CN109499918B - Pipe joint visual inspection device - Google Patents

Pipe joint visual inspection device Download PDF

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Publication number
CN109499918B
CN109499918B CN201811394910.7A CN201811394910A CN109499918B CN 109499918 B CN109499918 B CN 109499918B CN 201811394910 A CN201811394910 A CN 201811394910A CN 109499918 B CN109499918 B CN 109499918B
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CN
China
Prior art keywords
pipe joint
driving cylinder
conveying belt
detection mechanism
cylinder
Prior art date
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Application number
CN201811394910.7A
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Chinese (zh)
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CN109499918A (en
Inventor
盛晓祥
俞兴
洪灵
程旗凯
陈源通
王京
陈卸件
朱振
余晓春
张晋
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 CN201811394910.7A priority Critical patent/CN109499918B/en
Publication of CN109499918A publication Critical patent/CN109499918A/en
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Classifications

    • 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 pipe joint visual detection device, which forms a pipe joint conveying line with good realization of automation by arranging a pipe joint input mechanism, a pipe joint conveying mechanism and a discharging sorting mechanism, and respectively realizes respective detection functions by an endoscopic detection mechanism, an external surface detection mechanism and a three-phase machine detection mechanism which are sequentially arranged at the side edge of the pipe joint conveying mechanism in the conveying process.

Description

Pipe joint visual inspection device
Technical Field
The invention relates to a workpiece detection device, in particular to a pipe joint visual detection device.
Background
In the prior art, the quality detection of the water pipe joint is mostly directly judged by naked eyes of quality inspection staff, the accuracy is not well ensured, and products with defects are easily leaked due to naked eye errors or long-time quality inspection fatigue, so that the quality of the products is not beneficial to being ensured. In order to solve the problem of error existing manually, more visual detection equipment is adopted nowadays, after the water pipe connector is placed on the visual detection equipment, the external and internal conditions of the water pipe connector are shot through equipment such as a camera and the like, the water pipe connector is compared with standard parameters, the parameters are met, namely, the water pipe connector is qualified, unqualified products are defective products or waste products, defective products are collected for reworking, and waste products are collected for scrapping treatment. However, because the water pipe joint needs to detect parameters of a plurality of positions, a plurality of visual detection devices are needed to be matched for use; the transfer detection process of the water pipe joint needs to be realized manually, and the efficiency is low; the manual work also can produce the mistake in the in-process of classifying collection, can appear misplacing of product, confuse qualification products, defective products and waste products, cause unnecessary repetitive work, even later-stage defective products flow into market, cause the loss to the enterprise.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a pipe joint visual detection device which is simple in structure, performs visual detection on a plurality of positions of a water pipe joint through an automatic conveying line, and can be used for collecting qualified products, defective products and waste products respectively.
The invention adopts the following technical scheme: the pipe joint visual detection device comprises a pipe joint input mechanism, a pipe joint conveying mechanism, an endoscopic detection mechanism, an outer surface detection mechanism, a three-phase machine detection mechanism and a discharge sorting mechanism,
the pipe joint input mechanism comprises a vibration disc for placing pipe joints and sequentially outputting the pipe joints and a feeding mechanism arranged at the outlet end of the vibration disc, and the feeding mechanism receives the pipe joints conveyed from the vibration disc and conveys the pipe joints to the pipe joint conveying mechanism one by one;
the pipe joint conveying mechanism comprises a conveying belt and a placing seat uniformly arranged on the conveying belt and used for placing pipe joints, and a feeding mechanism is arranged at the input end of the conveying belt;
the endoscopic detection mechanism, the outer surface detection mechanism and the three-phase machine detection mechanism are sequentially arranged along the direction of the conveying belt, when a placing seat with the pipe joint is positioned at the endoscopic detection mechanism, the outer surface detection mechanism and the three-phase machine detection mechanism, the conveying belt stops running, the endoscopic detection mechanism detects whether sundries exist in the pipe joint, the outer surface detection mechanism detects the surface flatness of the pipe joint, and the three-phase machine detection mechanism detects whether a bump is formed at the end part of the pipe joint and whether the inner wall is rusted;
the discharging sorting mechanism is arranged at the output end of the conveying belt and comprises a piece taking mechanism and a discharging mechanism, the piece taking mechanism takes pipe joints from the output end of the conveying belt and is placed in different areas of the discharging mechanism to collect qualified products, defective products and waste products respectively.
As an improvement, the endoscopic detection mechanism comprises a mounting bracket and a pair of counterreflectors arranged on the mounting bracket, wherein the pair of counterreflectors are respectively arranged on two sides of the width of the conveying belt and are opposite in position, the heights of the counterreflectors are matched with the heights of the placing seats, and the endoscopic detection mechanism is used for detecting whether sundries exist inside the pipe joint when the pipe joint stays between the pair of counterreflectors.
As an improvement, the outer surface detection mechanism comprises a linear array camera, a pair of top pieces, a first driving cylinder and a first driving motor, wherein the top pieces are respectively arranged on two sides of the width of the conveying belt and are opposite in position, the height of each top piece is matched with the height of the placing seat and is used for propping against the pipe joint on two sides, the top pieces are arranged on the first driving cylinder through a pair of mounting plates and are driven by the first driving cylinder to approach or separate from each other, the first driving motor is arranged on one mounting plate and is linked with the top piece, so that the top pieces can axially rotate, and the linear array camera is arranged right above the conveying belt and corresponds to the top pieces in position and is used for photographing the pipe joint which stays below and is driven to rotate by the top pieces to collect image data.
As an improvement, the three-phase camera detection mechanism comprises a front 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 front camera is arranged at 90 degrees right against the conveying belt, the two side cameras are arranged at 45 degrees right against the conveying belt and are symmetrical left and right with reference to the front camera, the heights of the front camera and the side cameras are matched with the height of the placing seat, and the three-phase camera detection mechanism is used for photographing and collecting image data when the pipe joint stays at the position between the front camera and the side cameras; the reversing mechanism is arranged right above the conveyer belt corresponding to the positions of the front camera and the side camera and is used for carrying out 180-degree reversing on the pipe joint which stays below the reversing mechanism.
As an improvement, reversing mechanism includes second actuating cylinder, second revolving cylinder and first electro-magnet suction tool, and the second actuating cylinder sets up on the external support, and the second revolving cylinder sets up on the second actuating cylinder and drives by the second actuating cylinder and go up and down, and first electro-magnet suction tool sets up on the second revolving cylinder and drives 180 degrees by the second revolving cylinder and turn to, and first electro-magnet suction tool includes overcoat and magnetic core, and the overcoat is provided with the groove of supporting with coupling external diameter looks adaptation, and the magnetic core sets up in supporting the inslot and can produce magnetic force absorption coupling when the circular telegram.
As an improvement, feeding mechanism includes third actuating cylinder, feed chute and support base, a pan feeding groove is offered to support base's side, it is relative with the vibration dish exit end to go into the feed chute, supply the coupling to get into support base from the vibration dish, support base slidable sets up a pay-off frame, the pay-off frame is the U-shaped, its U-shaped opening is gone into the feed chute, U-shaped middle part forms the feed chute, the third actuating cylinder sets up in support base one side and is connected with the pay-off frame, the support base is provided with the blanking breach that supplies the coupling to drop for the distal end of third actuating cylinder, the conveyer belt is just aimed at to blanking breach below, the third actuating cylinder drives the pay-off frame at the during operation and goes into the feed chute and move about between blanking breach.
As an improvement, a blocking edge extending to the third driving cylinder is arranged on one side of the opening of the feeding frame, and when the feeding frame is driven by the third driving cylinder to reach the blanking notch, the blocking edge is opposite to the feeding groove to block the subsequent pipe joint.
As an improvement, the U-shaped bottom of the feeding frame is provided with a slot, and the slot is used for inserting positioning blocks with different specifications, and the thickness of the positioning blocks is used for limiting the depth of the feeding groove.
As an improvement, the picking mechanism comprises a first horizontal driving cylinder, a vertical driving cylinder and a second electromagnet suction tool, wherein the first horizontal driving cylinder is arranged on an external bracket, the vertical driving cylinder is arranged on the first horizontal driving cylinder and driven by the first horizontal driving cylinder to perform horizontal movement, the second electromagnet suction tool is arranged on the vertical driving cylinder and driven by the vertical driving cylinder to perform up-and-down lifting, the second electromagnet suction tool comprises an outer sleeve and a magnetic core, the outer sleeve is provided with a propping groove matched with the outer diameter of a pipe joint, and the magnetic core is arranged in the propping groove and can generate magnetic force to adsorb the pipe joint when being electrified; the discharging mechanism comprises a second horizontal driving cylinder, a qualified product stacking box, an inferior product stacking box and a waste channel, wherein the second horizontal driving cylinder is vertically arranged relative to the first horizontal driving cylinder, the qualified product stacking box and the inferior product stacking box are adjacently arranged and are arranged on the second horizontal driving cylinder together, the second horizontal driving cylinder drives the qualified product stacking box and the inferior product stacking box to move to be opposite to the vertical driving cylinder, the waste channel is fixedly arranged on the side edge of the second horizontal driving cylinder and is opposite to the vertical driving cylinder, and the waste channel obliquely extends downwards and outwards.
As an improvement, the length of the internal space of the qualified product stacking box along the direction of the second horizontal driving cylinder is set to be integral multiple of the length of the pipe joint, and the length of the internal space of the defective 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: the automatic pipe joint conveying device has the advantages that automatic pipe joint conveying is achieved through a good conveying line, respective detection functions are achieved 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, sorting and collecting can be conducted after the pipe joint is distinguished to be qualified or defective or waste, mechanical automation is achieved as a whole, monitoring and control of the device can be achieved only by one person, manpower is effectively saved, quality inspection efficiency and quality are improved, product quality is improved, and economic benefits are guaranteed.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of a partial perspective view of an endoscopic detection mechanism according to the present invention.
Fig. 3 is a schematic view of a partial perspective structure at an outer surface detection mechanism of the present invention.
Fig. 4 is a schematic view of a partial perspective structure of the three-phase machine detection mechanism of the present invention.
Fig. 5 is a schematic perspective view of the feeding mechanism of the present invention.
Fig. 6 is a schematic perspective view of the discharge sorting mechanism of the present invention.
Fig. 7 is a schematic perspective view of an electromagnet suction tool according to the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1-7, there is shown an embodiment of the visual inspection apparatus for a pipe joint according to the present invention. The embodiment comprises a pipe joint input mechanism 1, a pipe joint conveying mechanism 2, an endoscopic detection mechanism 3, an outer surface detection mechanism 4, a three-phase machine detection mechanism 5 and a discharge sorting mechanism 6, wherein the pipe joint input mechanism 1 comprises a vibration disc 11 for placing pipe joints and sequentially outputting the pipe joints and a feeding mechanism 12 arranged at the outlet end of the vibration disc 11, and the feeding mechanism 12 receives the pipe joints conveyed at the position of the vibration disc 11 and conveys the pipe joints to the pipe joint conveying mechanism 2 one by one; the pipe joint conveying mechanism 2 comprises a conveying belt 21, a placing seat 22 uniformly arranged on the conveying belt 21 and used for placing pipe joints, and a feeding mechanism 12 is arranged at the input end of the conveying belt 21; the endoscopic detection mechanism 3, the outer surface detection mechanism 4 and the three-phase machine detection mechanism 5 are sequentially arranged along the direction of the conveying belt 21, when the placing seat 22 with the pipe joint placed thereon reaches the endoscopic detection mechanism 3, the outer surface detection mechanism 4 and the three-phase machine detection mechanism 5, the conveying belt 21 stops running, whether sundries exist in the pipe joint is detected by the endoscopic detection mechanism 3, the surface flatness of the pipe joint is detected by the outer surface detection mechanism 4, and whether a collision injury exists at the end part of the pipe joint and rust exists on the inner wall is detected by the three-phase machine detection mechanism 5; the discharging sorting mechanism 6 is arranged at the output end of the conveying belt 21, the discharging sorting mechanism 6 comprises a piece taking mechanism 61 and a discharging mechanism 62, and 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 discharging mechanism 62 to collect qualified products, inferior products and waste products respectively.
When the pipe joint detection device is used, the pipe joint to be detected is placed in the vibration disc 11 of the pipe joint input mechanism 1, the pipe joint is arranged in a vibration mode by starting the vibration disc 11, the pipe joint is sequentially arranged from the head to the tail and output by the outlet end of the vibration disc 11, the pipe joint is of a columnar structure, and sorting 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 the pipe joint reaching the feeding mechanism 12 is sent to the placing seat 22; with the running and stopping of the conveyor belt 21, the pipe joints are placed one by one to the placing seat 22 for forward conveying, and stop and detect whether sundries exist in the pipe joints when reaching the endoscopic detection mechanism 3, stop and detect the surface flatness of the pipe joints when reaching the outer surface detection mechanism 4, and detect whether the end parts of the pipe joints are knocked or not and whether the inner walls rust when reaching the three-camera detection mechanism 5; the endoscopic detection mechanism 3, the external surface detection mechanism 4 and the three-phase machine detection mechanism 5 can be connected with an external controller through signals, and the result is obtained after comparing the endoscopic detection mechanism with the pre-stored parameters in the external controller. Judging as a defective product when sundries exist in the pipe joint and the end part of the pipe joint is bumped; when the inner surface and the outer surface of the pipe joint have problems, judging that the pipe joint is waste; and the product is qualified when no problem exists. After being conveyed to the outlet end of the conveying belt 21, the pipe joint is taken by a taking mechanism 61 of the discharging and sorting mechanism 6 and is placed in different areas of a discharging mechanism 62 according to whether the pipe joint is qualified or defective or rejected, so that automatic sorting is finished. The invention can be operated by one person, can realize the monitoring and control of the device, and effectively saves the manpower; the mechanical automation is realized on the whole, the quality inspection efficiency and quality inspection quality are improved, the improvement of the product quality is facilitated, and the economic benefit is ensured.
As an improved embodiment, the endoscopic detection mechanism 3 includes a mounting bracket 31 and a pair of reflectors 32 disposed on the mounting bracket 31, wherein the pair of reflectors 32 are disposed on two sides of the width of the conveyor belt 21 and are opposite to each other, and the height of the reflectors 32 is adapted to the height of the placement base 22, so as to detect whether impurities exist inside the pipe joint when the pipe joint stays between the pair of reflectors 32.
As shown in fig. 1 and 2, the mounting bracket 31 may be specifically configured in the shape of a door, a proximity switch may be provided above, and a signal is given to stop the conveyor belt 21 when the next pipe joint arrives; the pair of reflectors 32 are respectively provided at both sides of the mounting bracket 31, and positions where the pipe joint stays are opposite to the reflectors 32 at both sides, and when foreign matters exist in the pipe joint (such as stones caught during the surface cleaning of the previous process), the optical path between the reflectors 32 is blocked, thereby transmitting a signal, and as a result of the presence of the foreign matters, the pipe joint is determined to be defective. The structure is simple and practical, the cost is low, the detection can be automatically realized through the mechanized structure, and whether the inside of the pipe joint has foreign matters or not can be accurately judged.
As an improved embodiment, the outer surface detection mechanism 4 includes a linear camera 41, a pair of top pieces 42, a first driving cylinder 43 and a first driving motor 44, wherein the pair of top pieces 42 are respectively disposed on two sides of the width of the conveyor belt 21 and are opposite to each other, the height of the top pieces 42 is matched with the height of the placement seat 22 for supporting the pipe joints on two sides, the pair of top pieces 42 are disposed on the first driving cylinder 43 through a pair of mounting plates 45 and are driven by the first driving cylinder 43 to approach or separate from each other, the first driving motor 44 is disposed on one of the mounting plates 45 and is linked with the top piece 42, so that the top piece 42 can axially rotate, and the linear camera 41 is disposed right above the conveyor belt 21 and is positioned corresponding to the pair of top pieces 42 for photographing the pipe joints which stay below and are driven to rotate by the pair of top pieces 42 to collect 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 at two sides to fold, that is, the top pieces 42 at two sides fold, and the two ends of the inserted pipe joint are propped up, the first driving motor 44 drives the pipe joint propped up by the top pieces 42 to rotate, and the line camera 41 above photographs and collects image data of the surface of the pipe joint, after the image data is compared with the parameters, the pipe joint which does not meet the parameters is determined as the surface flatness is not up to standard, and the pipe joint is waste. After the test is completed, the first driving cylinder 43 drives the pair of the top members 42 apart, and the pipe joint can be continuously conveyed. The structure is reasonable in arrangement, data acquisition of the circumferential surface of the pipe joint can be well realized, detection can be automatically realized through a mechanized structure, and the flatness of the surface of the pipe joint can be accurately judged.
As an improved specific embodiment, the three-phase camera detection mechanism 5 comprises a front camera 51 positioned on one side of the conveyor belt 21, two side cameras 52 positioned on the other side of the conveyor belt 21, and a reversing mechanism 53 arranged right above the conveyor belt 21, wherein the front camera 51 is arranged at 90 degrees to the conveyor belt 21, the two side cameras 52 are arranged at 45 degrees to the conveyor belt 21, the two side cameras 52 are symmetrical left and right with respect to the front camera 51, the heights of the front camera 51 and the side cameras 52 are matched with the height of the placement seat 22, and the three-phase camera detection mechanism is used for photographing and collecting image data when the pipe joint is stopped at a position between the front camera 51 and the side cameras 52; the reversing mechanism 53 is provided directly above the conveyor belt 21 corresponding to the positions of the front camera 51 and the side camera 52 for reversing the pipe joint resting therebelow by 180 degrees.
As shown in fig. 1 and 4, when the pipe joint to be detected stays at the three-camera detection mechanism 5, a picture of the end part of the pipe joint is taken by the front camera 51, and the picture data of the end part is collected and compared with parameters to determine whether the end part has a bump or not; the side camera 52 on the other side shoots the other end of the pipe joint from 45 degrees on the left side and the right side, acquires image data of an internal port at the other end, shoots in the left direction and the right direction, can cover images of 360 degrees of the internal port, determines whether the inner wall is rusty or not, and can directly judge the rusty condition because the rusty is spread from outside to inside, and acquires the image data of the port. After the above-described photographing operation is completed once, the pipe joint is taken out by the reversing mechanism 53 to be turned 180 degrees, and then the front camera 51 and the side camera 52 photograph the turned pipe joint, and another set of information is acquired. After the parameters are compared, the pipe joint which does not meet the end parameters is determined to be a defective product because the end is knocked; pipe joints that do not meet the internal port parameters are determined to be rusted on the inner wall and are waste. The structure is reasonable in arrangement, automatic data acquisition is effectively carried out by utilizing the space around the conveyer belt 21, manual participation is not needed, the front camera 51 and the side camera 52 can accurately and completely acquire required image data, and positioning and conveying of the conveyer belt 21 and the placing seat 22 to the pipe joint are not influenced.
As an improved specific embodiment, the reversing mechanism 53 includes a second driving cylinder 531, a second rotating cylinder 532 and a first electromagnet suction tool 533, the second driving cylinder 531 is disposed on the external support, the second rotating cylinder 532 is disposed on the second driving cylinder 531 and driven by the second driving cylinder 531 to lift up and down, the first electromagnet suction tool 533 is disposed on the second rotating cylinder 532 and driven by the second rotating cylinder 532 to turn 180 degrees, the first electromagnet suction tool 533 includes a casing 5331 and a magnetic core 5332, the casing 5331 is provided with a supporting groove 5333 adapted to the outer diameter of the pipe joint, and the magnetic core 5332 is disposed in the supporting 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 is required to be reversed, the second driving air cylinder 531 is lowered to enable the second rotating air 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 when the magnetic core 5332 is electrified, suction force on metal is generated, so that the pipe joint is adsorbed; then, the second driving cylinder 531 is operated to be raised, the second rotating cylinder 532 is operated to rotate the first electromagnet suction tool 533 by 180 degrees, and then the second driving cylinder 531 is operated to be lowered, and the magnetic core 5332 is powered off to replace the pipe joint on the placement base 22. The reversing of the pipe joint is realized by the aid of the structure, the stroke of the air cylinder is stable, a good in-place effect can be guaranteed, the magnetic attraction mode does not occupy space, and the pipe joint on the placing seat 22 can be taken and placed in a narrow space of the conveying belt 21.
As an improved specific embodiment, the feeding mechanism 12 includes a third driving cylinder 121, a feeding groove 122 and a supporting base 123, a feeding groove 1231 is formed on a side edge of the supporting base 123, the feeding groove 1231 is opposite to an outlet end of the vibration disc 11, a pipe supply connector enters the supporting base 123 from the vibration disc 11, a feeding frame 124 is slidably arranged on the supporting base 123, the feeding frame 124 is in a U shape, an opening of the U shape faces the feeding groove 1231, a 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 the pipe supply connector to drop is formed on the supporting base 123 opposite to a distal end of the third driving cylinder 121, a conveying belt 21 is aligned below the blanking notch 1232, and the third driving cylinder 121 drives the feeding frame 124 to move between the feeding groove 1 and the blanking notch 1232 in operation.
As shown in fig. 1 and 5, the feeding frame 124 initially stays opposite to the feeding groove 1231, after one pipe joint reaches the feeding mechanism 12 from the outlet end of the vibration disc 11, the pipe joint enters the supporting base 123 from the feeding groove 1231 and is pushed by the latter pipe joint to completely enter the feeding groove 122 of the feeding frame 124, as optimization, a proximity switch can be arranged on the other side of the supporting base 123 opposite to the feeding groove 1231 and used for receiving a message that the pipe joint is in place, so that a feedback signal is given to the third driving cylinder 121, the third driving cylinder 121 works to drive the feeding frame 124 to move to the blanking gap 1232, after the pipe joint is in place, the pipe joint falls from the blanking gap 1232, and the placing seat 22 on the conveying belt 21 just stays below the blanking gap 1232 to receive the pipe joint, so that feeding is realized. After the feeding frame 124 is driven to reset by the third driving cylinder 121, the latter pipe joint can enter to repeat the above process. The pipe joint conveying device has the advantages that the pipe joints are conveyed one by one, the conversion feeding of the pipe joints on the two mechanisms is achieved, the structure is simple, the pipe joints are clamped or conveyed without complex structures, the conveying occupied space of the pipe joints 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 pickup mechanism can be well matched with the placement seat 22, so that when the conveying belt 21 stops running, the placement seats 22 with different positions are corresponding to 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 pickup mechanism 61, the simultaneous work of all stations is realized, and the quality inspection efficiency is improved.
As an improved embodiment, a blocking edge 1241 extending towards the third driving cylinder 121 is arranged 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 the subsequent pipe joint.
As shown in fig. 5, the setting 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 the feeding groove 1231 can smoothly enter the feeding groove 1231 along with the translation of the blocking edge 1241 until the feeding groove 122 is opposite to the feeding groove 122, so that smooth and orderly conveying of the pipe joint is ensured.
As an improved embodiment, the side wall of the opening of the feeding frame 124 on one side of the baffle edge 1241 is shorter than the side wall of the opening on the other side. The arrangement is such that the pipe joint which has partially entered the feeding groove 1231 also partially enters the supporting base 123, and when the feeding frame 124 is reset, the pipe joint is blocked by the long opening side wall, and then can smoothly and stably enter the feeding groove 122, so as to achieve a better conveying effect.
As a modified embodiment, a slot 1242 is provided at the U-shaped bottom of the feeding frame 124, and the slot 1242 is used to insert a positioning block 1243 with different specifications, and the thickness of the positioning block 1243 limits the depth of the feeding groove 122.
As shown in fig. 5, when the positioning block 1243 is removed, the feeding groove 122 has the deepest depth, and after the slot 1242 is inserted into the positioning block 1243 with different thickness, the depth of the feeding groove 122 can be adjusted, so that pipe joints with different length specifications can be used for limiting and conveying, and the position of the pipe joint can be accurately dropped onto the placement seat 22 for accurate absorption and taking of the first electromagnet suction tool 533 and the second electromagnet suction tool 613.
As an improved specific embodiment, the picking mechanism 61 comprises a first horizontal driving cylinder 611, a vertical driving cylinder 612 and a second electromagnet suction tool 613, wherein the first horizontal driving cylinder 611 is arranged on an external bracket, 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 lift up and down, the second electromagnet suction tool 613 comprises a jacket 5331 and a magnetic core 5332, the jacket 5331 is provided with a supporting groove 5333 matched with the outer diameter of a pipe joint, and the magnetic core 5332 is arranged in the supporting 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 be 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 is opposite to the vertical driving cylinder 612, and the waste product runner 624 extends obliquely downwards and outwards.
As shown in fig. 1 and 6, the second electromagnet suction tool 613 is driven by the rising and falling of the vertical driving cylinder 612 to suck and place the pipe joint, the translation of the first horizontal driving cylinder 611 can make the second electromagnet suction tool 613 sucked with the pipe joint reach the positions of the qualified product stacking box 622 and the defective product stacking box 623 or the positions of the waste product flow channel 624 far away, the waste product directly falls from the waste product flow channel 624, and a collecting device is arranged outside to collect the waste product. The switching of the qualified product stacking box 622 and the defective product stacking box 623 is realized by the second horizontal driving cylinder 621, and the qualified product stacking box 622 or the defective product stacking box 623 is moved to the lower part of the vertical driving cylinder 612 according to the information fed back by the controller, so that the corresponding qualified products or defective products can be placed. The second electromagnet suction tool 613 has the same structure as the first electromagnet suction tool 533, and the arrangement of the second electromagnet suction tool 613 is advantageous for placing the pipe joint from above into the acceptable product stacking box 622 and the defective product stacking box 623 without being affected by the existing pipe joint therein. The picking mechanism 61 well realizes sorting and collecting of qualified products, defective products and waste products through reasonable position arrangement and mutual position movement.
As an improved embodiment, the inner space length of the qualified product stacking box 622 in the direction of the second horizontal driving cylinder 621 is set to be an integer multiple of the length of the pipe joint, and the inner space length 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 qualified product stacking box 622 is configured to accommodate a plurality of rows of pipe joints, and a plurality of rows of pipe joints can be stacked by the movement of the second horizontal driving cylinder 621, and the pipe joints of the qualified product stacking box 622 can be taken away together for subsequent packaging or processing after being fully collected; the defective product stacking box 623 is used for placing single-row pipe joints, and can be reworked after being stacked to a certain number, and the number of defective products is obviously smaller than that of qualified products, so that the whole volume is enlarged without being excessively large; the waste products do not need to be stacked in order, so the waste product flow passage 624 is selected to convey and collect outwards.
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; the placing seat 22 is uniformly arranged on the chain, the placing seat 22 comprises a base and supporting blocks, the base is arranged on the chain, the supporting blocks are two groups and symmetrically arranged at the left end and the right end of the base, and the supporting blocks are upwards provided with a V-shaped groove for placing a pipe joint. As shown in fig. 5, the structure of the placement seat 22 can well support the pipe joint placed on the placement seat by means of V-shaped grooves on two sides, and the V-shaped grooves can be suitable for placing pipe joints with various pipe diameter specifications, so that the applicability is higher. The height positions of other parts are adjusted according to the pipe joint with specific pipe diameter specification, so that shooting or matching requirements are met. The transmission of the chain and the chain wheel can ensure the accuracy of the position during stopping, and the slip can not occur; the stepping motor receives the signal to perform intermittent operation, so that intermittent start and stop of the conveying belt 21 can be better 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 examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims (8)

1. Pipe joint vision detection device, its characterized in that: comprises a pipe joint input mechanism (1), a pipe joint conveying mechanism (2), an endoscopic detection mechanism (3), an outer surface detection mechanism (4), a three-phase machine detection mechanism (5) and a discharge sorting mechanism (6),
the pipe joint input mechanism (1) comprises a vibration disc (11) for placing pipe joints and sequentially outputting the pipe joints and a feeding mechanism (12) arranged at the outlet end of the vibration disc (11), wherein the feeding mechanism (12) receives the pipe joints conveyed at the vibration disc (11) and conveys 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 a placing seat (22) uniformly arranged on the conveying belt (21) and used for placing pipe joints, and a feeding mechanism (12) is arranged at the input end of the conveying belt (21);
the three-phase machine detection mechanism (5) is sequentially arranged along the direction of the conveying belt (21), and when a placing seat (22) with a pipe joint placed thereon reaches the positions of the three-phase machine detection mechanism (5), the conveying belt (21) stops running, the inner part of the pipe joint is detected by the three-phase machine detection mechanism (3) to be provided with sundries, the surface flatness of the pipe joint is detected by the three-phase machine detection mechanism (4), and the end part of the pipe joint is detected by the three-phase machine detection mechanism (5) to be provided with knocks and rust or not;
the discharging sorting mechanism (6) is arranged at the output end of the conveying belt (21), the discharging sorting mechanism (6) comprises a picking mechanism (61) and a discharging mechanism (62), and 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 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), wherein 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 corresponding placement seat (22) and is used for propping against pipe joints 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 mutually 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), the top pieces (42) can axially rotate, and the linear array camera (41) is arranged right above the conveying belt (21) and is corresponding to the pair of top pieces (42) in position and is used for collecting image data of the pipe joints which stay below and are driven by the pair of top pieces (42) to rotate;
the three-phase camera detection mechanism (5) comprises a front camera (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 front camera (51) is arranged at 90 degrees opposite to the conveying belt (21), the two side cameras (52) are arranged at 45 degrees opposite to the conveying belt (21) and the two side cameras (52) are bilaterally symmetrical with respect to the front camera (51), the heights of the front camera (51) and the side cameras (52) are matched with the height of the placing seat (22), and the three-phase camera detection mechanism is used for photographing and collecting image data when the pipe joint stays at a position between the front camera (51) and the side cameras (52); the reversing mechanism (53) is arranged right above the conveying belt (21) corresponding to the positions of the front camera (51) and the side camera (52) and is used for carrying out 180-degree reversing on the pipe joint staying below the conveying belt.
2. The visual inspection device for pipe joints according to claim 1, wherein: the endoscopic detection mechanism (3) comprises a mounting bracket (31) and a pair of opposite reflectors (32) arranged on the mounting bracket (31), wherein the pair of opposite reflectors (32) are respectively arranged on two sides of the width of the conveying belt (21) and are opposite in position, the height of the opposite reflectors (32) is matched with the height of the placement seat (22), and the endoscopic detection mechanism is used for detecting whether sundries exist inside a pipe joint when the pipe joint stays between the pair of opposite reflectors (32).
3. The visual inspection device for pipe joints according to claim 1, wherein: 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 an external support, the second rotating cylinder (532) is arranged on the second driving cylinder (531) and 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 driven by the second rotating cylinder (532) to steer 180 degrees, the first electromagnet suction tool (533) comprises a jacket (5331) and a magnetic core (5332), the jacket (5331) is provided with a supporting groove (5333) matched with the outer diameter of a pipe joint, and the magnetic core (5332) is arranged in the supporting groove (5333) and can generate magnetic force to adsorb the pipe joint when being electrified.
4. A visual inspection device for a pipe joint according to any one of claims 1 to 3, wherein: feeding mechanism (12) are including third actuating cylinder (121), feed chute (122) and support base (123), a feed chute (1231) is seted up to the side of support base (123), feed chute (1231) is relative with vibration dish (11) exit end, and supply coupling gets into support base (123) from vibration dish (11), support base (123) slidable sets up a pay-off frame (124), pay-off frame (124) are the U-shaped, and the opening of its U-shaped is gone into feed chute (1231), and U-shaped middle part forms feed chute (122), third actuating cylinder (121) set up in support base (123) one side and are connected with pay-off frame (124), support base (123) are provided with blanking breach (1232) that supply coupling dropped for the distal end of third actuating cylinder (121), blanking breach (1232) below is just to conveyer belt (21), third actuating cylinder (121) are at during operation drive pay-off frame (124) and are gone into between feed chute (1231) and blanking (1232) activity.
5. The visual inspection device for a pipe joint according to claim 4, wherein: one side of the 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 the subsequent pipe joint.
6. The visual inspection device for a pipe joint according to claim 4, wherein: the U-shaped bottom of pay-off frame (124) is provided with a slot (1242), slot (1242) are used for inserting the accent piece (1243) of different specifications, accent piece (1243) is with the degree of depth of its thickness restriction feed tank (122).
7. A visual inspection device for a pipe joint according to any one of claims 1 to 3, wherein: the fetching mechanism (61) comprises a first horizontal driving cylinder (611), a vertical driving cylinder (612) and a second electromagnet suction tool (613), wherein 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 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 up-down lifting, the second electromagnet suction tool (613) comprises a jacket (5331) and a magnetic core (5332), the jacket (5331) is provided with a supporting groove (5333) matched with the outer diameter of the pipe joint, and the magnetic core (5332) is arranged in the supporting groove (5333) and can generate magnetic force to adsorb the pipe joint when the pipe joint is 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 be 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 opposite to the vertical driving cylinder (612), and the waste product runner (624) extends obliquely downwards outwards.
8. The visual inspection device for a pipe joint according to claim 7, wherein: the inner space length 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 inner space length of the defective 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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CN111420889A (en) * 2020-04-20 2020-07-17 陕西国防工业职业技术学院 Visual detection device for mechanical parts
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