CN112229844B

CN112229844B - Workpiece surface defect detection equipment

Info

Publication number: CN112229844B
Application number: CN202011077857.5A
Authority: CN
Inventors: 孙强; 张世杰; 白冰洋
Original assignee: Crsdet Electric Technology Zhengzhou Co ltd
Current assignee: Crsdet Electric Technology Zhengzhou Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2024-06-04
Anticipated expiration: 2040-10-10
Also published as: CN112229844A

Abstract

The invention relates to workpiece surface defect detection equipment, which comprises a side pushing and feeding mechanism, a transplanting mechanism, an upper end surface detection device, an outer wall detection device, a lower end surface detection device, an inner wall detection device and a workpiece transfer mechanism, wherein the upper end surface detection device is used for detecting the surface defect of a workpiece; the transplanting mechanism comprises at least one transplanting unit for taking and placing the workpieces; the outer wall detection device comprises a supporting table and an outer wall image capturing device, wherein the supporting table is positioned at an outer wall detection station, and the outer wall image capturing device comprises a plurality of outer wall image capturing units distributed along the periphery of the supporting table; the lower end face detection device is positioned at a lower end face detection station; the inner wall detection device comprises an inner wall image capturing camera which is used for capturing images of the inner wall of the workpiece; the workpiece transfer mechanism comprises a mechanical gripper; and (3) the workpiece subjected to image capturing by the inner wall detection device enters a blanking conveying belt, and the unqualified workpiece enters a rejecting conveying belt. The whole detection and conveying process realizes automation, and improves the detection efficiency and the detection quality.

Description

Workpiece surface defect detection equipment

Technical Field

The invention relates to the technical field of workpiece detection, in particular to workpiece surface defect detection equipment.

Background

After the part is processed and formed, certain inner wall defects (such as scratches, sand holes, cracks and the like) can exist, and the product is also a defective product, and if the product is subsequently installed in equipment, potential safety hazards exist. If common motor stator belongs to core spare part, its inside and outside wall and two terminal surfaces all need detect, still mainly rely on the manual work to detect, and work load is big, easily produces visual fatigue to lead to detection efficiency and detection quality to reduce.

Disclosure of Invention

The invention aims to provide workpiece surface defect detection equipment which can realize automatic detection so as to solve the defects of manual detection.

In order to achieve the above purpose, the invention adopts the following technical scheme:

The workpiece surface defect detection equipment comprises a side pushing and feeding mechanism, a transplanting mechanism, an upper end surface detection device, an outer wall detection device, a lower end surface detection device, an inner wall detection device and a workpiece transfer mechanism;

the side pushing and feeding mechanism comprises a workpiece supporting plate, a first cylinder and a workpiece pushing plate, wherein the workpiece supporting plate is positioned on the upper side of the feeding conveyer belt, a workpiece to be detected on the feeding conveyer belt is transferred onto the workpiece supporting plate, the workpiece pushing plate is driven by the first cylinder, and the workpiece is pushed to an upper end face detection station under the action of the workpiece pushing plate;

the upper end face detection device comprises a first camera and a second camera, wherein the first camera is used for taking an image of the upper end face of a workpiece at an upper end face detection station;

the side pushing and feeding mechanism further comprises a second air cylinder, the stroke of the second air cylinder is larger than that of the first air cylinder, and the second air cylinder is used for driving the first air cylinder to translate, so that the workpiece after the detection of the upper end face is pushed to the buffer station;

The transplanting mechanism comprises at least one transplanting unit, the transplanting unit comprises a sliding bottom plate, a third cylinder and a fourth cylinder, the sliding bottom plate is slidably assembled on a horizontal track and is driven by a linear driving mechanism, a cylinder body of the third cylinder is fixed on the sliding bottom plate, a cylinder rod of the third cylinder drives a cylinder body of the fourth cylinder to realize lifting movement of the fourth cylinder, the fourth cylinder is connected with an inner supporting clamping jaw, the inner supporting clamping jaw is used for being matched with an inner hole of a workpiece, and the inner supporting clamping jaw realizes stretching and shrinking actions under the driving of the fourth cylinder so as to take and place the workpiece;

the outer wall detection device comprises a supporting table and an outer wall image capturing device, the supporting table is positioned at an outer wall detection station, the outer wall image capturing device comprises a plurality of outer wall image capturing units distributed along the periphery of the supporting table, the outer wall image capturing units comprise second cameras, and the supporting table is used for placing workpieces so that the second cameras can capture images of the peripheral surfaces of the workpieces;

The lower end face detection device is positioned at a lower end face detection station, and the buffer station, the outer wall detection station and the lower end face detection station are sequentially arranged along the length direction of the horizontal track; the lower end face detection device comprises a third camera, the transplanting mechanism sends the workpiece with the outer wall imaged to a lower end face detection station, and the third camera is used for imaging the lower side face of the workpiece;

the inner wall detection device is positioned at one side of the lower end face detection device and comprises an inner wall image capturing camera for capturing images of the inner wall of the workpiece;

The workpiece transfer mechanism comprises a mechanical gripper and is used for gripping a workpiece and transferring the workpiece from the lower end surface detection device to an inner wall detection station where the inner wall detection device is positioned;

And conveying the workpiece subjected to image taking by the inner wall detection device to a blanking conveying belt or a rejecting output belt by a transplanting mechanism or a blanking manipulator, enabling qualified products to enter the blanking conveying belt, and enabling unqualified products to enter the rejecting conveying belt.

Further, the workpiece pushing plate is provided with a V-shaped notch for clamping the outer peripheral surface of the workpiece, the buffer station is provided with a workpiece positioning plate, and the workpiece positioning plate is provided with a V-shaped notch with an opening opposite to the V-shaped notch of the workpiece pushing plate.

Further, the transplanting mechanism comprises three transplanting units, the directions from the buffer station to the lower end face detection station are sequentially arranged, and the intervals of the transplanting units are the same and are equal to the distances between two adjacent stations in the buffer station, the peripheral face detection station and the lower end face detection station.

Further, two adjacent transplanting units are connected through an adjustable connecting rod, the adjustable connecting rod comprises two screws with opposite rotation directions, the axial directions of the two screws are along the length direction of the horizontal track, the threaded sections of the two screws are oppositely arranged and are connected together through an adjusting nut, and the unthreaded sections of the two screws are respectively connected to the sliding bottom plates of the two transplanting units.

Further, the supporting table is a rotatable rotating table, and a top platen of the rotating table is a supporting platen for supporting a workpiece; the rotary table is provided with an internal supporting type pneumatic clamping jaw, the pneumatic clamping jaw is provided with three jaw bodies, the supporting table plate is provided with long holes for giving way to the actions of the jaw bodies, and the long holes are correspondingly provided with three adjacent two 120-degree distribution holes.

Further, the outer wall image capturing device comprises three outer wall image capturing units which are arranged around the supporting table, and the adjacent outer wall image capturing units are spaced 120 degrees apart.

Further, the outer wall image capturing unit comprises a light source assembly and an image capturing assembly, the second camera belongs to a part of the image capturing assembly, and the light source assembly is used for polishing the periphery of a workpiece.

Further, the light source assembly comprises a surface light source and strip light sources positioned at two sides of the surface light source, and the surface light source and the strip light sources form a combined light source; the strip-shaped shell of the strip-shaped light source is installed on the panel of the surface light source in an angle adjustable way.

Further, the inner wall image capturing cameras comprise two 360-degree image capturing cameras and are arranged up and down and used for capturing images of upper and lower parts of the inner wall of the workpiece.

Further, the mechanical gripper grabs the workpiece after the image capturing at the inner wall detection station and returns the workpiece to the lower end face detection station, if the workpiece is a qualified product, the workpiece is transferred to the blanking conveyer belt from the lower end face detection station by the transplanting mechanism, and if the workpiece is a unqualified product, the workpiece is pushed to the rejection output belt by the workpiece rejecting mechanism from the blanking conveyer belt.

The invention has the beneficial effects that:

The workpiece surface defect detection equipment can be matched with a feeding conveyor belt for conveying detected workpieces, and the workpieces can automatically finish image detection analysis on the surface quality of each side surface of the workpieces under the operation of a side pushing feeding mechanism, a transplanting mechanism and a workpiece transferring mechanism through the sequential detection of an upper end surface detection device, an outer wall detection device, a lower end surface detection device and an inner wall detection device; and qualified products enter a blanking conveying belt, and unqualified products enter a rejecting conveying belt. The whole detection and conveying process realizes automation, improves the detection efficiency, does not need manual participation, and can also avoid the reduction of detection quality caused by fatigue of detection personnel and the like.

Drawings

FIG. 1 is a schematic perspective view of a workpiece surface defect inspection apparatus of the present invention;

FIG. 2 is a top view of the workpiece surface defect inspection apparatus of the present invention;

FIG. 3 is a schematic view at an upper face detection station;

FIG. 4 is a schematic structural view of a side-pushing feeding mechanism;

FIG. 5 is a schematic structural view of a transplanting mechanism;

fig. 6 is a schematic structural view of the first transplanting unit of fig. 5;

FIG. 7 is a schematic view of a structure of a rotary table;

FIG. 8 is a schematic view of the structure of an outer wall imaging unit;

FIG. 9 is a schematic view of another angle of the outer wall imaging unit;

FIG. 10 is a schematic view of the workpiece surface defect inspection apparatus of the present invention at a lower end inspection and inner wall inspection station;

FIG. 11 is a schematic view of a lower end face detection device;

Fig. 12 is a schematic view of the configuration of the inner wall detecting device in cooperation with the work transfer mechanism.

Name corresponding to each label in the figure:

11. a feeding conveyer belt, 12, a discharging conveyer belt, 13 and a rejecting conveyer belt;

2. A workpiece;

3. a side pushing and feeding mechanism 31, a workpiece supporting plate 32, a workpiece pushing plate 33, a second cylinder 34, a first cylinder 35, a driving block 36 and a baffle plate,

4. A buffer station, 41, a workpiece positioning plate,

5. An inner wall detecting device 51, a fourth camera 52, a fifth camera 53, a fourth camera bracket,

50. A workpiece transfer mechanism 501, a mechanical gripper 502 and a sixth cylinder,

61. The device comprises an outer wall image capturing device 60, an outer wall image capturing unit 63, a strip light source 631, a strip shell 64, a surface light source 641, a panel 642, an image capturing hole 65, a second camera 651, a second camera supporting plate 66, a corner plate 661 and an arc-shaped connecting hole;

67. a fixed bottom plate 68, upright posts 69 and a first clamping block;

62. The automatic clamping rotary table, 621, a supporting platen, 6211, a jaw movable hole 623, a pneumatic jaw, 624, a fifth cylinder, 625, a synchronous belt, 626, a speed reducing motor,

7. An upper end face detection device 71, a first camera 72, a first diaphragm,

8. The lower end face detection device 81, the third camera 82, the third image capturing hole 83, the third camera bracket 831, the fixed shaft 832, the second clamping block 833, the horizontal rod 834, the third clamping block 835, the vertical rod 836, the fifth clamping block 837, the fourth clamping block,

9. 90 Parts of transplanting mechanism, 94 parts of horizontal rail, 94 parts of fish-eye screw, 95 parts of adjusting nut, 96 parts of motor,

91. The first transplanting unit, 911, inner supporting clamping jaws, 912, sliding bottom plates, 913, third cylinders, 914, fourth cylinders, 915, sliding bearings, 916, guide rods, 917, buffer mounting plates, 918, buffers,

10. The workpiece removing mechanism comprises a workpiece removing mechanism body 101, a seventh air cylinder body 102 and a kickboard.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example 1 of the present invention:

In this embodiment, the stator of the motor is used as the workpiece to be inspected.

As shown in fig. 1 to 12, the workpiece surface defect detection device comprises a side pushing and feeding mechanism 3, a transplanting mechanism 9, an upper end face detection device 7, an outer wall detection device 6, a lower end face detection device 8, an inner wall detection device 5, a workpiece transfer mechanism 50 and a workpiece removing mechanism 10.

As shown in fig. 3 and 4, the side pushing and feeding mechanism comprises a workpiece supporting plate 31, a first air cylinder 34, a workpiece pushing plate 32, a second air cylinder 33, a workpiece identification sensor and a workpiece baffle 36, wherein the workpiece supporting plate is positioned on the upper side of a feeding conveyor belt 11 in a factory, the feeding conveyor belt 11 is a conveyor belt for conveying processed workpieces, and when the workpiece is moved to the position of the workpiece supporting plate 31 under the conveying action of the feeding conveyor belt, the workpiece can be transferred to the supporting plate and is sensed by the workpiece identification sensor arranged in the conveying direction; under the stop of the baffle, the workpiece can temporarily stay on the workpiece supporting plate. The direction of the workpiece transport is defined as front to back. The workpiece pusher is driven by a first cylinder 34 to move in the left-right direction, and the right end of the workpiece pusher 32 is provided with a V-shaped notch for catching the outer periphery of the workpiece 2. When the workpiece identification sensor senses that a workpiece is conveyed, the workpiece pushing plate pushes the workpiece rightwards to the upper end face detection station under the driving of the first air cylinder. Under the cooperation of the workpiece push plate and the baffle, the workpiece can be pushed to the set upper end face detection position.

The upper end face detection device 7 is positioned right above the upper end face detection station and is fixed on a bracket on the upper side of the workbench. The upper end face detection device comprises a first camera 71 and a first diaphragm 72, wherein the lens of the first camera 71 faces downwards, and is used for photographing and taking an image of the upper end face, namely the upper part, of the workpiece. The first aperture is annular, and the middle part is the light trap, satisfies the requirement of getting an image to work piece upper portion, but can shelter from its surrounding parts simultaneously, reaches accurate image acquisition purpose. Meanwhile, a light source can be further arranged on the first aperture, and light is shone downwards towards the upper end of the workpiece, so that image capturing is facilitated.

The side pushing and feeding mechanism further comprises a second air cylinder 33, and the stroke of the second air cylinder 33 is larger than that of the first air cylinder 34. The end of the cylinder rod of the second cylinder 33 is provided with a driving block 35, and the driving block 35 is connected with the cylinder body of the first cylinder 34 and is used for driving the first cylinder 34 to move along the left-right direction. When the second cylinder 33 acts, the workpiece with the upper end face imaged can be continuously pushed to the buffer station 4.

The buffer station is provided with a workpiece positioning plate 41, the workpiece positioning plate 41 is provided with a V-shaped groove opening opposite to the V-shaped groove opening of the workpiece pushing plate, and the workpiece is pushed to the position to be positioned and waits for the operation of the next working procedure.

As shown in fig. 5 and 6, the transplanting mechanism 9 includes three transplanting units, which are respectively denoted as a first transplanting unit 91, a second transplanting unit 92, and a third transplanting unit 93 from front to back. Each transplanting unit has the same structure and comprises a sliding bottom plate 912, wherein the sliding bottom plate 912 is slidably assembled on a horizontal rail 90 positioned on the bracket, and the sliding bottom plate is driven by a screw mechanism to linearly move in the front-rear direction. The screw in the screw mechanism is driven to rotate by a motor 96, which is located outside one end of the bracket.

Adjacent transplanting units are connected through an adjustable connecting rod, the adjustable connecting rod comprises two fisheye screws 94 with opposite rotation directions, screw ends of the two fisheye screws are opposite, the two fisheye screws are in spiral connection through an adjusting nut 95, and one end of each fisheye is hinged with a sliding bottom plate 912. When the adjusting nut rotates, the two fisheye screws relatively move or move backwards, so that the distance between adjacent transplanting units is adjusted, and in the embodiment, the distances between the two fisheye screws are set to be equidistant.

In the state shown in fig. 1, the first transplanting unit is just aligned with the buffer station, the second transplanting unit is just aligned with the outer wall detection station, and the third transplanting unit is just aligned with the lower end face detection station.

Taking the first transplanting unit as an example, the structure is described as follows.

As shown in fig. 6, the first transplanting unit 91 includes a slide base 912, which is a vertically disposed plate, movable in the front-rear direction. A third cylinder 913 is mounted on the sliding base plate, and a cylinder body of the third cylinder 913 is fixed on the sliding base plate, and a cylinder rod of the third cylinder drives a cylinder body of a fourth cylinder 914. The lower end of the cylinder body of the fourth cylinder 914 is provided with an inner supporting clamping jaw 911, and under the action of the fourth cylinder, three clamping blocks uniformly distributed along the circumference of the inner supporting clamping jaw can be contracted or extended in the radial direction at the same time. Under the drive of the third cylinder, the inner supporting clamping jaw can extend downwards into an inner hole of the workpiece, and then under the action of the fourth cylinder, the clamping block of the inner supporting clamping jaw extends outwards, so that the workpiece is tightly supported. The third cylinder 913 acts in reverse to lift the inner support jaw along with the workpiece. The transplanting unit is driven by the screw rod mechanism to convey the workpiece to the next station along the horizontal direction, namely the workpiece outer wall detection station.

The third cylinder, the fourth cylinder and the inner supporting clamping jaw form a workpiece grabbing mechanism. The inner supporting clamping jaw is not innovative, and can be used in the prior art, and is not repeated.

Further, a guiding structure is further arranged on the sliding bottom plate, the guiding structure comprises a sliding bearing 915 or a sliding sleeve and guiding rods 916 matched with the sliding bearing 915 or the sliding sleeve, the guiding rods 916 are arranged in parallel, the guiding rods 916 are respectively located on the front side and the rear side of the fourth cylinder, and the lower ends of the guiding rods are connected with the cylinder body of the fourth cylinder through connecting plates. When the fourth cylinder moves up and down, the guide rod moves along with the fourth cylinder, and the guide rod plays a guide role.

The sliding bottom plate is provided with a buffer mounting plate 917, and the lower side of the buffer mounting plate 917 is provided with a buffer 918 for buffering and limiting the upward movement of the fourth cylinder.

The outer wall detection device 6 includes an automatic clamping rotary table 62 and an outer wall image capturing device, and in fig. 1, the automatic clamping rotary table is located right below the inner support clamping jaw of the second transplanting unit. And the corresponding transplanting unit transfers the workpiece of the buffer station to the outer wall detection station and loads the workpiece into the automatic clamping rotary table.

As shown in fig. 7, the automatic clamping rotary table includes a rotary table driven to rotate by a pulley mechanism and a pneumatic clamping jaw 623. The pulley mechanism includes a driven pulley, a drive pulley, and a timing belt 625 engaged with the driven pulley and the drive pulley. The rotary table is mounted coaxially with the driven wheel, which is driven by a reduction motor 626, or a servo motor.

The upper platen of the turntable is a support platen 621 for supporting a workpiece. The pneumatic clamping jaw 623, also internal bracing, is driven by a fifth air cylinder 624. After the workpiece falls onto the rotary table, the fifth air cylinder 624 acts, and the pneumatic clamping jaw acts outwards and tightens the inner hole of the workpiece. The principle of pneumatic clamping jaw belongs to prior art. The support platen is provided with a long hole which is used for giving way to the radial expansion and contraction of the claw body along the fifth cylinder, and the long hole is marked as a clamping claw movable hole 6211. There are three slots, with adjacent two spaced 120 degrees apart.

The outer wall image capturing device 61 includes three outer wall image capturing units 60 disposed around the automatic clamping rotary table, with adjacent two being spaced 120 degrees apart. In other embodiments, the rotating table can be set to be non-rotating according to the situation of the arranged image capturing unit, and the workpiece can be supported by only one supporting table and the pneumatic clamping jaw.

As shown in fig. 8 and 9, the outer wall image capturing unit includes a light source assembly including a surface light source 64 and strip light sources 63 positioned at both sides of the surface light source 64, and an image capturing assembly. The area light source is fixed on the light source support, and the middle part of the light source support is provided with a camera through hole for the installation of a second camera. The middle part of the surface light source is provided with an image capturing hole 642 for the lens of the second camera to pass through, i.e. for the lens of the second camera 65 to be exposed, so as to capture an image of the workpiece.

The surface light source and the strip light source can be lamp panels composed of LED lamp beads. The two are only in the integral shape, the strip light source is strip-shaped and relatively narrow, and the strip light source is complementary to the surface light source and plays a role in supplementing light.

The bar-shaped shell 631 of the bar-shaped light source is angularly adjustable, the two sides of the panel 641 of the surface light source 64 are provided with the angle plates 66, one side of the angle plates 66 is fixed with the panel, the other side is provided with the arc-shaped connecting hole 661 for the installation of the bar-shaped shell, the bar-shaped shell is provided with a screw hole, and the bar-shaped shell is fixed by a fastening screw penetrating the screw hole and the arc-shaped connecting hole, and the angle of the bar-shaped shell is adjustable due to the arc-shaped connecting hole. In this embodiment, the included angle between the strip-shaped casing and the panel is 120 degrees, so as to form a combined light source.

Further, a vertically long hole may be provided in one side of the gusset (the side to which the panel is fixed), and the vertical height of the gusset may be adjusted after the gusset is fixed by a bolt passing through the long hole.

The second camera 65 is arranged on a second camera support, the second camera support comprises a fixed bottom plate 67, a vertical rod 68 and a second camera supporting plate 651, the vertical rod 68 is vertically arranged on the fixed bottom plate 67, and the vertical rod 68 is provided with two arranged at intervals. The second camera 65 is located on the second camera support plate 651, and the two ends of the second camera support plate are connected with the first clamping blocks 69, the first clamping blocks 69 are provided with axial mounting holes and radial openings, the radial openings are relatively narrow, and the axial mounting holes are communicated, so that the first clamping blocks have certain plastic deformation capacity at the radial openings. The position of the first clamping block, which is perpendicular to the radial opening, is provided with a bolt hole, the first clamping block 69 is sleeved on the upright rod 68, the bolt penetrates through the bolt hole, the fixing of the positions of the first clamping block and the upright rod 68 is realized, and the height position of the first clamping block 69 is also convenient to adjust, so that the height position of the second camera supporting plate 651 is adjusted, and the height of the second camera 65 is adjusted.

The fixing base plate 67 is provided with fixing holes, which are long holes, and is fixed on the workbench by bolts. The length direction of the fixing hole is along the axial direction of the corresponding second camera, and the purpose of adjusting the front-back distance of the second camera is achieved by arranging the fixing hole into a long hole, namely focusing is achieved.

The outer wall image capturing device is matched with the rotation of the rotary table, and can be used for capturing and detecting the outer peripheral surface of a workpiece.

As shown in fig. 10 and 11, the lower end surface detecting device 8 is located at the rear of the automatic clamping rotary table, and the lower end surface detecting device includes a third camera 81 and a third camera bracket 83, and a third image capturing hole 82 is formed on the workbench for capturing an upward image of a lens of the third camera 81. The hole center of the third imaging hole coincides with the axis of the inner support jaw of the third transplanting unit 93 in the state shown in fig. 1. The inner supporting clamping jaw of the third transplanting unit is used for grabbing the workpiece and is positioned right above the third camera, so that the image capturing detection of the bottom surface of the workpiece can be completed. Of course, in the working process of the transplanting mechanism, particularly after the workpieces are continuous, the workpiece can be transferred to the lower end face detection station of the lower end face detection device by the inner supporting clamping jaw of the second transplanting unit, and the lower end face image capturing detection can be carried out.

Similar to the arrangement of the first camera, a corresponding aperture is also provided at the third camera.

The third camera support 83 is located in the workbench and comprises a fixed shaft 831, a vertical rod 835 and a horizontal rod 833, the fixed shaft 831 is vertically arranged, the upper end of the fixed shaft 831 is fixed with the workbench, a second clamping block 832 is arranged at the lower part of the fixed shaft 831, the horizontal rod 833 passes through the second clamping block 832, a third clamping block 834 is arranged at the other end of the horizontal rod 833, and the vertical rod 835 is arranged on the third clamping block 834. The upper end of the vertical rod 835 is provided with a fourth clamping block 837 and the lower end is provided with a fifth clamping block 836. The fourth clamp block 837 is used to support the diaphragm that cooperates with the third camera 81. The fifth clamp block 836 is fixed with a third camera support plate for mounting the third camera 81 such that the axial direction of the third camera is in the up-down direction and the lens thereof is located at the upper portion. The assembly structure of each clamping block and the horizontal rod or the vertical rod in the section is similar to the installation of the first clamping block and the vertical rod, so that the adjustment of the third camera in the horizontal direction and the height direction can be realized, and the detailed structure is not repeated.

As shown in fig. 10 and 12, the inner wall detecting device 5 is located at the left side of the lower end face detecting device. The inner wall detection device comprises an upper detection unit and a lower detection unit, wherein the upper detection unit comprises a fourth camera 51 and a fourth camera support 53, the lower detection unit comprises a fifth camera 52 and a fifth camera support, the fourth camera and the fifth camera are respectively arranged on the fourth camera support and the fifth camera support, and the fourth camera and the fifth camera are respectively arranged above and below a detected workpiece. The fourth camera and the fifth camera are both inner wall image capturing cameras and are all 360-degree image capturing cameras, and belong to the prior art, the fourth camera is used for capturing images of the upper half part of the inner wall of the workpiece, and the fifth camera is used for capturing images of the lower half part of the inner wall of the workpiece. The fourth camera and the fifth camera are different from the first to third cameras described above, and the first to third cameras are all planar imaging. By respectively taking images of the upper part and the lower part of the workpiece, the detection efficiency can be improved.

The structures of the fourth and fifth camera brackets, which are not described in detail, are similar to the above-described camera brackets, and can support the fixed camera and adjust the height and horizontal position of the camera.

The workpiece transfer mechanism 50 comprises a sixth air cylinder 502 and a mechanical gripper 501, wherein the sixth air cylinder 502 adopts a translation air cylinder, and the mechanical gripper 501 adopts a parallel pneumatic finger air cylinder, and the principle of the mechanism belongs to the prior art. The mechanical gripper is arranged on the sixth cylinder, can grasp the workpiece at the lower end face detection station, and after the lower end face detection is completed, the mechanical gripper grasps the workpiece and moves left and right along with the sixth cylinder to send the workpiece to the inner wall detection station, and an image is taken by the inner wall detection device.

After the inner wall is imaged, the detected workpiece is reversely conveyed by using the mechanical gripper 501, and the workpiece is taken away by using the inner supporting clamping jaw of the third transplanting unit. If the detected workpiece meets the set quality requirement, the third transplanting unit continues to move the workpiece to the upper part of the blanking conveying belt 12, moves downwards, places the workpiece on the blanking conveying belt, and conveys the qualified workpiece away in the direction from right to left, wherein the blanking conveying belt is positioned at the rear of the workbench. If the detected workpiece does not meet the set requirement, the workpiece rejecting mechanism 10 rejects the workpiece out of the blanking conveyer belt, enters the rejecting conveyer belt 13 and conveys the workpiece to a defective product.

The workpiece removing mechanism 10 comprises a seventh air cylinder 101, wherein the seventh air cylinder adopts a translation air cylinder, and the translation air cylinder is arranged on a frame body of the blanking conveying belt. Be equipped with on this translation cylinder and play flitch 102, play flitch 102 and be equipped with the V-arrangement notch, the orientation of rejecting the conveyer belt is used for holding the work piece periphery. When the translation cylinder acts, the kicking plate 102 is driven to move back and forth, unqualified workpieces can be pushed onto the rejecting conveyor belt 13, and in the embodiment, the conveying direction of the rejecting conveyor belt 13 is perpendicular to the blanking conveyor belt 12.

The structure and part of the operation of the workpiece surface defect detecting apparatus of the present invention are described above. The following operation of the detection device is summarized as follows:

Under the conveying of a feeding conveyer belt, a detected workpiece enters a side pushing and feeding mechanism and is pushed to an upper end face detection station under the action of a workpiece pushing plate, a sensor senses the workpiece, and a first camera in an upper end face detection device works to perform upper end face image capturing detection; after the detection is finished, the workpiece is continuously pushed to the buffer station under the action of the second air cylinder, and the first transplanting unit is waited for grabbing. The first transplanting unit grabs the workpiece and sends the workpiece to the outer wall detection station, the workpiece is placed in the automatic clamping rotary table, and the second camera in the outer wall image capturing unit is used for capturing and detecting the outer peripheral surface of the workpiece. The first transplanting unit after grabbing the first workpiece can be reset to the buffer station in time so as to grab the next workpiece; the workpiece with the detected outer wall can be grabbed by the second transplanting unit and transferred to the lower end face detection device, and the third camera is utilized to finish the image capturing detection of the bottom face of the workpiece. After the bottom surface is imaged, a mechanical gripper in the workpiece transfer mechanism receives the workpiece and sends the workpiece to an inner wall detection station under the action of a sixth air cylinder, and the upper part and the lower part of the workpiece are imaged by a fourth camera and a fifth camera respectively to finish inner wall imaging detection. After detection, the sixth cylinder acts reversely, the workpiece is conveyed to the receiving position just before waiting for the corresponding transplanting unit to grasp. If the detection of each station is in accordance with the set quality requirement, the transplanting unit continuously moves the workpiece to the upper part of the blanking conveying belt, moves downwards, places the workpiece on the blanking conveying belt, and conveys the qualified workpiece away in the conveying direction from right to left, wherein the blanking conveying belt is positioned at the rear of the workbench. If the detected workpiece does not meet the set requirement, the workpiece rejecting mechanism rejects the workpiece out of the blanking conveying belt, enters the rejecting conveying belt and conveys the workpiece to a defective product.

In the embodiment, after the induction sensors at the corresponding stations detect that the workpiece is placed, the cameras automatically take images, and transfer the image information of the workpiece to the control host, and software is utilized to automatically analyze the images to judge whether the workpiece is defective or not, so that automatic detection is completely realized, and the detection efficiency and accuracy are greatly improved. The automatic analysis of images is not the focus of the present invention, and image recognition analysis techniques are also known as mature techniques.

In this embodiment, soft layers, such as rubber layers, are provided at the portions of the respective gripping claws or the mechanical grippers that contact the surface of the workpiece, so as to avoid scratching the workpiece.

In other embodiments, the transplanting units in transplanting can be set to one or two, and the requirement of transferring the workpiece between stations can be met, but the efficiency is not high in embodiment 1; the adjacent transplanting units in embodiment 1 can simultaneously grasp workpieces at different stations.

In other embodiments, the inner wall detecting device may also adopt a single camera imaging mode, for example, a device for detecting defects of an inner wall of a column disclosed in the patent application publication No. CN111025619 a.

The workpiece surface defect detection equipment can automatically detect whether the surface of the motor stator has defects or not on line, and can also be used for detecting parts similar to a stator structure, such as a tubular part.

The present application is not limited to the above-mentioned preferred embodiments, and any person who can obtain other various products under the teaching of the present application can make any changes in shape or structure, and all the technical solutions that are the same or similar to the present application fall within the scope of the present application.

Claims

1. A workpiece surface defect detection device is characterized in that: the device comprises a side pushing and feeding mechanism, a transplanting mechanism, an upper end face detection device, an outer wall detection device, a lower end face detection device, an inner wall detection device and a workpiece transfer mechanism;

2. The workpiece surface defect detection apparatus as recited in claim 1, wherein: the workpiece pushing plate is provided with a V-shaped notch for clamping the outer peripheral surface of the workpiece, the buffer station is provided with a workpiece positioning plate, and the workpiece positioning plate is provided with a V-shaped notch with an opening opposite to the V-shaped notch of the workpiece pushing plate.

3. The workpiece surface defect detection apparatus as recited in claim 1, wherein: the transplanting mechanism comprises three transplanting units, the directions from the buffer station to the lower end face detection station are sequentially arranged, the intervals of the transplanting units are the same, and the intervals are equal to the distances between two adjacent stations among the buffer station, the peripheral face detection station and the lower end face detection station.

4. A workpiece surface defect detection apparatus as claimed in claim 3, wherein: the two adjacent transplanting units are connected through an adjustable connecting rod, the adjustable connecting rod comprises two screws with opposite rotation directions, the axial directions of the two screws are along the length direction of the horizontal track, the threaded sections of the two screws are oppositely arranged and are connected together through an adjusting nut, and the non-threaded sections of the two screws are respectively connected to the sliding bottom plates of the two transplanting units.

5. The workpiece surface defect detection apparatus as recited in claim 1, wherein: the supporting table is a rotatable rotating table, and a table plate on the upper side of the rotating table is a supporting table plate for supporting a workpiece; the rotary table is provided with an internal supporting type pneumatic clamping jaw, the pneumatic clamping jaw is provided with three jaw bodies, the supporting table plate is provided with long holes for giving way to the actions of the jaw bodies, and the long holes are correspondingly provided with three adjacent two 120-degree distribution holes.

6. The workpiece surface defect detection apparatus according to claim 1 or 5, characterized in that: the outer wall image capturing device comprises three outer wall image capturing units which are arranged around the supporting table, and the distance between every two adjacent outer wall image capturing units is 120 degrees.

7. The workpiece surface defect detection apparatus as recited in claim 6, wherein: the outer wall image capturing unit comprises a light source assembly and an image capturing assembly, the second camera belongs to a part of the image capturing assembly, and the light source assembly is used for polishing the periphery of a workpiece.

8. The workpiece surface defect detection apparatus as recited in claim 7, wherein: the light source assembly comprises a surface light source and strip light sources positioned at two sides of the surface light source, and the surface light source and the strip light sources form a combined light source; the strip-shaped shell of the strip-shaped light source is installed on the panel of the surface light source in an angle adjustable way.

9. The workpiece surface defect detection apparatus as recited in claim 1, wherein: the inner wall image capturing cameras comprise two 360-degree image capturing cameras and are arranged up and down and used for capturing images of an upper portion and a lower portion of the inner wall of the workpiece respectively.

10. The workpiece surface defect detection apparatus as recited in claim 1, wherein: the mechanical gripper grabs the workpiece after the image is taken at the inner wall detection station and returns the workpiece to the lower end face detection station, if the workpiece is a qualified product, the workpiece is transferred to the blanking conveyer belt from the lower end face detection station by the transplanting mechanism, and if the workpiece is a unqualified product, the workpiece is pushed to the rejection output belt by the workpiece rejection mechanism.