CN112317363A - Intelligent detection system and detection method for industrial products - Google Patents
Intelligent detection system and detection method for industrial products Download PDFInfo
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- CN112317363A CN112317363A CN202011102831.1A CN202011102831A CN112317363A CN 112317363 A CN112317363 A CN 112317363A CN 202011102831 A CN202011102831 A CN 202011102831A CN 112317363 A CN112317363 A CN 112317363A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
Abstract
The invention provides an industrial product intelligent detection system and a detection method, which comprises a robot module, a detection module and a transfer module, wherein the intelligent detection system can realize the whole-course uninterrupted detection of a product by arranging the robot module, the detection module and the transfer module, and meets the unmanned working environment of product detection, particularly the unmanned working environment of dangerous working environment.
Description
Technical Field
The invention relates to the technical field of industrial product detection, in particular to an intelligent industrial product detection system and a detection method.
Background
The manufacturing industry is a foundation stone of modern industry, in order to promote the development of intelligent manufacturing, China releases 'China manufacturing 2025', the strategy of the strong country of manufacturing is promoted comprehensively to closely surround key links of key manufacturing fields, and projects of key process intellectualization, key post robot substitution, intelligent optimization control of production process and the like are provided.
In the intelligent optimization control process of the production process, the detection of the product is an important process, and the process requires the requirements of high detection accuracy, high detection speed, uninterrupted detection in the whole process, unmanned operation in a dangerous working environment and the like, but the requirements cannot be met by the traditional manual or semi-automatic mode.
Disclosure of Invention
Objects of the invention
The invention aims to provide an industrial product intelligent detection system and a detection method, which can solve the problems that the traditional detection scheme can not meet the requirements of detection accuracy, high detection speed, uninterrupted detection in the whole process, unmanned operation in a dangerous working environment and the like in the product detection process.
(II) technical scheme
The invention can be realized by the following technical scheme: an industrial product intelligent detection system comprises a robot module, a detection module and a transfer module; the robot module comprises a mechanical arm, a first lifting mechanism, a second lifting mechanism, a first clamp and a second clamp, wherein the first lifting mechanism is installed on the mechanical arm and connected with the first clamp, and the second lifting mechanism is connected with the second clamp;
the detection module comprises a bottom plate, a CCD camera, a light shield and a light source, wherein an adjusting seat is arranged on the bottom plate, the CCD camera is installed on the adjusting seat, and the light source is connected with the adjusting seat through a connecting clamp and shines along the shooting direction of the CCD camera;
as a preferred scheme of the present invention, the transfer module includes an installation support, an empty tray lifting mechanism, a stacking tray lifting mechanism, and a traverse manipulator, the stacking tray lifting mechanism includes a third servo motor, a second transmission screw rod, and a third servo motor, which are installed on a fixed plate and connected to one end of the second transmission screw rod, the other end of the second transmission screw rod is fixed on the base panel through a bearing, guide rods are respectively disposed on two sides below the fixed plate, the guide rods penetrate through the moving plate and extend to the base panel, the moving plate can move up and down in the guide rods, the empty tray lifting mechanism and the stacking tray lifting mechanism have the same structure, and details are not repeated here.
As a preferable scheme of the present invention, the first lifting mechanism includes an L-shaped housing and a first lifting rod, two ends of the first lifting rod are respectively provided with a first ball spline and a second ball spline, a first synchronizing wheel is sleeved outside the second ball spline, the first synchronizing wheel is in transmission connection with a first synchronizing belt, the other end of the first synchronizing belt is connected with a second synchronizing wheel, the second synchronizing wheel is connected with a first servo motor through a connecting shaft, the first servo motor is fixed in the L-shaped housing, the first lifting machine further includes a first transmission screw rod, one end of the first transmission screw rod is connected with a second servo motor fixed in the L-shaped housing, an auxiliary clamping plate is arranged in the housing, a third bearing is arranged on one side of the auxiliary clamping plate, and the other end of the first transmission screw rod is movably connected with the third bearing, the first transmission screw rod is sleeved with a transmission clamping plate, one end of the transmission clamping plate is provided with a second bearing, the second bearing is sleeved on the first lifting rod, and the first lifting rod can rotate in the second bearing.
As a preferable scheme of the present invention, the first fixture includes a triangular connecting plate and three connecting columns, the connecting columns are respectively disposed at corner positions below the triangular connecting plate, the connecting columns are respectively provided with a first suction cup, a first bearing is disposed at a central position above the triangular connecting plate, the first lifting rod is sleeved on the first bearing of the third bearing and is connected with a second lifting mechanism located below the triangular connecting plate, the second lifting mechanism is provided with a double-shaft cylinder, a push rod end of the double-shaft cylinder is connected with the second fixture, the second fixture includes a pneumatic chuck, and a clamping jaw is mounted on the pneumatic chuck.
As a preferable scheme of the present invention, the traversing manipulator includes a fourth servo motor, a linear module and a second guide rail, the fourth servo motor is mounted on a fixed frame, a third synchronizing wheel and a fourth synchronizing wheel are respectively mounted at two ends of the fixed frame, the third synchronizing wheel and the fourth synchronizing wheel are respectively in transmission connection with a third synchronizing belt, the fourth servo motor is connected with the third synchronizing wheel, the linear module is mounted on the second guide rail and connected with a second synchronizing belt, one end of the linear module is connected with a second cylinder through a connecting block, the second cylinder is connected with a connecting plate, and second suction cups are disposed at two sides of the connecting plate.
In addition, the invention also provides a detection method of the industrial product, which specifically comprises the following steps:
step 100, selecting a light shield, judging the required light shield according to different colors of a detected product by a main control end and sending an instruction, working the mechanical arm and the first lifting mechanism, clamping the light shield to be corresponding by a first clamp, and placing the light shield on a bottom plate of the detection module;
200, clamping a product to be detected, putting the product to be detected into a light shield, driving a first lifting rod to rotate by a second servo motor through a synchronous belt and a ball spline, and driving a second clamp to rotate so as to enable the product to be detected to rotate in front of a CCD camera;
step 300, image processing, namely inputting the image of the detected product collected by the CCD camera into a main control terminal for image processing;
step 400, judging the detected product, and judging whether the detected product is qualified or not according to preset conditions;
and 500, sorting the products, namely sorting a stacking tray if the products are qualified, and sorting a waste tray if the products are unqualified.
As a preferred aspect of the present invention, in the step 300, the image processing includes:
(1) filtering and graying the collected image;
(2) obtaining the position of a characteristic point of a detected product by utilizing Hough circle transformation;
as a preferable scheme of the present invention, in the step 400, the specific step of determining whether the detected product is qualified includes:
(1) and matching the detected characteristic points with the characteristic points of the template image, and respectively calculating the pixel number occupied by the detected product in the detected image and the pixel number occupied by the template in the template image after matching.
(2) If the area of the detected product is larger than the area of the template and exceeds a set threshold value, the product has defects, and the product is judged to be an unqualified product.
(3) If the area of the detected product is smaller than the area of the template and exceeds a set threshold value, the product has defects, and the product is judged to be an unqualified product.
(4) And (4) if the detected product does not meet the conditions of the step (3) or the step (4), judging the detected product to be qualified.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the intelligent detection system, the robot module, the detection module and the transfer module are arranged, so that the whole process of the product can be continuously detected, and the unmanned working environment, particularly the unmanned working environment of dangerous working environment, for product detection is met.
2. The mechanical arm and the lifting mechanism can judge the needed light shield according to the color of the detected product, so that the contrast of the product color and the background color in the image is enhanced to the maximum extent, the main control end can identify the product outline more accurately and comprehensively, meanwhile, the design can realize the replacement of the light shield without manual operation, the product detection efficiency is improved, and when the product harmful to the human body is detected, personnel participation is not needed in the whole process, and the personal safety of working personnel is ensured.
3. In the traditional design of the transmission machinery, if the function of simultaneously lifting and self-rotating the clamp is realized, more than two sets of transmission mechanisms which are not coaxial need to be designed, while the lifting function and the self-rotating function of the first lifting rod are integrated in the L-shaped shell, and the first clamp and the second clamp are arranged on the same axial line.
4. The transfer mechanism is provided with the transverse moving mechanical arm and the bin lifting mechanism, and can realize efficient stacking and real-time transfer of detected products through program control of the control end, personnel participation is not required in the whole process, and the product detection efficiency is improved.
Drawings
FIG. 1: is a schematic diagram of the overall three-dimensional structure of the invention;
FIG. 2: is an enlarged schematic view at A in FIG. 1;
FIG. 3: is a schematic diagram of the internal structure of the first lifting mechanism in the invention;
FIG. 4: the structure of the detection module is shown schematically;
FIG. 5: is a schematic structural diagram of the transfer module of the invention;
FIG. 6: is a schematic structural diagram of a material bin lifting mechanism in the transfer module;
FIG. 7: is a schematic diagram of a transverse moving mechanical mechanism of the invention;
FIG. 8: is a flow chart of the product detection method of the invention;
reference numerals:
1-a robot module; 2-a detection module; 3-a transfer module; 101-a first lifting mechanism; 102-a first clamp; 103-a second lifting mechanism; 104-a second clamp; 105-a robotic arm; 10110-a first bearing; 10111-first ball spline; 10112-a first lifter; 10113-L shell; 10114-second bearing; 10115-auxiliary clamping plate; 10116-second ball spline; 10117-mounting seat; 10118-a first servomotor; 10119-driving card board; 10120-a first drive screw; 10121-a third bearing; 10122-a second servo motor; 10123-first synchronizing wheel; 10124-first synchronous belt; 10125-second synchronizing wheel; 1021-triangular webs; 1022-connecting column; 1023-a first suction cup; 1041-air chuck; 1042-jaws; 201-a light shield; 202-a light source; 203-CCD camera; 204-a bottom plate; 205-an adjustment seat; 206-connection card; 301-mounting a bracket; 302-empty tray lifting mechanism; 303-a stacking tray lifting mechanism; 304-a traverse robot; 3031-a third servo motor; 3032-fixing plate; 3033-a guide bar; 3034-second drive screw; 3035-moving the carrier plate; 3036-base panel; 3037-a first guide rail; 3038-stacking trays; 3039-empty tray; 3041-a fourth servo motor; 3042-a third synchronizing wheel; 3043-a second synchronous belt; 3044-a linear module; 3045-connecting block; 3046-a fixture; 3047-a fourth synchronizing wheel; 3048-a second guide rail; 3049-a second cylinder; 3050-a web; 3051-second suction cup.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1
As shown in fig. 1, the invention provides an intelligent detection system for industrial products, which comprises a robot module 1, a detection module 2 and a transfer module 3; the robot module 1 comprises a mechanical arm 105, a first lifting mechanism 101, a second lifting mechanism 103, a first clamp 102 and a second clamp 104, wherein the first lifting mechanism 101 is installed on the mechanical arm 105, the first lifting mechanism 101 is connected with the first clamp 102, the second lifting mechanism 103 is connected with the second clamp 104, the robot module 1, the inspection module 2 and the transfer module 3 are all connected to a control cabinet and controlled by a main control end control program, products finished by a production line can be automatically detected and qualified products can be palletized, and the specific structure and connection relation of each module in the embodiment are explained in detail below.
As shown in fig. 2, the first clamp 102 includes a triangular connecting plate 1021 and three connecting columns 1022, the connecting posts 1022 are respectively arranged at three corner positions below the triangular connecting plate 1021, the connecting posts 1022 can use through pipes, air hoses are arranged inside the through pipes, the air hoses are connected with the first suction disc 1023, the function of the device is to replace the light shield 201 of the detection module 2, when in operation, the first clamp 102 sucks the light shield 201 through the first suction cup 1023, and under the linkage cooperation of the first lifting mechanism 101 and the mechanical arm 105, the light shield 201 is placed in a specific area, and a new light shield 201 is placed in the detection module again in the specific area, therefore, the replacement function of the light shield is realized, and it should be noted that the specific area used for placing the light shield to be replaced may be according to the specific position in the practical application, and therefore, is not shown in the drawings.
As shown in fig. 3, the first lifting mechanism 101 includes an L-shaped housing 10113 and a first lifting rod 10112, two ends of the first lifting rod 10112 are respectively provided with a first ball spline 10111 and a second ball spline 10116, a first synchronizing wheel 10123 is sleeved outside the second ball spline 10116, the first synchronizing wheel 10123 is in transmission connection with a first synchronizing belt 10124, the other end of the first synchronizing belt 10124 is connected with a second synchronizing wheel 10125, the second synchronizing wheel 10125 is connected with a second servo motor 10122 through a connecting shaft, the first servo motor 10118 is fixed in the L-shaped housing 10113, specifically, an outer ring of the first ball spline 10111 is fixed in the L-shaped housing, and when the second servo motor 10122 works, the ball spline can be driven to rotate through the synchronizing belt and the synchronizing wheel, so as to drive the first lifting rod 10112 to rotate.
The first elevator 101 further includes a first transmission screw 10120, one end of the first transmission screw 10120 is connected to a first servo motor 10118 fixed to the L-shaped housing 10113, an auxiliary clamping plate 10115 is disposed in the housing 10113, a third bearing 10121 is disposed on one side of the auxiliary clamping plate 10115, specifically, an outer ring of the third bearing 10121 is fixedly disposed on the auxiliary clamping plate 10115, the other end of the first transmission screw 10120 is connected to an inner ring of the third bearing 10121, the first transmission screw 10120 is sleeved with a transmission clamping plate 10119, one end of the transmission clamping plate 10119 is provided with a second bearing 10114, specifically, the transmission clamping plate 10119 is fixedly connected to an outer ring of the second bearing 10114, the first lifting rod is sleeved on an inner ring of the second bearing 10114, and during operation, the first servo motor 10118 drives the transmission clamping plate to move up and down through the transmission screw 10120, thereby driving the first lifting rod to move up and down.
As shown in fig. 4, the detection module 2 includes a bottom plate 204, a CCD camera 203, a light shield 201 and a light source 202, an adjusting seat 205 is provided on the bottom plate 204, the CCD camera 203 is installed on the adjusting seat 205, the adjusting seat 205 can adjust the shooting angle of the CCD camera 203, the light source 205 is connected with the adjusting seat 205 through a connecting card 206 and shines along the shooting direction of the CCD camera 203, during operation, the robot module 1 places a product to be detected into the light shield and rotates, and the CCD camera 203 continuously shoots the product to be detected and sends the image to the main control end.
As shown in fig. 5-6, the transfer module 3 includes a mounting bracket 301, an empty tray lifting mechanism 302, a tray stacking lifting mechanism 303, and a traverse manipulator 304, where the tray stacking lifting mechanism 303 includes a third servo motor 3031 and a second transmission screw 3034, the third servo motor 3031 is mounted on a fixing plate 3032 and connected to one end of the second transmission screw 3034, the other end of the second transmission screw 3034 is connected to a bearing mounted on the base panel 3036, guide rods 3033 are respectively disposed on two sides below the fixing plate 3032, the guide rods 3033 penetrate through a transfer plate 3035 and extend and fix to the base panel 3036, the transfer plate 3035 can move up and down in the guide rods 3033, and the empty tray lifting mechanism 302 and the tray stacking lifting mechanism 303 are structurally identical, and will not be described herein again.
As shown in fig. 5 and 7, the traverse manipulator 304 includes a fourth servo motor 3041, a linear module 3043 and a second guide rail 3048, the fourth servo motor 3041 is installed on a fixed frame 3046, a third synchronizing wheel 3042 and a fourth synchronizing wheel 3047 are respectively installed at two ends of the fixed frame 3046, the third synchronizing wheel 3042 and the fourth synchronizing wheel 3047 are in transmission connection with a third synchronous belt 3043, the fourth servo motor 3041 is connected with the third synchronizing wheel 3042, the linear module 3044 is installed on the second guide rail 3048 and is connected with a second synchronous belt 3043, one end of the linear module 3044 is connected with a second cylinder 3049 through a connecting block 3045, the second cylinder 3049 is connected with a connecting plate 3050, and second suction cups 3051 are installed at two sides of the connecting plate 3050. During operation, if the detected product is qualified, the robot module puts the product into the stacking tray 3038, if the detected product is unqualified, the robot module puts the product into a waste bin, when one stacking tray 3038 is full, the stacking tray lifting mechanism works to enable the transfer plate to descend for one unit stroke, at the moment, the transverse moving manipulator works to place one empty tray 3039 in the empty tray lifting mechanism into the stacking tray lifting mechanism, then the empty tray lifting mechanism works to enable the transfer plate to ascend for one unit stroke, and the next empty tray ascends to the position to be clamped by the transverse moving manipulator. It should be noted that, because the empty material lifting mechanism (302) and the stacking tray lifting mechanism (303) have the same structure, the uses of the empty material lifting mechanism (302) and the stacking tray lifting mechanism (303) described in this embodiment may be changed according to practical application scenarios, for example: with empty material elevating system (302) as waiting to detect the product and place the district, regard pile up neatly charging tray elevating system (303) as qualified product district, utilize the AGV dolly to send the charging tray that will fill with waiting to detect the product to empty material elevating system (302), robot module and detection module detect the product, after the product that accomplishes a charging tray detects, sideslip robot hand puts this charging tray to pile up neatly charging tray elevating system (303), then empty material elevating system (302) rise a unit distance, robot module and detection module detect the product of next charging tray, when empty material elevating system (302) charging tray is whole by violently to pile up neatly charging tray elevating system (303), the AGV dolly transports pile up neatly charging tray elevating system's charging tray, this mode is fit for being used for the application scene of product detection system and product production system separation.
It should be noted that the waste trays may be arranged in different shapes and numbers according to production applications, and are not described herein again.
Example 2
The invention also provides a detection method of the industrial product according to the intelligent detection system of the industrial product, which comprises the following steps:
step 100, selecting a light shield, judging the required light shield according to different colors of a detected product by a main control end and sending an instruction, working the mechanical arm and the first lifting mechanism, clamping the light shield to be corresponding by a first clamp, and placing the light shield on a bottom plate of the detection module;
in the step, the master control end stores the color contrast relation between the color of the product to be detected and the light shield, and the light shield with the corresponding color is selected according to the color of the product to be detected, so that the problems that a plurality of reflecting surfaces interfere with each other to form halos, the saturation is insufficient or images are affected by flare and the like are easily solved, and the contrast ratio between the product color and the background color in the images can be enhanced to the maximum degree by taking pictures in the light shield by the CCD camera.
200, clamping a product to be detected, putting the product to be detected into a light shield, driving a first lifting rod to rotate by a second servo motor through a synchronous belt and a ball spline, and driving a second clamp to rotate so as to enable the product to be detected to rotate in front of a CCD camera;
step 300, image processing, namely inputting the image of the detected product collected by the CCD camera into a main control terminal for image processing;
step 400, judging the detected product, and judging whether the detected product is qualified according to a preset value;
and 500, sorting the products, namely sorting a stacking tray if the products are qualified, and sorting a waste tray if the products are unqualified.
As a preferred aspect of the present invention, in the step 300, the image processing includes:
(1) filtering and graying the collected image;
(2) obtaining the position of a characteristic point of a detected product by utilizing Hough circle transformation;
as a preferable scheme of the present invention, in the step 400, the specific step of determining whether the detected product is qualified includes:
(1) and matching the detected characteristic points with the characteristic points of the template image, and respectively calculating the pixel number occupied by the detected product in the detected image and the pixel number occupied by the template in the template image after matching.
(2) If the area of the detected product is larger than the area of the template and exceeds a set threshold value, the product has defects, and the product is judged to be an unqualified product.
(3) If the area of the detected product is smaller than the area of the template and exceeds a set threshold value, the product has defects, and the product is judged to be an unqualified product.
(4) And (4) if the detected product does not meet the conditions of the step (3) or the step (4), judging the detected product to be qualified.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. An industrial product intelligent detection system comprises a robot module (1), a detection module (1)2 and a transfer module (3), and is characterized in that the robot module (1) comprises a mechanical arm (105), a first lifting mechanism (101), a second lifting mechanism (103), a first clamp (102) and a second clamp (104), wherein the first lifting mechanism (101) is mounted on the mechanical arm (105), the first lifting mechanism (101) is connected with the first clamp (102), and the second lifting mechanism (103) is connected with the second clamp (104);
the detection module (2) comprises a bottom plate (204), a CCD camera (203), a light shield (201) and a light source (202), wherein an adjusting seat (205) is arranged on the bottom plate (204), the CCD camera (203) is installed on the adjusting seat (205), and the light source (202) is connected with the adjusting seat (205) through a connecting card (206) and is polished along the shooting direction of the CCD camera (203).
2. The intelligent industrial product detection system of claim 1, the transfer module (3) comprises a mounting bracket (301), an empty tray lifting mechanism (302), a stacking tray lifting mechanism (303) and a transverse manipulator (304), the stacking tray lifting mechanism (303) comprises a third servo motor (3031), a second transmission screw rod (3034) and a third servo motor (3031) which are arranged on a fixing plate (3032) and connected with one end of the second transmission screw rod (3034), the other end of the second transmission screw rod (3034) is movably connected with a bearing arranged on the base panel (3036), guide rods (3033) are respectively arranged at two sides below the fixed plate (3032), the guide rods (3033) penetrate through the movable support plate (3035) and extend and are fixed to the base panel (3036), the transfer plate (3035) can move up and down in the guide rod (3033).
3. The industrial product intelligent detection system according to claim 2, wherein the first lifting mechanism (101) comprises an L-shaped housing (10113) and a first lifting rod (10112), a first ball spline (10111) and a second ball spline (10116) are respectively disposed at two ends of the first lifting rod (10112), a first synchronizing wheel (10123) is sleeved outside the second ball spline (10116), the first synchronizing wheel (10123) is in transmission connection with a first synchronizing belt (10124), the other end of the first synchronizing belt (10124) is connected with a second synchronizing wheel (10125), the second synchronizing wheel (10125) is connected with a second servo motor (10122) through a connecting shaft, the first servo motor (10118) is fixed in the L-shaped housing (10113), the first lifting machine (101) further comprises a first transmission screw (10120), one end of the first transmission screw (10120) is connected with a first servo motor (10118) fixed in the L-shaped housing (13), be provided with supplementary cardboard (10115) in shell (10113), be provided with third bearing (10121) on one side of supplementary cardboard (10115), the other end of first transmission lead screw (10120) with third bearing (10121) rotates and is connected, first transmission lead screw (10120) cover is equipped with transmission cardboard (10119), the one end of transmission cardboard (10119) is provided with second bearing (10114), second bearing (10114) cover in first lifter (10112).
4. The intelligent industrial product detection system of claim 3, the first clamp (102) comprises a triangular connecting plate (1021) and three connecting columns (1022), the connecting columns (1022) are respectively arranged at corner positions below the triangular connecting plates (1021), the connecting columns (1022) are respectively provided with a first sucker (1023), a first bearing (10110) is arranged at the center position above the triangular connecting plate, the first lifting rod (10112) is sleeved on the first bearing (10110) and is connected with a second lifting mechanism (103) positioned below the triangular connecting plate (1021), the second lifting mechanism (103) is provided with a double-shaft air cylinder (1031), the push rod end of the double-shaft air cylinder (1031) is connected with the second clamp (104), the second clamp (104) comprises a pneumatic chuck (1041), and the clamping jaws (1042) are installed on the pneumatic chuck (1041).
5. The intelligent industrial product detection system of claim 5, wherein the traverse manipulator (304) comprises a fourth servo motor (3041), a linear module (3043) and a second guide rail (3048), the fourth servo motor (3041) is installed on a fixed frame (3046), a third synchronizing wheel (3042) and a fourth synchronizing wheel (3047) are respectively installed at two ends of the fixed frame (3046), the third synchronizing wheel (3042) and the fourth synchronizing wheel (3047) are in transmission connection with the third synchronizing belt (3043), the fourth servo motor (3041) is connected with the third synchronizing wheel (3042), the linear module (3044) is installed on the second guide rail (3048) and is connected with the second synchronizing belt (3043), one end of the linear module (3044) is connected with a second cylinder (3049) through a connecting block (3045), and the second cylinder (3049) is connected with a connecting plate (3050), and second suckers (3051) are arranged on two sides of the connecting plate (3050).
6. The detection method of the industrial product is characterized by comprising the following steps:
step 100: the main control end judges the needed light shield according to different colors of the detected product and sends an instruction, the robot arm and the first lifting mechanism work, the first clamp clamps the light shield to be corresponding, and the light shield is placed on the bottom plate;
step 200: the mechanical arm, the second lifting mechanism and the second clamp work, a detected product is placed in the light shield, and the second servo motor drives the first lifting rod to rotate through the synchronous belt, so that the second clamp is driven to rotate;
step 300: the CCD camera collects the image of the detected product and inputs the image into the main control end for image processing;
step 400: judging whether the detected product is qualified or not according to preset conditions;
step 500: if the products are qualified, sorting the product trays, and if the products are unqualified, sorting the waste material trays.
7. The method for inspecting industrial products according to claim 6, wherein in the step 300, the specific steps of image acquisition and image processing include:
step 301: filtering and graying the collected image;
step 302: and obtaining the positions of the characteristic points of the detected product by utilizing Hough circle transformation.
8. The method as claimed in claim 6, wherein the step 400 of determining whether the product is qualified comprises the following steps:
step 401: and matching the detected characteristic points with the characteristic points of the template image, and respectively calculating the pixel number occupied by the detected product in the detected image and the pixel number occupied by the template in the template image after matching.
Step 402: if the area of the detected product is larger than the area of the template and exceeds a set threshold value, the product has defects, and the product is judged to be an unqualified product.
Step 403: if the area of the detected product is smaller than the area of the template and exceeds a set threshold value, the product has defects, and the product is judged to be an unqualified product.
Step 404: and if the detected product does not meet the judgment condition of the step 402 or the step 403, judging the detected product as a qualified product.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113351503A (en) * | 2021-06-23 | 2021-09-07 | 上海宏金设备工程有限公司 | Scaffold detection and sorting system and method |
| CN114871831A (en) * | 2022-05-20 | 2022-08-09 | 深圳市睿格晟设备有限公司 | Intelligent production line for mechanical equipment |
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