Get a mechanism 61 and arrange and mutual position activity through reasonable position, good realization is to the sorting collection of certified products, substandard product, waste product.
As a modified embodiment, the length of the inner space of the non-defective product stacking box 622 in the direction of the second horizontal driving cylinder 621 is set to be an integral multiple of the length of the pipe joint, and the length of the inner space of the defective product stacking box 623 in the direction of the second horizontal driving cylinder 621 is set to be equal to the length of the pipe joint.
As shown in fig. 6, the non-defective product stacking box 622 is configured to accommodate a plurality of rows of pipe joints, and the plurality of rows of pipe joints can be stacked by the movement of the second horizontal driving cylinder 621, and the pipe joints in the non-defective product stacking box 622 can be taken out together after being fully collected for subsequent packaging or processing; the defective product stacking box 623 is used for placing single-row pipe joints, rework processing can be performed after stacking the single-row pipe joints to a certain number, and the number of defective products is obviously less than that of qualified products, so that the whole size is increased without needing to be set too large; the waste products are not required to be orderly stacked, so that the waste product runner 624 is selected to be conveyed outwards for collection.
As an improved specific embodiment, the conveying belt 21 is a chain, the chain is arranged in a ring shape through a chain wheel, and the chain wheel is externally connected with a stepping motor for driving; place seat 22 even and install on the chain, place seat 22 and include base and supporting shoe, pedestal mounting is on the chain, and the supporting shoe is two sets of and symmetry sets up both ends about the base, and the supporting shoe sets up a V-arrangement groove that supplies the coupling to place up. As shown in fig. 5, the placing seat 22 can support the pipe joints placed thereon well by means of the V-shaped grooves on both sides, and the V-shaped grooves can be adapted to the pipe joints of various pipe diameters for placing, so that the applicability is greater. The height positions of other parts are adjusted according to the pipe joint with specific pipe diameter specification, so that the requirements of shooting or matching are met. The transmission of the chain and the chain wheel can ensure the accuracy of the position when the device is stopped and can not slip; the stepping motor works intermittently by receiving signals, so that intermittent starting and stopping of the conveying belt 21 can be well realized, and the use requirement is realized.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (10)

1. The pipe joint visual detection method is characterized by comprising the following steps: the method comprises the following steps:
step 1: manually placing the pipe joints to be detected into the pipe joint input mechanism (1), sequentially arranging and conveying the pipe joints through the pipe joint input mechanism (1), and placing the pipe joints on the pipe joint conveying mechanism (2) through placing seats (22) arranged at intervals after the pipe joints reach the pipe joint conveying mechanism (2) one by one and conveying the pipe joints along a straight line;
step 2: the pipe joint to be detected is stopped when being conveyed to the endoscopic detection mechanism (3) by the pipe joint conveying mechanism (2), the endoscopic detection mechanism (3) detects whether sundries exist in the pipe joint, and the pipe joint is continuously conveyed after the detection is finished;
and step 3: stopping when the pipe joint to be detected is conveyed to the outer surface detection mechanism (4) by the pipe joint conveying mechanism (2), detecting the surface flatness of the pipe joint by the outer surface detection mechanism (4), and continuing conveying after detection is finished;
and 4, step 4: the pipe joint to be detected is stopped when being conveyed to a three-phase machine detection mechanism (5) by a pipe joint conveying mechanism (2), the three-phase machine detection mechanism (5) is used for detecting whether the end part of the pipe joint is collided or not and whether the inner wall is rusted or not, and the pipe joint is continuously conveyed after the detection is finished;
and 5: and (4) conveying the pipe joints detected in the steps (2), (3) and (4) to an outlet end by the pipe joint conveying mechanism (2), taking the pipe joints away from the pipe joint conveying mechanism (2) by the discharging sorting mechanism (6), and respectively collecting the pipe joints according to whether the pipe joints belong to qualified products or defective products or waste products.
2. The pipe joint visual inspection method according to claim 1, characterized in that: the pipe joint input mechanism (1) comprises a vibration disc (11) for placing pipe joints and outputting the pipe joints in sequence and a feeding mechanism (12) arranged at the outlet end of the vibration disc (11), and the feeding mechanism (12) is used for receiving the pipe joints conveyed by the vibration disc (11) and feeding the pipe joints one by one to the pipe joint conveying mechanism (2); the pipe joint conveying mechanism (2) comprises a conveying belt (21), and the placing seats (22) are arranged on the conveying belt (21) at uniform intervals.
3. The pipe joint visual inspection method according to claim 2, characterized in that: the endoscopic detection mechanism (3) comprises a mounting bracket (31) and a pair of opposite ejectors (32) arranged on the mounting bracket (31), wherein the pair of opposite ejectors (32) are respectively arranged on two sides of the width of the conveying belt (21) and are opposite in position, and the heights of the opposite ejectors (32) are matched with the height of the placing seat (22) and used for detecting whether sundries exist in the pipe joint when the pipe joint stays between the pair of opposite ejectors (32).
4. The pipe joint visual inspection method according to claim 2, characterized in that: the outer surface detection mechanism (4) comprises a linear array camera (41), a pair of top pieces (42), a first driving air cylinder (43) and a first driving motor (44), the pair of top pieces (42) are respectively arranged on two sides of the width of the conveying belt (21) and are opposite in position, the height of each top piece (42) is matched with the height of the placing seat (22) and is used for abutting against a pipe joint on two sides, the pair of top pieces (42) are arranged on the first driving air cylinder (43) through a pair of mounting plates (45) and are driven by the first driving air cylinder (43) to be close to or far away from each other, the first driving motor (44) is arranged on one mounting plate (45) and is linked with one top piece (42) to enable the top pieces (42) to rotate axially, the linear array camera (41) is arranged right above the conveying belt (21) and corresponds to the pair of top pieces (42), the device is used for photographing the pipe joint which stays below the device and is driven by a pair of top pieces (42) to rotate so as to acquire image data.
5. The pipe joint visual inspection method according to claim 2, characterized in that: the three-phase machine detection mechanism (5) comprises a normal-phase machine (51) positioned on one side of the conveying belt (21), two side cameras (52) positioned on the other side of the conveying belt (21) and a reversing mechanism (53) arranged right above the conveying belt (21), wherein the normal-phase machine (51) is arranged right opposite to the conveying belt (21), the two side cameras (52) are arranged at 45 degrees to the conveying belt (21) and are bilaterally symmetrical with the normal-phase machine (51) as a reference, the heights of the normal-phase machine (51) and the side cameras (52) are matched with the height of the placing seat (22), and the three-phase machine detection mechanism is used for taking pictures and collecting image data when a pipe joint stays at a position between the normal-phase machine (51) and the side cameras (52); the reversing mechanism (53) is arranged right above the conveying belt (21) corresponding to the positions of the normal camera (51) and the side camera (52) and is used for turning the pipe joint staying below the reversing mechanism by 180 degrees; the reversing mechanism (53) comprises a second driving cylinder (531), a second rotating cylinder (532) and a first electromagnet suction tool (533), the second driving cylinder (531) is arranged on the external support, the second rotating cylinder (532) is arranged on the second driving cylinder (531) and driven by the second driving cylinder (531) to ascend and descend, the first electromagnet suction tool (533) is arranged on the second rotating cylinder (532) and driven by the second rotating cylinder (532) to turn 180 degrees, the first electromagnet suction tool (533) comprises an outer sleeve (5331) and a magnetic core (5332), the outer sleeve (5331) is provided with a butting groove (5333) matched with the outer diameter of the pipe joint, and the magnetic core (5332) is arranged in the butting groove (5333) and can generate magnetic force to adsorb the pipe joint when being electrified.
6. The pipe joint visual inspection method according to any one of claims 2 to 5, wherein: the feeding mechanism (12) comprises a third driving cylinder (121), a feeding groove (122) and a supporting base (123), a feeding groove (1231) is formed in the side edge of the supporting base (123), the feeding groove (1231) is opposite to the outlet end of the vibration disc (11) and is used for enabling the pipe joint to enter the supporting base (123) from the vibration disc (11), a feeding frame (124) is arranged on the supporting base (123) in a sliding manner, the feeding frame (124) is U-shaped, the U-shaped opening of the feeding frame faces the feeding groove (1231), the feeding groove (122) is formed in the middle of the U-shape, the third driving cylinder (121) is arranged on one side of the supporting base (123) and is connected with the feeding frame (124), a blanking notch (1232) for enabling the pipe joint to fall is formed in the far end of the supporting base (123) opposite to the third driving cylinder (121), and a conveying belt (21) is arranged below the blanking notch (123, and the third driving cylinder (121) drives the feeding frame (124) to move between the feeding groove (1231) and the blanking notch (1232) when working.
7. The pipe joint visual inspection method according to claim 6, characterized in that: one side of an opening of the feeding frame (124) is provided with a blocking edge (1241) extending towards the third driving cylinder (121), and when the feeding frame (124) is driven by the third driving cylinder (121) to reach the blanking notch (1232), the blocking edge (1241) is opposite to the feeding groove (1231) to block a subsequent pipe joint.
8. The pipe joint visual inspection method according to claim 6, characterized in that: the U-shaped bottom of the feeding frame (124) is provided with an inserting groove (1242), the inserting groove (1242) is used for inserting positioning blocks (1243) with different specifications, and the depth of the feeding groove (122) is limited by the thickness of the positioning blocks (1243).
9. The pipe joint visual inspection method according to any one of claims 2 to 5, wherein: the discharging sorting mechanism (6) comprises a piece taking mechanism (61) and a material discharging mechanism (62), wherein the piece taking mechanism (61) takes pipe joints from the output end of the conveying belt (21) and places the pipe joints in different areas of the material discharging mechanism (62) to collect qualified products, defective products and waste products respectively; the part taking mechanism (61) comprises a first horizontal driving cylinder (611), a vertical driving cylinder (612) and a second electromagnet suction tool (613), the first horizontal driving cylinder (611) is arranged on an external support, the vertical driving cylinder (612) is arranged on the first horizontal driving cylinder (611) and driven by the first horizontal driving cylinder (611) to move horizontally, the second electromagnet suction tool (613) is arranged on the vertical driving cylinder (612) and driven by the vertical driving cylinder (612) to lift up and down, the second electromagnet suction tool (613) comprises an outer sleeve (5331) and a magnetic core (5332), the outer sleeve (5331) is provided with a butting groove (5333) matched with the outer diameter of the pipe joint, and the magnetic core (5332) is arranged in the butting groove (5333) and can generate magnetic force to adsorb the pipe joint when being electrified; the discharging mechanism (62) comprises a second horizontal driving cylinder (621), a qualified product stacking box (622), a defective product stacking box (623) and a waste product runner (624), wherein the second horizontal driving cylinder (621) is vertically arranged relative to the first horizontal driving cylinder (611), the qualified product stacking box (622) and the defective product stacking box (623) are adjacently arranged and are arranged on the second horizontal driving cylinder (621) together, the second horizontal driving cylinder (621) drives the qualified product stacking box (622) and the defective product stacking box (623) to move to the position right opposite to the vertical driving cylinder (612), the waste product runner (624) is fixedly arranged on the side edge of the second horizontal driving cylinder (621) and right opposite to the vertical driving cylinder (612), and the waste product runner (624) extends outwards in a downward inclined mode.
10. The pipe joint visual inspection method according to claim 9, characterized in that: the length of the inner space of the qualified product stacking box (622) along the direction of the second horizontal driving cylinder (621) is set to be integral multiple relative to the length of the pipe joint, and the length of the inner space of the inferior product stacking box (623) along the direction of the second horizontal driving cylinder (621) is set to be equal to the length of the pipe joint.
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