CN112255241A - Sagger visual detection equipment - Google Patents

Abstract

The invention provides a visual inspection device for a sagger, which comprises: the conveying unit is used for conveying the saggars along a preset conveying direction, and a detection area is formed on a conveying path of the conveying unit; the jacking unit is arranged below the conveying unit corresponding to the detection area, can penetrate through the conveying unit to be arranged in a lifting mode, and is used for jacking the sagger to be separated from the conveying unit; the detection unit is arranged above the conveying unit corresponding to the detection area and used for carrying out visual detection processing on the jacked saggar; the transfer unit is arranged above the conveying unit and behind the detection area and used for rejecting saggars which are detected to be unqualified from the conveying unit, the saggars conveyed to the detection area are jacked to the right place, and then the quality of the saggars is judged to be qualified or not through detection processing of the vision camera, the unqualified saggars are rejected through the transfer unit, automatic detection of the quality of the saggars is completed through the above processes, the whole detection process is efficient and accurate, and the production efficiency is greatly improved.

Description

Sagger visual detection equipment

Technical Field

The invention belongs to the technical field of automatic production lines, and particularly relates to a casket-like bowl visual detection device.

Background

The sagger is a kiln tool made of refractory materials and used for containing powder materials, the powder materials enter a kiln to be fired, then the powder materials are discharged out of the kiln together, the powder materials in the sagger are poured out of the sagger after being subjected to blocking treatment, and the empty sagger is cleaned and then is charged and fired again. In the whole kiln firing production line, the saggar belongs to a charging container which is recycled, and is influenced by high temperature in the firing process, so that the saggar is frequently subjected to shock cooling and shock heating, and the influence of materials on the saggar possibly can be caused, so that the service life of the saggar is short, various conditions such as cracks, defects, peeling, slag falling, large material block residues and the like easily occur, and the saggar cannot be reused for charging and firing.

The quality of the saggar is regularly checked through manual work at present, or the saggar in the use of the roller furnace is detected mainly by manually observing the appearance of the saggar through eyes, the ambient temperature around the roller furnace is higher, and the running of the saggar is not stopped for 24 hours every day, the saggar is detected simply by manually waiting for a long time in a high-temperature environment, misjudgment and missing judgment are easily caused, the cost is high, the efficiency is low, and the production of defective products and the waste of materials are easily caused. Moreover, if saggars with unqualified quality enter the kiln for firing, great harm is generated.

Disclosure of Invention

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a visual inspection apparatus for saggar, which can automatically, efficiently, and accurately detect and process the quality of saggars by a visual inspection method.

The invention provides a sagger visual detection device, which is used for detecting the quality of saggers and is characterized by comprising the following components: the conveying unit is used for conveying the sagger along a preset conveying direction, and a detection area is formed on a conveying path of the sagger;

the jacking unit is arranged below the conveying unit corresponding to the detection area, can penetrate through the conveying unit to be arranged in a lifting mode, and is used for jacking the sagger to be separated from the conveying unit;

the detection unit is arranged above the conveying unit corresponding to the detection area and is used for carrying out visual detection processing on the jacked saggar;

and the transfer unit is arranged above the conveying unit and behind the detection area and is used for removing the saggars detected as unqualified from the conveying unit.

In the visual inspection apparatus for a sagger provided by the present invention, it may further include: a second conveying unit for conveying the second conveying unit,

the conveying unit is used as a first conveying unit,

the second conveying unit is arranged corresponding to the transfer unit and used for conveying the saggars removed from the first conveying unit to a designated area.

In the visual inspection apparatus for a sagger provided by the present invention, there may be a feature in which the second conveying unit conveys a supplementary sagger to a position corresponding to the transfer unit while conveying the rejected sagger, and the transfer unit transfers the supplementary sagger to a corresponding position on the first conveying unit.

In the visual inspection apparatus for a sagger provided by the present invention, it may further include: a machine frame body, a first fixing plate and a second fixing plate,

the first conveying unit and the second conveying unit are fixed on the same horizontal position of the frame body in parallel,

the detection unit and the transfer unit are sequentially arranged on the top plate of the rack body in the front-back direction according to the conveying direction, and the moving direction of the transfer unit is perpendicular to the conveying direction.

In the visual inspection apparatus for a sagger provided by the present invention, there may be also a feature wherein the conveying unit includes a plurality of first conveying rollers and a plurality of second conveying rollers,

the plurality of second conveying rollers are arranged in pairs and opposite to each other, the plurality of first conveying rollers are arranged on two sides of the plurality of second conveying rollers, so that the detection areas are formed between the plurality of first conveying rollers and the plurality of second conveying rollers,

the jacking unit is arranged right below the detection area and can penetrate through and extend out of the detection area so as to jack the corresponding saggar.

In the sagger visual inspection apparatus provided by the present invention, there may be also a feature wherein the transfer unit includes: a sliding mechanism fixed at a preset position above the conveying unit, a telescopic mechanism fixedly connected with a sliding block of the sliding mechanism and a clamping mechanism fixedly connected with the telescopic mechanism,

the telescopic mechanism stretches out to drive the clamping mechanism to move to a clamping position so as to clamp the saggar, and the sliding mechanism drives the sliding block to move so as to remove the saggar from the conveying unit.

In the visual inspection apparatus for a sagger provided by the present invention, there may be further provided a feature in which the inspection unit includes at least one collecting section provided toward the sagger being lifted up to perform image collection, and an image processing section connected to the at least one collecting section.

In the visual inspection apparatus for a sagger provided by the present invention, there may be also a feature in which the inspection unit further includes a rotation mechanism for driving the raised sagger to rotate.

In the visual inspection apparatus for a sagger provided by the present invention, there may be further provided a feature wherein the raising unit includes a base, a lifting mechanism provided on the base, and a raising plate fixed on a top surface of the lifting mechanism facing the conveying unit,

the rotating mechanism is arranged between the base and the lifting mechanism so as to drive the lifting mechanism and the jacking plate to rotate synchronously.

In the sagger visual inspection apparatus provided by the present invention, there may be further provided a feature in which the collecting section includes a boom, a case telescopically coupled to the boom, and a visual camera movably provided in the case and disposed toward the sagger being lifted,

through the jib with the flexible connection regulation of box the vision camera with vertical distance between the saggar, and/or, through guide tracked coupling mechanism in the box adjusts the vision camera with horizontal distance between the saggar, and/or, through the camera frame of vision camera with guide tracked coupling mechanism's arc sliding connection adjusts the vision camera with orientation angle between the saggar.

Action and Effect of the invention

According to the visual sagger detection equipment, the sagger is conveyed along the preset conveying direction through the conveying unit, when the sagger is conveyed to the detection area, the sagger is jacked to be separated from the conveying unit through the jacking unit by penetrating and extending out of the detection area until the sagger reaches the preset height position, the sagger and the detection unit are positioned at the corresponding position, the sagger is visually detected through the detection unit so as to judge whether the quality of the sagger is qualified, after the detection is finished, the jacking unit descends to transfer the sagger to the conveying unit for continuous conveying, the unqualified sagger is removed from the conveying unit through the transfer unit, the automatic detection of the quality of the sagger is finished through the processes, the whole detection process is efficient and accurate, the production efficiency can be greatly improved by applying the visual sagger detection equipment in an automatic production line, the qualified sagger can be transferred to the conveying unit again through the transfer unit for sagger supplement, further improving the automatic production efficiency.

Drawings

Fig. 1 is a front view of a sagger visual inspection apparatus in an embodiment of the present invention.

Fig. 2 is a side view of a sagger visual inspection apparatus in an embodiment of the present invention.

FIG. 3 is a top view of a sagger visual inspection apparatus in an embodiment of the present invention.

Fig. 4 is a front view showing a positional relationship between the first conveying unit and the jacking unit in the embodiment of the present invention.

Fig. 5 is a side view showing a positional relationship between the first conveying unit and the jacking unit in the embodiment of the present invention.

Fig. 6 is a top view of the position relationship between the first conveying unit and the jacking unit in the embodiment of the invention.

Fig. 7 is a structural rear view of a side collecting part in the embodiment of the present invention.

Fig. 8 is a structural side view of a side acquisition part in an embodiment of the present invention.

Fig. 9 is a schematic view of the positional relationship of the transfer unit with the first conveyance unit and the second conveyance unit in the embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a transfer unit in an embodiment of the present invention.

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

< example >

As shown in fig. 1 to 10, the present embodiment discloses a sagger visual inspection apparatus 100, which is a special apparatus for performing crack detection and rejection on a sagger 200 used mainly for a special material, wherein the sagger 200 is subjected to quality detection before use, and the sagger 200 is mainly subjected to crack detection, defect detection, peeling and slag falling detection and bulk residue detection, so as to reject the sagger 200 with unqualified quality, and the whole detection and rejection process is fast, efficient and accurate in control. Particularly, when the AB pot is detected, the pot supplementing operation can be performed. Based on this, after the sagger visual inspection equipment 100 is applied to an automatic production line, for example, a complete automatic production line is formed by assembling a sagger machine, a shaking machine, a sagger stacking machine, a conveyor and the like, so that the automatic production efficiency can be greatly improved, and the reduction of the overall production efficiency caused by the quality problem of the sagger 200 can be avoided.

Specifically, the following functions are accomplished in the sagger visual inspection apparatus 100: firstly, automatically conveying the sagger 200 in the whole process; secondly, completing visual detection at a preset position of the conveying path, wherein the whole detection process is 360-degree comprehensive detection; and thirdly, removing the saggars 200 detected as being unqualified from the automatic conveying line and automatically conveying the saggars to a specified area or device.

As shown in fig. 1 to 3, the sagger visual inspection apparatus 100 includes: the device comprises a rack body 10, a first conveying unit 20, a second conveying unit 30, a jacking unit 40, a detection unit 50 and a transfer unit 60.

The rack body 10 is a three-dimensional frame structure, and serves as a main support body of the sagger visual inspection device 100, and is used for fixedly mounting all mechanisms and components related to conveying, detecting and removing functions of saggers.

As shown in fig. 2 and 3, the first conveying unit 20 and the second conveying unit 30 are disposed at an interval in parallel at the same horizontal position of the rack body 10, and parallel conveying directions can be maintained between the two, that is, the first conveying unit 20 and the second conveying unit 30 can convey in the same direction, and also can convey in opposite directions, specifically according to specific requirements of a scene in which the sagger visual inspection apparatus 100 is applied.

As shown in fig. 3 and 6, the first conveyance unit 20 is used to convey the sagger 200 in a preset first conveyance direction, and a detection area 20a is formed on a conveyance path thereof, where the sagger 200 refers to the sagger 200 waiting for quality detection.

As shown in fig. 4 to 6, the first conveying unit 20 includes a plurality of first conveying rollers 21, a plurality of second conveying rollers 22, a plurality of guide wheels 23, a first material blocking mechanism 24, and a first driving mechanism 25.

Only eight first conveyor rollers 21 and four second conveyor rollers 22 are shown in fig. 3 and 6. The plurality of first conveyor rollers 21 are completely the same in structure and function, and are different only in installation position; similarly, the plurality of second conveying rollers 22 are identical in structure and function and are different only in installation position. Specifically, the plurality of second conveying rollers 22 are arranged in pairs and opposite directions, the plurality of first conveying rollers 21 are arranged on two sides of the plurality of second conveying rollers 22, and the edges of the first conveying rollers 21 and the second conveying rollers 22 are kept flush, so that the sagger 200 can be conveyed smoothly.

In addition, as shown in fig. 6, the length of the second conveying roller 22 is set to be smaller than that of the first conveying roller 21, so that a detection area 20a is formed between the plurality of first conveying rollers 21 and the plurality of second conveying rollers 22, which is convenient for visually detecting the sagger 200 in a vertical space corresponding to the detection area 20a, specifically, the sagger 200 is lifted up to be separated from the first conveying unit 20 by the lifting unit 40 located below the detection area 20a for detection.

Further, in order to enhance the stability of the jacking unit 40 in supporting the jacked saggar 200, it is necessary to ensure that there is a sufficient contact area between the jacking mechanism and the saggar 200, and therefore, the detection area 20a needs to have a sufficiently large size, so as to ensure that the jacking unit 40 can penetrate and extend or descend smoothly from the detection area 20a while having a sufficient contact area. Preferably, the length of the second conveying roller 22 is set to be less than half of the length of the first conveying roller 21, so as to ensure that the size of the detection area 20a is maximized, and the contact area of the jacking unit 40 and the bottom of the sagger 200 is increased, thereby carrying the sagger 200. Here, the length of the second conveyor roller 22 is set to be less than half or more of the length of the first conveyor roller 21, that is, the second conveyor roller 22 is designed to be broken with respect to the first conveyor roller 21, so that the detection area 20a can be formed between the first conveyor roller 21 and the second conveyor roller 22 in a sufficient size to match the size of the detection area 20a with the size of the bottom of the sagger 200.

As shown in fig. 6, the first conveyor roller 21 includes a first roller shaft 211 and two first ceramic wheels 212. Both ends of the first roller shaft 211 are rotatably fixed on two longitudinal fixing plates of the frame body 10, and the two first ceramic wheels 212 are sleeved on the first roller shaft 211 at a predetermined interval and synchronously rotate along with the first roller shaft 211. In addition, the distance between the two first ceramic wheels 212 is set to be smaller than the corresponding size of the bottom of the sagger 200, so that the sagger 200 is in direct contact with the two first ceramic wheels 212 in the conveying process, and the sagger 200 is prevented from being worn or damaged by the first roller shaft 211 made of a rigid material.

The second conveyor roller 22 includes a second roller shaft 221 and a second ceramic wheel 222. The second roller shaft 221 is rotatably fixed on two longitudinal fixing plates of the rack body 10 by a bearing seat, the second ceramic wheel 222 is fixed on the second roller shaft 221 and is flush with the position of the corresponding first ceramic wheel 212 in the first conveying direction, and the second ceramic wheel 222 also rotates synchronously with the second roller shaft 221 so as to convey the sagger 200, when the sagger 200 is conveyed onto the second conveying roller 22, the bottom of the sagger 200 is also contacted with the second ceramic wheel 222, so that the second roller shaft 221 made of a rigid material is prevented from causing abrasion or damage and the like to the sagger 200.

All the first conveying rollers 21 and the second conveying rollers 22 rotate in the same step by the driving of the first driving mechanism 25 shown in fig. 5 and 6, thereby realizing the conveyance of the sagger 200.

As shown in fig. 4 to 6, a plurality of guide wheels 23 are uniformly provided along both sides of the first conveying direction for guiding the sagger 200 during the conveying process.

As shown in fig. 4 and 6, the first material stop mechanism 24 is disposed at a position close to the detection area 20a, and is used for stopping the conveying of the sagger 200 and positioning the sagger at a position corresponding to the detection area 20 a. Specifically, the first striker mechanism 24 includes a striker cylinder 241 and a stopper 242.

The material blocking cylinder 241 is fixed on the first fixing plate of the frame body 10 and used for providing power to drive the baffle 242 to move in a stretching manner. The baffle 242 is fixedly connected to a piston rod of the material blocking cylinder 241, and the baffle 242 is driven to move up and down by the extension and retraction of the piston rod. When the baffle 242 is raised to a level higher than the first ceramic wheel 212, the conveyed sagger 200 stops being conveyed due to the blockage of the baffle 242 and stays at the position of the detection area 20a, thus facilitating the jacking operation of the sagger 200 by the jacking unit 40.

As shown in fig. 2 and 3, the second conveyance unit 30 serves to convey the saggars 200 detected as being defective in a preset second conveyance direction, and also serves to convey the defective saggars 200 as supplementary saggars.

As shown in fig. 2 and 3, the second conveying unit 30 includes a plurality of third conveying rollers 31 and a third driving mechanism 32.

In fig. 3, ten third conveyor rollers 31 are shown in detail, and the plurality of third conveyor rollers 31 are identical in structure and function, and are arranged only at different positions, namely, are arranged in sequence along the preset second conveying direction and are kept aligned. In the present embodiment, the structure and function of the third conveying roller 31 are set to be the same as those of the first conveying roller 21, but in the present invention, the structure of the third conveying roller 31 may be set to be different from those of the first conveying roller 21 as long as the conveying function of the sagger 200 is realized.

As shown in fig. 3, the third conveying roller 31 includes a third roller shaft 311 and two third ceramic wheels 312. Two ends of the third roller 311 are rotatably fixed on two other longitudinal fixing plates of the rack body 10, and the two third ceramic wheels 312 are sleeved on the third roller 311 at a predetermined interval and rotate synchronously with the third roller 311. In addition, the distance between the two third ceramic wheels 312 is set to be smaller than the corresponding size of the bottom of the sagger 200, so that the sagger 200 is directly contacted with the two third ceramic wheels 312 in the conveying process, and the sagger 200 is prevented from being worn or damaged by the third roller shaft 311 made of a rigid material.

All the third conveying rollers 31 are synchronously rotated by the third driving mechanism 32 shown in fig. 2 and 3, thereby realizing the conveyance of the rejected sagger 200 or the supplementary sagger.

As shown in fig. 1 and 2, 4 and 5, the jacking unit 40 is located below the first conveying unit 20 and can move up and down through the first conveying unit 20, for jacking the sagger 200 to be separated from the first conveying unit 20 until the sagger 200 is jacked to correspond to the position of the detecting unit 50, so as to detect the quality of the sagger 200 through visual image acquisition and processing. As can be seen from the specific structure of the first conveying unit 20, the jacking unit 40 should be disposed at a position directly below the detection area 20 a.

Specifically, as shown in fig. 5, the jacking unit 40 includes a base 41, a lifting mechanism 42, and a jacking plate 43.

The base 41 is fixed to a predetermined position of the housing body 10 by four supports, the elevating mechanism 42 is vertically fixed to the base 41, and the lifting plate 43 is connected to an elevating moving end of the elevating mechanism 42. Here, the lifting mechanism 42 is specifically a cylinder with a guide rod, so that the lifting plate 43 is fixed to the extending end of the piston rod of the cylinder with the guide rod. The jacking plate 43 is driven to ascend step by extending a piston rod of the cylinder with a guide rod and extend from the detection area 20a, so as to contact and further bear the sagger 200, the piston rod stops extending after extending to a preset position, so that the sagger 200 is positioned at a preset height position above the first conveying unit 20, and the sagger 200 is kept in a state of being separated from the first conveying unit 20 and corresponds to the detection unit 50.

In this embodiment, the lifting plate 43 is a two-layer disc-shaped structure, and the surface of the lifting plate contacting with the sagger 200 is designed as a disc-shaped silicone pad, so that foreign matters generated by friction between the rigid lifting plate 43 and the sagger 200 can be avoided, friction force can be increased, impact force can be reduced, and adsorption force can be increased.

As shown in fig. 1 and 2, the detection unit 50 is located in the upper region of the first conveying unit 20, and is configured to correspond to the position of the jacked sagger 200, and is used for performing visual detection processing on the sagger 200 jacked by the jacking unit 40, specifically including acquiring a visual image and processing the image, so as to determine whether the quality of the sagger 200 is qualified.

Specifically, the detection unit 50 includes a bottom surface acquisition part 51, at least one side surface acquisition part 52, and an image processing part not shown in the drawing.

The bottom surface collecting part 51 is fixed on the top plate of the rack body 10, and is disposed from the opening of the top surface of the sagger 200 toward the bottom surface of the sagger 200, for collecting the bottom surface image of the sagger 200.

As shown in fig. 2 and 3, the number of the side collecting parts 51 is four, and their structures and functions are identical, and only the arrangement positions are different, specifically, the side collecting parts are respectively arranged toward the side of the lifted sagger 200, for collecting the image of the corresponding area of the side of the sagger 200. Specifically, in fig. 3, from a top view, four side surface collectors 51 are disposed around the detection area 20a at exactly four corner positions, and are respectively responsible for visual image collection of corresponding side surface areas.

The image processing unit is connected to the bottom surface acquisition unit 51 and all the side surface acquisition units 52, and is configured to store and process the acquired visual images, thereby determining whether there are quality problems such as cracks, defects, peeling, slag, large-block residues, and the like in the region corresponding to the sagger 200. Here, the specific installation position and processing method of the image processing unit are not limited, and the image processing unit may be installed in an upper PC, the image processing may be performed in real time by the upper PC, and the bottom surface acquisition unit 51 and all the side surface acquisition units 52 may be connected to the upper PC in a communication manner.

As shown in fig. 3, after the jacking unit 40 jacks the sagger 200, although the sagger 200 corresponds to the position of the detection unit 50, in the process of acquiring the visual image, in order to implement 360-degree dead-angle-free and accurate detection on the sagger 200, the jacked sagger 200 needs to be rotatably movable, so that the corresponding acquisition part 51 can perform accurate image acquisition on another area of the rotated sagger 200, thereby implementing comprehensive detection; of course, it is also possible to provide the side surface collecting part 52 in the detection unit 50 to be movably disposed, moving around the circumferential surface of the sagger 200, thereby collecting images of different areas, thereby achieving comprehensive detection.

Based on this, as a specific embodiment for realizing the overall detection, the jacked sagger 200 is set to be rotatable and movable. Specifically, as shown in fig. 4 and 5, a rotating mechanism 44 is additionally arranged in the jacking unit 40, the rotating mechanism 44 is fixed on the base 41, the lifting mechanism 42 is fixed on a rotating shaft of the rotating mechanism 44, and the rotating shaft is driven by the rotating mechanism 44 to drive the whole lifting mechanism 42 and the jacking plate 43 to rotate by a predetermined angle synchronously with the sagger 200, so that the corresponding side surface acquisition part 52 can conveniently perform image acquisition, and comprehensive image acquisition can be performed on all areas of the sagger 200 by repeating the steps. Here, combine jacking function and rotation function to use in the casket-like bowl visual detection process as an organic whole, this mechanism can save the camera cost, only needs set up the camera in both sides, and the detection is accomplished through the rotation to the front and back side, realizes directional detection, need not accomplish the detection through removing the camera coordinate, and is high efficiency, and control accuracy is high. Secondly, the rotation axis adopts the cavity design, and the interior logical negative pressure gas prevents that sagger 200 from taking place the offset after the jacking is rotatory.

In the present embodiment, the bottom surface sampling part 51 and all the side surface sampling parts 52 are provided in the same configuration and function, and are provided only in different regions corresponding to the sagger 200, and the configuration of the bottom surface sampling part 51 and all the side surface sampling parts 52 will be described in detail below by taking the side surface sampling part 52 as an example.

As shown in fig. 7 and 8, the side acquisition part 52 includes a boom 521, a case 522, an adapter sleeve 523, and a vision camera 524.

One end of the hanger 521 is fixed to the ceiling of the rack body 10, and the other end is connected to the box 522, and the box 522 is fixed by suspension. A plurality of adjustment through holes 521a are provided in an axial side wall of the boom 521 near the other end of the case 522.

The top of the box 522 is connected to the other end of the hanger 521, and one side of the box 522 facing the sagger 200 is an open structure, so as to ensure that the vision camera 524 disposed in the box 522 can be disposed facing the sagger 200. The box body 522 is fixed to the adjusting through hole 521a of the hanger rod 521 through the locking sleeve 523, and the height position of the box body 522 can be adjusted by moving the corresponding position of the screw of the locking sleeve 523 and the adjusting through hole 521a, that is, the vertical distance between the vision camera 524 and the sagger 200 is adjusted, so that the vision camera 524 can correspond to the sagger 200 by adapting to saggers 200 of different specifications.

Here, install polishing glass on the uncovered structure side of box 522, make box 522 be the totally enclosed design, prevent that the dust from getting into in the box 522, polluting the glass of camera lens, under the prerequisite of guaranteeing the field of vision, can completely cut off the dust simultaneously.

The vision camera 524 is disposed in the case 522, and a lens thereof is disposed toward a side of the case 522 where the open structure is located, that is, toward the sagger 200, for performing vision image acquisition on a region (e.g., a bottom surface region or a side surface region) corresponding to the sagger 200. Specifically, the casing 522 has a guide rail 522a and a slider 522b slidably coupled to the guide rail 522a on a bottom inner surface thereof. The vision camera 524 is fixed on the camera base 524a by bolts, and the camera base 524a is fixed on the slide base 522b, so that the vision camera 524 can be synchronously moved while the slide base 522b is driven to move along the guide rail 522a, thereby adjusting the horizontal distance between the vision camera 524 and the sagger 200, fixing the vision camera 524 at a proper position, and adapting to saggers 200 of different specifications.

As shown in fig. 8, to fit saggars 200 of different specifications, the angle of the vision camera 524 toward the saggar 200 can also be adjusted, i.e., the elevation angle of the vision camera 524 is adjusted. The concrete structure is as follows: the two sides of the open end of the sliding base 522b close to the box 522 are respectively provided with a limiting piece 522c, each limiting piece 522c is provided with a through hole 522d in a penetrating manner, the two sides of the other end of the sliding base 522b are respectively provided with an adjusting piece 522e, and each adjusting piece 522e is provided with an arc waist-shaped hole 522f in a penetrating manner. Accordingly, one shaft 524b, i.e., four shafts 524b in total, is fixedly disposed at each of the four ends of the camera mount 524 a. Two shaft rods 524b corresponding to the two position-limiting members 522c of the sliding base 522b are rotatably connected after passing through the corresponding through holes 522d, and two shaft rods 524b corresponding to the two adjusting members 522e of the sliding base 522b extend through the corresponding circular arc waist-shaped holes 522f and can move along the circular arc waist-shaped holes 522 f. By sliding the shaft 524b of the camera base 524a along the circular arc waist-shaped hole 522f, the orientation angle of the vision camera 524 relative to the sagger 200, that is, the elevation angle of the vision camera 524 is adjusted, so that the focal length of the vision camera 524 is finally fixed at a designated point, and a vision image of a corresponding area of the sagger 200 can be better acquired. While the shaft 524b moves along the circular arc waist-shaped hole 522f, the shaft 524b at the other end rotates relative to the corresponding through hole 522d, so that the angle adjustment of the camera base 524a is more convenient and flexible.

In the present embodiment, the sagger 200 is made of a transparent material, the vision camera 524 is specifically a light source combined camera, as shown in fig. 1, in order to ensure the clarity of image acquisition of the sagger 200 by the vision camera 524, a light shielding component 53 is arranged at a preset position above the vision camera 524, and a light effect required by the image acquisition by the vision camera 524 is ensured through the light shielding component. Secondly, the vision camera 524 specifically adopts a spectrum principle to assist an automatic camera shooting control system to carry out vision acquisition and control in a combined mode, and through optimization of the whole detection control, glass on the front side of the camera is detected before each detection, so that accurate detection can be guaranteed under the condition that the glass is polluted; that is, even if the glass is dusty, the vision processing system will recognize it as being on glass rather than dust on the sagger 200.

As shown in fig. 1 to 3, the transfer unit 60 is disposed above the first conveying unit 20 and in a rear area of the detection unit 50 in the first conveying direction, for rejecting the sagger 200 detected as being defective from the first conveying unit 20.

As shown in fig. 2, 3 and 9, the transfer unit 60 is disposed across the first conveying unit 20 and the second conveying unit 30, and the moving direction of the transfer unit 60 is perpendicular to the first conveying direction of the first conveying unit 20, so as to transfer the unqualified sagger 200 on the first conveying unit 20 to the second conveying unit 30, thereby completing the rejecting operation; the supplementary sagger conveyed by the second conveying unit 20 can be transferred to the corresponding position of the first conveying unit 20, and the operation of the supplementary sagger is completed.

As shown in fig. 9 and 10, the transfer unit 60 includes a slide mechanism 61, a telescopic mechanism 62, and a gripping mechanism 63.

The slide mechanism 61 is fixed to the top of the rack body 10 and is provided in a direction perpendicular to the longitudinal direction of the first conveying unit 20 or the second conveying unit 30. The sliding mechanism 61 is specifically a rodless cylinder, and the movement between the first conveying unit 20 and the second conveying unit 30 is realized by the movement of the slide block 611 of the rodless cylinder.

The telescoping mechanism 62 is fixedly connected with the sliding block 611 of the sliding mechanism 61 through four fixing rods, so that the telescoping mechanism moves synchronously with the sliding block 611. The telescopic mechanism 62 is specifically a cylinder with a guide rod and is fixed on a slide block 611 of a rodless cylinder.

The gripping mechanism 63 is fixedly connected to the telescopic end of the telescopic mechanism 62, and is used for gripping the saggar 200. The clamping mechanism 63 is specifically an air claw fixedly connected with a piston rod of an air cylinder with a guide rod.

Based on the specific structure of the transfer unit 60, the piston rod of the belt guide cylinder is driven to extend to drive the pneumatic claw to approach the sagger 200, and after the pneumatic claw is driven to clamp the sagger 200, the piston rod of the belt guide cylinder is further driven to retract to separate the sagger 200 from the first conveying unit 20. Then, the slide block 611 driving the rodless cylinder moves to drive the belt guide rod cylinder, the pneumatic claw and the sagger 200 to move synchronously, and particularly, the sagger 200 is moved to a position corresponding to the second conveying unit 30 by the first conveying unit 20, so that the sagger 200 is completely removed from the first conveying unit 20. Next, when the sagger is slid to a position corresponding to the second conveying unit 30, the piston rod of the cylinder with the guide rod is controlled to extend again to place the sagger 200 on the second conveying unit 30, and the air claw is further driven to loosen the sagger 200. Finally, the sagger 200 can be transported to a designated position by the second transporting unit 30.

When the quality of the AB saggars is detected, if one saggar 200 is detected to be unqualified, the unqualified saggars 200 are removed, and then the qualified saggars 200 are supplemented to replace the removed saggars. Specifically, the supplementary saggars are placed in advance at a predetermined position of the second conveying unit 30, the conveying of the supplementary saggars is realized while the second conveying unit 30 conveys the saggars 200 removed from the first conveying unit 20, when the supplementary saggars are conveyed to a position corresponding to the transfer unit 60, the conveying of the supplementary saggars is stopped, the gripping operation of the supplementary saggars is performed through the telescopic mechanism 62 and the gripping mechanism 63, and then the supplementary saggars are driven to move to the predetermined position of the first conveying unit 20 through the sliding mechanism 61 and the placing operation of the supplementary saggars is performed.

In this embodiment, in order to facilitate gripping the supplementary saggar, the second conveying unit 30 may be directly controlled to stop conveying, and may also be indirectly controlled to stop conveying, that is, the conveying is stopped by stopping the material through the material stopping mechanism. Specifically, a second material stopping mechanism is provided below the first conveying unit 20 at a position close to the sliding mechanism 61, and is used for stopping the conveyed sagger 200 which is detected to be conveyed and is positioned at a position corresponding to the sliding mechanism 61, so that the sagger 200 can be clamped and transferred conveniently. Specifically, the second material blocking mechanism comprises a material blocking cylinder and a blocking plate. In the initial state, the baffle is lower than the horizontal position of the first conveying unit 20, and the baffle is driven by the material blocking cylinder to extend to the horizontal position higher than the first conveying unit 20.

According to the specific implementation means, the pot supplementing process can be realized by adopting an intelligent mechanical arm and combining an automatic control program of the intelligent mechanical arm, accurate removal is carried out, and the pot is supplemented after the removal.

Based on the specific structure of the sagger visual inspection apparatus 100, the operation flow of the sagger visual inspection apparatus 100 of the present embodiment is as follows:

first, the first conveying unit 20 conveys the sagger 200 to be inspected, and simultaneously starts the first stock stop 24 to extend the baffle 242, and when the sagger 200 is conveyed to the position corresponding to the inspection area 20a, the conveying is stopped by being stopped by the baffle 242.

Next, the lifting mechanism 42 is controlled to drive the lifting plate 43 to ascend, gradually extend from the detection area 20a, further drive the sagger 200 to ascend synchronously to reach a preset height after carrying the sagger 200, and then stop, so as to keep the height position of the sagger 200 unchanged.

Further, the top vision camera 524 and the four side vision cameras 524 are controlled to respectively acquire images of corresponding areas on the bottom surface and the side surface of the sagger 200, and the image processing unit processes the acquired images in real time; then, the rotating mechanism 44 drives the lifting mechanism 42, the lifting plate 43 and the sagger 200 to rotate synchronously by a preset angle, the top vision camera 524 and the four side vision cameras 524 respectively acquire images of corresponding areas of the bottom surface and the side surface of the sagger 200 again, and the acquired images are processed in real time through the image processing part; the process is circulated for many times, and all areas of the bottom surface and the side surface of the sagger 200 are visually detected.

Further, whether the transfer unit 60 is started or not is controlled according to the visual detection result, and at the same time, the lifting mechanism 42 is controlled to retract and reset. When the visual inspection result is that the quality is not acceptable, the transfer unit 60 is controlled to perform the transfer operation. Specifically, the lifting mechanism 42 is controlled to drive the lifting plate 43 and the sagger 200 to descend synchronously until the detected sagger 200 is transferred onto the first conveying unit 20, the lifting mechanism 42 is reset, and the first material stopping mechanism 24 retracts to enable the first conveying unit 20 to convey the sagger 200 further. Meanwhile, the material blocking cylinder of the second material blocking mechanism of the control transfer unit 60 drives the baffle plate to extend to a position higher than the plane position of the first conveying unit 20, when the sagger 200 is conveyed to the position, the sagger is blocked by the baffle of the second stop mechanism to stop conveying, at this time, controlling the telescoping mechanism 62 to drive the gripping mechanism 63 to extend to enable the gripping mechanism 63 to approach the sagger 200, further controlling the gripping mechanism 63 to grip the sagger 200, then controlling the telescoping mechanism 62 to retract to drive the sagger 200, controlling the sliding mechanism 61 to drive the telescoping mechanism 62, the gripping mechanism 63 and the sagger 200 to synchronously move to corresponding positions above the second conveying unit 30, controlling the telescoping mechanism 62 and the gripping mechanism 63 to sequentially perform extending-releasing-retracting actions to transfer the sagger 200 onto the second conveying unit 30, and controlling the second conveying unit 30 to convey the sagger 200 removed from the first conveying unit 20 to a designated area.

In the automatic control system for conveying, detecting, conveying and rejecting the saggars, the saggars with unqualified quality are transferred in a three-coordinate mode among the first conveying unit, the second conveying unit and the sliding mechanism through the telescopic mechanism and the clamping mechanism, and the telescopic mechanism and the clamping mechanism are combined by the air cylinder with the guide rod and the air claw to form a single-shaft manipulator to complete the taking, placing and transferring of the saggars.

In addition, in the automatic control process, when the vision camera on the first conveying unit detects that the sagger is a cracked, damaged and waste sagger, signals are sent to the transfer unit and the sagger supplementing mechanism at the same time, the baffle of the transfer unit rises, the supplementary sagger on the second conveying unit comes to a waiting station, when the sagger is conveyed to the corresponding position of the transfer unit, the manipulator of the transfer unit clamps the unqualified sagger to remove the unqualified sagger and transfers the unqualified sagger to the second conveying unit, the sagger is conveyed to the automatic outflow sagger vision detection equipment through the second conveying unit, the qualified sagger of the waiting station is conveyed to the corresponding position of the transfer unit, and the manipulator of the transfer unit is used for grabbing and transferring the qualified sagger to the original position (namely the position corresponding to the removed sagger), so that the sagger supplementing is completed.

In this embodiment, a Q235 material is sprayed on the surface of the device body of the saggar visual inspection device. All parts in contact with the sagger are made of high-temperature-resistant and corrosion-resistant candle non-metallic materials, and special treatment is carried out on parts in contact with the materials by combining the characteristics of the materials, wherein the specific contact parts comprise a first ceramic wheel, a second ceramic wheel, a third ceramic wheel, a gas claw, a jacking plate and the like so as to avoid abrasion, scratch or damage to the sagger; in addition, the whole non-bearing screw and the bolt are made of engineering plastics, so that pollution caused by magnetic substances is avoided.

By carrying out practical use test on the sagger visual detection equipment, the test environment is a place with good ventilation and no violent vibration, the specification of the sagger suitable for detection is a square sagger (the width is 320mm-350mm x 320mm-350mm, the height is 70-120mm), the detection precision ratio of the equipment reaches 96%, and the detection speed under the conventional state reaches 30 seconds per sagger.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims (10)

1. A sagger visual inspection equipment for quality inspection of saggers, comprising:

the conveying unit is used for conveying the sagger along a preset conveying direction, and a detection area is formed on a conveying path of the sagger;

the jacking unit is arranged below the conveying unit corresponding to the detection area, can penetrate through the conveying unit to be arranged in a lifting mode, and is used for jacking the sagger to be separated from the conveying unit;

the detection unit is arranged above the conveying unit corresponding to the detection area and is used for carrying out visual detection processing on the jacked saggar;

and the transfer unit is arranged above the conveying unit and behind the detection area and is used for removing the saggars detected as unqualified from the conveying unit.

2. The sagger visual inspection apparatus of claim 1, further comprising:

a second conveying unit for conveying the second conveying unit,

the conveying unit is used as a first conveying unit,

the second conveying unit is arranged corresponding to the transfer unit and used for conveying the saggars removed from the first conveying unit to a designated area.

3. The sagger visual inspection apparatus of claim 2, wherein:

the second conveying unit conveys the rejected saggars and also conveys a supplementary saggar to a position corresponding to the transfer unit, and the transfer unit transfers the supplementary saggar to the corresponding position on the first conveying unit.

4. The sagger visual inspection apparatus of claim 3, further comprising:

a machine frame body, a first fixing plate and a second fixing plate,

the first conveying unit and the second conveying unit are fixed on the same horizontal position of the frame body in parallel,

the detection unit and the transfer unit are sequentially arranged on the top plate of the rack body in the front-back direction according to the conveying direction, and the moving direction of the transfer unit is perpendicular to the conveying direction.

5. Sagger visual inspection apparatus as claimed in any one of claims 1 to 4, wherein:

the conveying unit comprises a plurality of first conveying rollers and a plurality of second conveying rollers,

the plurality of second conveying rollers are arranged in pairs and opposite to each other, the plurality of first conveying rollers are arranged on two sides of the plurality of second conveying rollers, so that the detection areas are formed between the plurality of first conveying rollers and the plurality of second conveying rollers,

the jacking unit is arranged right below the detection area and can penetrate through and extend out of the detection area so as to jack the corresponding saggar.

6. Sagger visual inspection apparatus as claimed in any one of claims 1 to 4, wherein:

the transfer unit includes: a sliding mechanism fixed at a preset position above the conveying unit, a telescopic mechanism fixedly connected with a sliding block of the sliding mechanism and a clamping mechanism fixedly connected with the telescopic mechanism,

the telescopic mechanism stretches out to drive the clamping mechanism to move to a clamping position so as to clamp the saggar, and the sliding mechanism drives the sliding block to move so as to remove the saggar from the conveying unit.

7. Sagger visual inspection apparatus as claimed in any one of claims 1 to 4, wherein:

the detection unit comprises at least one collecting part and an image processing part, wherein the collecting part faces the jacked saggar and is used for collecting images, and the image processing part is connected with the collecting part.

8. The saggar visual inspection apparatus of claim 7, wherein:

the detection unit further comprises a rotating mechanism for driving the jacked saggar to rotate.

9. The sagger visual inspection apparatus of claim 8, wherein:

the jacking unit comprises a base, a lifting mechanism arranged on the base and a jacking plate fixed on the top surface of the lifting mechanism facing the conveying unit,

the rotating mechanism is arranged between the base and the lifting mechanism so as to drive the lifting mechanism and the jacking plate to rotate synchronously.

10. The saggar visual inspection apparatus of claim 7, wherein:

the collecting part comprises a hanging rod, a box body in telescopic connection with the hanging rod and a vision camera which is movably arranged in the box body and is arranged towards the jacked saggar,

through the jib with the flexible connection regulation of box the vision camera with vertical distance between the saggar, and/or, through guide tracked coupling mechanism in the box adjusts the vision camera with horizontal distance between the saggar, and/or, through the camera frame of vision camera with guide tracked coupling mechanism's arc sliding connection adjusts the vision camera with orientation angle between the saggar.

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