CN113203736B - Industrial appearance detection method based on intelligent vision - Google Patents
Industrial appearance detection method based on intelligent vision Download PDFInfo
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- CN113203736B CN113203736B CN202110623148.0A CN202110623148A CN113203736B CN 113203736 B CN113203736 B CN 113203736B CN 202110623148 A CN202110623148 A CN 202110623148A CN 113203736 B CN113203736 B CN 113203736B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8411—Application to online plant, process monitoring
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to an industrial appearance detection method based on intelligent vision, which at least comprises the following steps: receiving a plurality of pin shafts to be detected through a feeding mechanism; the material moving mechanism drives at least one pin shaft to separate from the material feeding mechanism under the condition that no impact is generated between the pin shaft and the inner wall of the appearance detection cavity and between the pin shafts in a mode of adapting to different pin shaft sizes; the material moving mechanism transfers the pin shaft to be detected to a region to be detected; when the pin shaft is detected to be arranged in the area to be detected, the visual recognition mechanism is instructed to execute the appearance detection operation under the condition that the vertical arrangement posture of the pin shaft in the appearance detection cavity is maintained; and acquiring the size data and the appearance data of the pin shaft, wherein the conveying operation, the transferring operation and the detecting operation of the pin shaft are all completed by means of the height difference of the circumference formed between the shaft body part and the shaft shoulder part of the pin shaft.
Description
Technical Field
The invention relates to the technical field of automatic detection equipment, in particular to an industrial appearance detection method based on intelligent vision.
Background
The pin shaft type parts are standard fasteners, can be fixedly connected statically and can also move relative to a connected piece, are mainly used at the hinged positions of two parts to form hinged connection, are usually locked by cotter pins, and are reliable in work and convenient to disassemble. In the production and processing of many assemblies, the pin-like component is an indispensable part and the required number is large. Due to the multi-process characteristics of the pin shaft products, the current domestic pin shaft production mostly adopts inter-process turnover production, so that the production cost of enterprises is high, the production efficiency is low, particularly, in the production process of a centerless grinding workshop section, the span of the length and diameter size ranges of the pin shaft products is large, the weight of the products is large, the maximum amount of a single pin shaft exceeds 500g, and the requirement of the pin shaft on the appearance of the centerless grinding is high, so that a large amount of manpower is consumed for manual visual inspection or appearance detection is completed by means of a measuring instrument, so that the appearance detection meets the production standard. The manual detection mode that adopts at present often receives artifical subjective mood, physical stamina fluctuation and workman's easy tired influence very much under the condition of continuous operation, has that the detection data is not objective and incomplete, and the testing result is unreliable, causes the problem of false retrieval or hourglass inspection easily, and production efficiency is low, has increased the working costs of enterprise. Meanwhile, the manual data recording and spot checking means is backward, the data interconnection and intercommunication with an upper MES (manufacturing execution system) cannot be realized, the digital production of products is difficult to realize, the industrial development policy of the state is not met, if unqualified products flow into the market, the product quality of engine production enterprises cannot be avoided, and meanwhile, the engine production enterprises bring serious negative effects and economic losses to the pin shaft production enterprises due to disclaimer measures such as claims of unqualified pin shaft parts and the like.
In the prior art, for example, patent document CN107150102B discloses a chain pin separator, which is mainly used for screening and separating pins with different lengths, so as to separate overlong or overlong pins, and put pins with qualified lengths into an assembly production line of chains. The device carries out the selection of deleting the round pin axle through round pin axle release subassembly and adjustable fender subassembly cooperation use, and foraminiferous adjustable plate subassembly is used for assisting to select useless round pin axle, and round pin axle sorting cavity is used for depositing the round pin axle. The device rejects unqualified pin shafts and discharges the pin shafts from a waste part feed opening through an automatic deleting and selecting mode, and qualified pin shafts are arranged to a qualified part feed opening and discharged from the qualified part feed opening. The chain pin shaft sorting machine takes the 'pin shaft pushing and feeding' of the existing chain assembling machine as a basic mode, namely, a pin shaft pushing plate pushes out qualified pin shafts, a plurality of pin shafts are arranged in a line and naturally fall down to a qualified piece blanking port one by one, and unqualified pin shafts are separated out after being pushed out by a pin shaft pushing assembly under the condition that the unqualified pin shafts are divided into a plurality of pieces and fall down to a waste piece blanking port.
The above patent documents try to realize mechanical sorting of a large number of pins by using the length of the pins, but in practice, the pin sorting machine proposed in the above patent documents cannot realize mechanical sorting at all because the pin sorting machine does not consider the difference between the nominal diameter and the length of the pins of different types, and does not consider the irregular cylindrical shape of the pins. Specifically, when the pin separator proposed in the above patent document operates, the pin shaft is required to maintain a vertical placement posture in the pin shaft separation cavity under the action of no external force, and the pin shaft is still required to maintain the vertical posture under the action of the unidirectional thrust of the pin shaft pushing plate, but since the pin shafts all include shaft body parts and shaft shoulder parts, namely, non-regular cylinders, the pin shaft pushing plate can only push the pin shaft to move by contacting the shaft shoulder parts, under the condition of uneven thrust, even if the pin shafts entering the separation cavity are thick and short pin shafts with small length and large nominal diameter, the pin shafts are still easy to incline, so that the pin shafts fall over, at this time, an operator cannot perceive and know the condition occurring inside the separator, cannot timely process the pin shafts, and the difficulty in disassembling and processing is large; as for the slender pin shaft with larger length and smaller nominal diameter entering the sorting cavity, the nominal diameter of the pin shaft is smaller, the pin shaft cannot be stably and vertically placed after being placed in the sorting cavity, and the pin shaft is very easy to tip over in the sorting process.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the applicant has studied a great deal of literature and patents when making the present invention, but the disclosure is not limited thereto and the details and contents thereof are not listed in detail, it is by no means the present invention has these prior art features, but the present invention has all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
Aiming at the problems of poor product quality and low production efficiency of a manual detection mode commonly adopted in the detection production of pin shaft parts at present, in the prior art, for example, patent document with publication number of CN107150102B provides a chain pin shaft sorting machine, which mainly realizes the screening and separation of pin shafts with different lengths by matching a pin shaft pushing-out assembly and a movable baffle plate assembly, separates overlong or overlong pin shafts, and puts the pin shafts with qualified lengths into an assembly production line of chains. The above patent documents try to realize mechanical sorting of a large number of pins by using the length of the pins, but in practice, the pin sorting machine proposed in the above patent documents cannot realize mechanical sorting at all because the pin sorting machine does not consider the difference between the nominal diameter and the length of the pins of different types, and does not consider the irregular cylindrical shape of the pins. Specifically, when the pin separator proposed in the above patent document operates, the pin shaft is required to maintain a vertical placement posture in the pin shaft separation cavity under the action of no external force, and the pin shaft is still required to maintain the vertical posture under the action of the unidirectional thrust of the pin shaft pushing plate, but since the pin shafts all include shaft body parts and shaft shoulder parts, namely, non-regular cylinders, the pin shaft pushing plate can only push the pin shaft to move by contacting the shaft shoulder parts, under the condition of uneven thrust, even if the pin shafts entering the separation cavity are thick and short pin shafts with small length and large nominal diameter, the pin shafts are still easy to incline, so that the pin shafts fall over, at this time, an operator cannot perceive and know the condition occurring inside the separator, cannot timely process the pin shafts, and the difficulty in disassembling and processing is large; as for the slender pin shaft with larger length and smaller nominal diameter entering the sorting cavity, the nominal diameter of the pin shaft is smaller, the pin shaft cannot be stably and vertically placed after being placed in the sorting cavity, and the pin shaft is very easy to tip over in the sorting process.
To the problem that above-mentioned prior art exists, this application has proposed an industry outward appearance detecting system based on intelligent vision, utilize the irregular columniform structural feature of round pin axle self, improve current feed mechanism and proposed with it cooperation use move material mechanism and visual identification mechanism, can not only keep the round pin axle erect in the outward appearance detection intracavity all the time and place the gesture, satisfy the not unidimensional of round pin axle under the different models, and can realize under the condition of the bionical arm that does not rely on complexity and cost height detecting the all-round outward appearance of round pin axle, this application has avoided complicated equipment and loaded down with trivial details technology and has realized lower cost and more excellent detection effect promptly with the help of the ring week difference in height of round pin axle.
The system at least comprises: the feeding mechanism is arranged above the appearance detection cavity and used for receiving a plurality of pin shafts to be detected in a mode of conveying the pin shafts one by one; the material moving mechanism is arranged in the appearance detection cavity and is used for driving at least one pin shaft to be separated from the material supply mechanism in a mode of adapting to different pin shaft sizes and transferring the pin shaft to a region to be detected; and the visual recognition mechanism is arranged in the appearance detection cavity and is used for executing appearance detection operation under the condition of keeping the vertical placement posture of the pin shaft in the appearance detection cavity when the pin shaft is detected to be placed in the area to be detected so as to obtain the size data and the appearance data of the pin shaft, wherein the feeding mechanism, the material moving mechanism and the visual recognition mechanism are all used for completing the operation related to the material moving mechanism by means of the height difference of the periphery formed between the shaft body part and the shaft shoulder part of the pin shaft.
According to a preferred embodiment, the feeding mechanism and the material moving mechanism are respectively provided with a feeding step plate and a material moving step plate, and the material moving mechanism is driven by external force to separate at least one pin shaft from the feeding step plate through the material moving step plate by utilizing the relative motion relationship between the material moving mechanism and the material moving mechanism due to the external force and keep the vertical placement posture of the pin shaft in the appearance detection cavity.
In the existing proposed technical scheme, the pin shaft sorting machine stacks a plurality of pin shafts vertically, after the pin shaft is pushed away from the previous pin shaft, the bottom end of the next pin shaft to be pushed abuts against the upper end face of the pin shaft pushing plate, the back and forth movement of the pin shaft pushing plate brings unexpected abrasion to the bottom end of the next shaft to be pushed, and the abrasion is further aggravated by the action of the gravity of the previous pin shaft and a plurality of other pin shafts above the previous pin shaft. In addition, in the above patent document, a plurality of pins are vertically stacked, after the pin is pushed away from the previous pin, the next pin to be pushed is located above the pin pushing plate, until the pin pushing plate is withdrawn from the position right below the position of the pin, the pin directly falls and impacts on the inner wall of the sorting cavity to bring unexpected use loss to the pin itself, and in addition, a plurality of other pins on the pin fall and impact on the top of the pin to further aggravate the use loss. In contrast, the system provided by the application can always keep the vertical placement posture of the pin shaft in the appearance detection cavity, does not influence the operations of conveying, transferring, detecting and the like of the pin shaft, can fundamentally avoid the unexpected abrasion and the unexpected use loss of the pin shaft in the prior proposed technical scheme, greatly ensures the product quality of the pin shaft output after the system is processed, and can obviously accelerate the mechanical operation efficiency due to the stable enhancement of the system operation.
According to a preferred embodiment, the material moving mechanism can simultaneously receive one or more of at least one pin to be detected, at least one pin being detected and at least one pin being detected.
According to a preferred embodiment, move material and contact with the round pin axle that waits that it is supported with the step board and make and wait to detect and form first sheltering from regional on the round pin axle, visual identification mechanism is including locating the auxiliary column in waiting to detect the region at least, and wherein, visual identification mechanism can be based on the detected signal of at least one sensor and regulate and control the flexible of auxiliary column to make the auxiliary column can contact and wait to detect the round pin axle and exert exogenic action to it, with this first sheltering from regional elimination.
According to a preferred embodiment, the visual recognition mechanism comprises at least a first visual recognition device aligned with the area to be detected, and a second shielding area is formed on the side of the pin to be detected, which side faces away from the visual recognition device, wherein the visual recognition mechanism can regulate the rotation of the auxiliary column based on the detection signal of the at least one sensor, so that the pin to be detected is indirectly driven by means of the auxiliary column and the material-moving step plate, and the second shielding area is eliminated.
According to a preferred embodiment, the end of the auxiliary column, which is in contact with the pin shaft, is provided with the composite microarray for adsorption, and the auxiliary column and the pin shaft are relatively fixed or isolated from each other through opening and closing of the composite microarray for adsorption.
According to a preferred embodiment, the visual recognition mechanism further comprises at least one second visual recognition device arranged in the appearance detection cavity, and the second visual recognition device is used for acquiring image data of the upper end face and the lower end face of the pin shaft to be detected, which are beyond the visual field range of the first visual recognition device.
According to a preferred embodiment, the at least one sensor may be a distance measuring sensor or a displacement sensor for acquiring relative position data between the auxiliary column and the pin to be detected.
According to a preferred embodiment, the material moving mechanism is configured to take at least one pin away from the feeding mechanism and take it to the area to be detected in a manner that is adapted to the different pin sizes without impact between the pin and the inner wall of the appearance detection cavity and the pin.
According to a preferred embodiment, the system further comprises a material separating mechanism for transferring the at least one pin from the material moving mechanism to the at least one material outlet corresponding to the pin dimension data and/or the appearance data thereof under the drive of an external force.
In the existing technical scheme, the pin shaft sorting machine can only divide qualified and unqualified pin shafts according to the corresponding range of the length of the pin shaft, and the output qualified pin shaft still needs to be subjected to secondary detection to screen out the pin shaft with qualified appearance, so that the processing efficiency of the pin shaft detection process is low. Meanwhile, the pin shaft sorting machine proposed in the above patent document can only divide the pin shaft to be detected into a qualified pin shaft and an unqualified pin shaft, and a user cannot know the problem of the unqualified pin shaft, and still requires the user to manually check the plurality of pin shafts which are divided into unqualified pins one by one, which consumes labor cost and is not favorable for detection efficiency. To this, the round pin axle that this application provided can be based on its outward appearance data and the size data that detect, and the round pin axle that can correspond the different discharge gate outputs of a plurality of different discharge gates respectively need not to know its size testing result and outward appearance testing result through the secondary detection, is favorable to improving round pin axle detection technology treatment efficiency and reduces the human cost.
The application also provides an industrial appearance detection method based on intelligent vision, which at least comprises the following steps: receiving a plurality of pin shafts to be detected through a feeding mechanism; the material moving mechanism drives at least one pin shaft to separate from the material feeding mechanism under the condition that no impact is generated between the pin shaft and the inner wall of the appearance detection cavity and between the pin shafts in a mode of adapting to different pin shaft sizes; the material moving mechanism transfers the pin shaft to be detected to a region to be detected; when the pin shaft is detected to be arranged in the area to be detected, the visual recognition mechanism is instructed to execute the appearance detection operation under the condition that the vertical arrangement posture of the pin shaft in the appearance detection cavity is maintained; and acquiring the size data and the appearance data of the pin shaft, wherein the conveying operation, the transferring operation and the detecting operation of the pin shaft are all completed by means of the height difference of the circumference formed between the shaft body part and the shaft shoulder part of the pin shaft.
Drawings
FIG. 1 is a simplified block diagram of an industrial appearance inspection system according to the present invention;
FIG. 2 is a simplified schematic diagram of the overall configuration of an industrial appearance inspection system provided by the present invention;
FIG. 3 is a simplified schematic diagram of the relative position relationship between the second visual recognition device and the material moving mechanism provided by the present invention;
FIG. 4 is a simplified top view schematic diagram of the relative positional relationship between the material moving mechanism and the material distributing mechanism provided by the present invention;
FIG. 5 is a simplified side view schematic of the feed mechanism provided by the present invention;
FIG. 6 is a simplified structural schematic of a supply riser provided by the present invention;
fig. 7 is a simplified structural schematic diagram of the pin shaft (A type and B type) given in the national standard component standard GB/T882-2008.
List of reference numerals
1: a feeding mechanism 2: material moving mechanism 3: visual identification mechanism
4: a material distributing mechanism 5: appearance detection cavity 6: pin shaft
7: supply step plate 8: material-moving step plate 9: auxiliary column
10: the first visual recognition device 11: composite microarray for adsorption 12: second visual recognition device
13: the clamping portion 14: a discharge port 15: shaft body part
16: shaft shoulder 17: first channel inner wall section 18: second channel inner wall section
19: third channel inner wall section 20: the transfer mechanism 21: first turntable base
22: second turntable base 23: vertical bar 24: bending rod
25: the telescoping mechanism 26: controller
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings.
The application provides a manual operation for overcoming prior art's not enough and requires lowly, can accomplish operations such as round pin axle transport, shift and detection automatically to carry out the industrial appearance detecting system based on intelligent vision of categorised collection to the round pin axle after detecting.
Fig. 2 is a simplified schematic diagram of the overall structure of the industrial appearance inspection system provided by the present application, which has an appearance inspection chamber 5 and a feeding mechanism 1. The feeding mechanism 1 is arranged above the appearance detection cavity 5 and conveys the pin shaft 6 to the appearance detection cavity 5 from top to bottom for appearance detection and mechanical sorting. As shown in fig. 2 and 5, the feeding mechanism 1 may be divided into a first channel inner wall section 17, a second channel inner wall section 18 and a third channel inner wall section 19 in this order. The feeding mechanism 1 is provided with a conveying mechanism 20 in an inner wall thereof. The conveyor belt of the conveyor means 20 runs continuously along the second channel inner wall section 18 and the third channel inner wall section 19 for conveying the pins 6.
The length of the first channel inner wall section 17 is shorter than the length of the pin 6 at the shortest dimension. So that one end of the pin 6 placed in the first channel inner wall section 17 abuts against the conveyor belt on the second channel inner wall section 18. The conveyer belt opens and to drive 6 removal of round pin axles towards outward appearance detection chamber 5. In the process, the plurality of pins 6 can be driven by the conveyor belt to move forwards, unnecessary pressure action cannot be generated between the front pin 6 and the rear pin 6, and meanwhile, the unexpected abrasion of the pins 6 is greatly reduced.
In order to transfer the pins 6 from the feeding mechanism 1 to the appearance inspection chamber 5 and to avoid the occurrence of unintended wear due to the pins 6 falling down and impacting the inner wall as in the prior art, several feeding flights 7 are arranged on the conveyor belt. A plurality of supply flights 7 are arranged in series along the length of the conveyor. The supply risers 7 have open ends for receiving the body portion of the pin 6.
In the present application, the plurality of pins 6 are thrown into the feeding mechanism 1 in a consistent manner according to the throwing direction. The casting direction means that the shoulder 16 of the pin 6 is always at a higher level than the free end of the shaft body 15. The first and second channel inner wall sections 18 are both inclined slopes facing downwards, i.e. when the pin shaft 6 is dropped, the end of the shaft shoulder 16 contacts the first channel inner wall section 17, and the free end of the shaft body 15 contacts the second channel inner wall section 18. Thus, when the pin shaft 6 to be detected is placed on the feeding mechanism 1, the conveying mechanism 20 is started, and the feeding step plate 7 moves upward along the conveyor belt so that the pin shaft 6 enters from the open end of the feeding step plate until the pin shaft 6 abuts against the feeding step plate. The transmission mechanism is started and simultaneously carries the feeding step plate 7 and the pin shaft 6 to move downwards.
Preferably, the pin 6 can be manually operated, a placing point is drawn on the inner wall of the first channel in advance, and an operator only needs to place the pin 6 one by one in a manner that the shoulder 16 is aligned with the placing point. Preferably, the release of the pin 6 can also be a mechanical automation operation with controllable operation time.
The third channel inner wall section 19 extends vertically with respect to the ground, whereby the pin 6 entering this inner wall section changes from an inclined state to a vertical position. At this time, the feeding step 7 abuts on the lower end surface of the shoulder portion 16, and the pin 6 is kept from being separated from the feeding step.
The material moving mechanism 2 can take the pin shaft 6 to separate from the feeding step plate 7. The feeding step plate 7 without the pin 6 rotates along with the conveyor belt and returns to the first channel inner wall section 17 again for bearing a new pin 6 to be detected.
Preferably, a collecting means is provided at the vertical bottom end of the third channel inner wall section 19. Therefore, if a certain pin shaft 6 is not effectively transferred by the material moving mechanism 2 in the operation of releasing the pin shaft 6, i.e. the pin shaft 6 is not clamped with the feeding step plate 7, the pin shaft 6 which fails to be released at this time still moves along with the conveyor belt until falling down at the turning point between the second and third channel inner wall sections 19, and is collected by the collecting mechanism for releasing again. The collection mechanism may be a conveyor belt. The collecting mechanism can be designed to extend to the outside of the appearance detection cavity 5 to be observed by an operator, and the operator can clearly determine the internal operation condition, so that the system parameters and the like can be timely adjusted, and the serious influence caused by the fact that the pin shaft 6 fails to transfer in time in the prior art is also avoided.
As shown in fig. 6, the feeding step plate 7 is a plate-like structure, and is fixed on the conveyor belt in a vertical position, and one end of the plate body facing away from the conveyor belt is provided with an open notch, the inner edge of the notch extends towards the side of the conveyor belt, and the inner edge of the notch forms a shape capable of adapting to the shaft body 15 of the pin shafts 6 of different models on the plate body. The shape may be a multiple step incremental bracket like a gourd profile. The notch is gradually increased from the magnitude of the curvature of the bracket at the opening, and when the pin shaft 6 is thrown in, the pin shaft 6 can be clamped to the position matched with the diameter size of the notch of the feeding step plate based on the inclined first and second channel inner wall sections 18.
Preferably, the feeding risers may be provided with bent bars 24 at the ends where the notches are located. The body of the bending bar 24 is parallel to the body of the feeding riser. The bending rod 24 is disposed in a hollow cavity formed in the supply step plate. The bending point of the bending rod 24 is pivotally connected in the hollow interior of the feeding riser. The first leg of the bending bar 24 is disposed on the side of the notch, and the second leg extends out of the supply step plate. When aligning round pin axle 6 and putting in the breach, round pin axle 6 contacts first branch and its gravity forms the exogenic action to first branch, and first branch rotates towards the inside breach, and the synchronous inwards rotation of second branch and the butt is to shaft body portion 15 on.
Preferably, bending rods 24 are mechanically controlled. The first sensor is arranged on the first rod body of the bending rod 24, and can sense that the pin shaft 6 is thrown into the notch. After sensing that the pin shaft 6 is thrown into the notch, the driving bending rod 24 is driven to rotate towards the inside of the notch, and the second sensor is arranged on the second rod body and can sense whether the second rod body is in contact with the pin shaft 6. The sensor may be an acceleration sensor, a pressure sensor, or the like. With the second sensor, the second rod body can always maintain its contact relationship with the shaft body portion 15. So that the pin 6 does not come off the feeding step plate during the transportation of the pin 6.
The material moving mechanism 2 includes a first turntable base 21 controllably rotatably connected in the inner wall of the appearance inspection chamber 5. The material moving mechanism 2 can take the pin shaft 6 to separate from the feeding step plate 7 along the notch of the feeding step plate 7. The pin 6 conveying mechanism is arranged above the material moving mechanism 2 according to the opening direction of the notch of the feeding step plate 7 is the tangential direction of the first rotary table base 21.
The material moving mechanism 2 comprises a material moving step plate 8, the first turntable base 21 rotates, and the material moving step plate 8 is in contact with the pin shaft 6 and exerts a thrust effect on the pin shaft 6 under the continuous rotation of the first turntable base 21. When the second sensor collects sensing data exceeding a preset pressure threshold value, the second rod body is indicated to rotate reversely to release the pin shaft 6. The pin 6 is thereby transferred from the feeding device 1 to the material transfer step 8.
Preferably, the feeding step plate 7 and the transferring step plate 8 have the same structure.
The system further includes a visual recognition mechanism 3, and the visual recognition mechanism 3 includes a first visual recognition device 10 and two second visual recognition devices 12, as shown in fig. 4, the first visual recognition device 10 and the second visual recognition devices 12 are respectively provided at two different positions around the circumference of the first turntable base 21. As shown in fig. 3, two second visual recognition devices 12 are disposed opposite to each other on the inner wall of the appearance inspection cavity 5, respectively, for acquiring image data of the upper and lower end surfaces of the pin 6 to be inspected.
The visual recognition mechanism 3 further includes an auxiliary column 9 located at a position closer to the first turntable base 21 with respect to the first visual recognition apparatus 10. The auxiliary column 9 can be driven by external force to extend and retract up and down and rotate. According to the mode that the center of the auxiliary column 9 corresponds to the shaft center of the pin shaft 6, the material moving step plate 8 can move to the position right above the position of the auxiliary column 9 according to the mode that the first turntable base 21 rotates. The auxiliary column 9 can extend up and down to abut against the bottom end face of the pin shaft 6 and is fixed relative to the bottom end face of the pin shaft 6, so that the pin shaft 6 can be driven to move up and down and/or rotate.
The material moving step plate 8 is arranged on a vertical rod 23, and the vertical rod 23 is fixedly arranged at the edge position of the first turntable base 21. The vertical rod 23 is further provided with a telescopic mechanism 25, and the telescopic mechanism 25 can drive the material moving step plate 8 to move towards the direction far away from or close to the vertical rod 23. Since the second visual recognition device 12 acquires the image data of the lower end surface of the pin 6, the position data of the central position of the lower end surface of the pin 6 in the appearance detection cavity 5 can be analyzed and acquired. Based on the predetermined relative position relationship between the second visual recognition device 12 and the auxiliary column 9 and the relative position relationship between the shaft center of the auxiliary column 9 and the disc, the relative position relationship between the center position of the lower end surface of the current pin shaft 6 to be detected and the shaft center of the auxiliary column 9 can be calculated. Based on the calculation result, the rotation angle of the first turntable base 21 and the telescopic length of the telescopic mechanism 25 on the vertical rod 23 can be determined. Thereby making the center of the auxiliary column 9 correspond to the axial center of the pin shaft 6.
The auxiliary columns 9 are fixed relatively to the pin shaft 6 or isolated from each other based on the opening and closing of the composite microarray arranged on the top end face of the auxiliary columns. Because the upper end of the pin shaft 6 is clamped in the gap of the material moving step plate 8, the auxiliary column 9 can drive the pin shaft 6 to stably rotate. The first visual recognition device 10 is aligned with the corresponding region to be detected above the auxiliary column 9, so that the pin shaft 6 can be subjected to full-circle image acquisition under the condition that the pin shaft 6 rotates. The full circumferential image acquisition may refer to the complete acquisition of the side faces of the pin 6 in the circumferential direction.
The composite microarray can be a gecko bionic mushroom array structure, the auxiliary column 9 is provided with a through hole, a vacuum suction nozzle is embedded in the through hole, and the vacuum suction nozzle is connected with a negative pressure supply mechanism. The high-strength adhesive force of the gecko bionic mushroom-shaped array structure is utilized, so that the composite microarray can obtain the large adhesive force of the composite microarray on the end face of the bottom of the pin shaft 6 under the condition of small vacuum degree. The gecko bionic mushroom array structure can reduce the vacuum degree of negative pressure. When negative pressure is applied, normal prestress can be generated on the gecko bionic mushroom array structure, and the adhesive force of the gecko bionic mushroom array structure is increased.
The material-moving step plate 8 shields part of the shaft body 15, and the shielded part forms a first shielded area. And a second shielding area is formed on one side of the pin shaft 6 to be detected, which deviates from the visual recognition equipment. The first shielding area and the second shielding area can be eliminated by driving the auxiliary column 9 to drive the pin shaft 6 to move up and down and rotate. The first visual recognition device 10 performs full circumferential acquisition of the pin 6 based on at least two time-shared image acquisition operations. Time sharing may refer to different times.
The feed mechanism 4 comprises a second turntable base 22 and at least one clamping portion 13. The first turntable base 21 is arranged side by side with the first turntable base 21. The clamping portion 13 is of an arc plate-shaped structure. The clamping portion 13 may be fixed to the edge of the second turntable base 22 by a vertical rod 23. A plurality of airbag strips which are vertically arranged and are arranged side by side are arranged on the inner wall of the clamping part 13. The air bag strip is connected with a negative pressure supply mechanism. The negative pressure supply mechanism can be used for air inflation and air suction. At least one sensor can be arranged on the plate body of the clamping part 13 and used for sensing whether the pin shaft 6 is placed in the clamping part 13.
Based on the size data of the pin shaft 6 to be transferred on the material moving mechanism 2, the opening of the valve at the inflating end corresponding to at least one air bag strip on the clamping part 13 is regulated and controlled, when the sensor senses that the pin shaft 6 is placed in the clamping part 13, the negative pressure supply mechanism is driven to operate, and the air bag strip inflates and expands to encircle the pin shaft 6 in the clamping part 13.
The transferring operation of the material transferring mechanism 2 is completed by means of the relative movement speed difference between the first turntable base 21 and the conveyor belt on the material supplying mechanism 1. Likewise, the transfer operation of the feed mechanism 4 is accomplished by means of the relative speed difference between the first and second turntable bases 22.
The first and second turntable bases 22 rotate in opposite directions.
Preferably, each material-moving step plate 8 corresponds to an identification code. An identification code sorting table is available along the circumferential direction of the first turntable base 21.
Preferably, the identification code may be provided on the side of the first turntable base 21 at a position corresponding to each transfer riser 8. An auxiliary base arranged opposite to the first turntable base 21 is arranged below the auxiliary column 9, and a first recognizer is arranged on the auxiliary base. The identifier may be a third visual recognition device to identify the identification code.
Preferably, the identification code may be provided on a vertical bar 23 on the first turntable base 21 towards the bar on the side where the second visual recognition device 12 is located. Preferably, the identification code may be provided on the end of the feeding riser 7 on the side facing the second visual recognition device 12. The image data acquired by the second visual recognition device 12 are analyzed, and the corresponding identification codes can be obtained at the same time.
Preferably, a second identifier is provided on a side surface of the second turntable base 22 at a position corresponding to each clamping portion 13 to identify the identification code.
The visual recognition mechanism 3 may acquire the size data and the appearance data of the pin 6, and bind an analysis result, the size data, and the appearance data, which are analyzed based on the data, with the identification code acquired by the first identifier. The appearance data referred to herein may refer to image data of the pin body of the pin and/or image data of the pin cap thereof. The image data may be mainly image data for a sidewall surface of the pin body or the pin cap in the circumferential direction. By processing and analyzing the image data, it is possible to determine whether or not there is at least one appearance problem of foreign matter projections, surface depressions, deformation, burrs, or the like on the side wall surface. The appearance data referred to herein may also refer to omni-directional appearance data.
The clamping part 13 can regulate and control the clamping space of the pin shaft 6 to be transferred based on the size data of the pin shaft 6 to be transferred acquired by the visual recognition mechanism 3 so as to realize the stable transfer of the pin shaft 6 with different sizes. When the identification code located one bit before the identification code is acquired by at least one second identifier, the identification code corresponding to the pin 6 to be transferred next and the holding portion 13 corresponding to the pin 6 to be transferred next can be determined based on the identification code sorting table. Based on this, the operation of the holding portion 13 corresponding thereto can be regulated in advance based on the analysis result, the dimensional data, and the omnidirectional appearance data of the pin 6 to be transferred next. Preferably, when the diameter of the pin 6 to be transferred is small, the clamping portion 13 corresponding thereto is set to inflate the airbag strip at a position closer to the center thereof. Conversely, the corresponding clamping portion 13 is set to inflate the airbag strips closer to the two end portions.
The system also comprises at least one discharge port 14, and different discharge ports 14 correspond to the pin shafts 6 under different classifications. The system also comprises a material distribution mechanism 4, which is used for transferring at least one pin shaft 6 from the material transfer mechanism 2 to a corresponding discharge port 14 under the driving of external force. The discharge ports 14 are sequentially arranged at positions close to the outer edge of the second turntable base 22 in the circumferential direction of the second turntable base 22. The positional relationship between the plural outflows 14 is determined, whereby positional information about it can be entered in advance.
The clamping part 13 determines the position information of a matched discharge port 14 based on the analysis result corresponding to the pin shaft 6 clamped by the clamping part and the pre-recorded position information of the discharge port 14, transfers the pin shaft 6 clamped by the clamping part to the upper part of the discharge port 14, and releases the pin shaft 6 clamped by the clamping part, thereby completing the sorting and collection of the pin shaft 6.
Preferably, the plurality of discharge ports 14 may correspond to the pins 6 with qualified size and appearance, the pins 6 with qualified size and unqualified appearance, the pins 6 with unqualified size and qualified appearance, and the pins 6 with unqualified size and unqualified appearance. The pin shaft 6 output by different discharge ports 14 can obtain the size detection result and the appearance detection result without secondary detection, and the processing efficiency of the detection process of the pin shaft 6 is improved.
The system further comprises a controller 26, wherein the controller 26 is respectively connected with the feeding mechanism 1, the material moving mechanism 2, the visual recognition mechanism 3 and the discharge port 14, and the controller 26 is used for regulating and controlling the corresponding operations of the feeding mechanism 1, the material moving mechanism 2, the visual recognition mechanism 3 and the discharge port 14. The feeding mechanism 1, the material moving mechanism 2, the visual recognition mechanism 3 and the material outlet 14 may be respectively provided with a central processing unit, and each central processing unit is respectively connected with the controller 26 in a wireless or wired manner.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not intended to be limiting on the claims. The scope of the invention is defined by the claims and their equivalents. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.
Claims (7)
1. An industrial appearance inspection system based on smart vision, comprising at least:
the feeding mechanism (1) is arranged above the appearance detection cavity (5) and is used for receiving a plurality of pins (6) to be detected in a mode of conveying the pins (6) one by one; the feeding mechanism (1) is sequentially divided into a first channel inner wall section (17), a second channel inner wall section (18) and a third channel inner wall section (19); a conveying mechanism (20) is arranged in the inner wall of the feeding mechanism (1), and a conveying belt of the conveying mechanism (20) is continuously paved along the second channel inner wall section (18) and the third channel inner wall section (19) and is used for conveying the pin shaft (6);
the material moving mechanism (2) is arranged in the appearance detection cavity (5) and is used for driving at least one pin shaft (6) to be separated from the material supply mechanism (1) in a mode of adapting to different sizes of the pin shafts (6) and transferring the pin shafts to an area to be detected;
the visual recognition mechanism (3) is arranged in the appearance detection cavity (5) and is used for executing appearance detection operation under the condition of keeping the vertical placing posture of the pin shaft (6) in the appearance detection cavity (5) when the pin shaft (6) is detected to be arranged in the area to be detected so as to obtain the size data and the appearance data of the pin shaft (6),
the feeding mechanism (1) and the material moving mechanism (2) are respectively provided with a feeding step plate (7) and a material moving step plate (8), the material moving mechanism (2) is driven by external force to separate at least one pin shaft (6) from the feeding step plate (7) through the material moving step plate (8) by utilizing the relative motion relationship formed between the material moving mechanism and the feeding mechanism (1) due to the external force drive and keep the vertical placing posture of the pin shaft (6) in the appearance detection cavity (5),
the feeding step plate (7) is of a plate-shaped structure, is fixed on the conveyor belt in a vertical placing state, one end of the plate body, which is far away from the conveyor belt, is provided with an open notch, the inner edge of the notch extends towards the side of the conveyor belt, the inner edge of the notch forms a shape which can adapt to shaft bodies (15) of pin shafts (6) of different models on the plate body,
a bending rod (24) is arranged at the end part of the gap on the feeding step plate (7); a first sensor is arranged on a first rod body of the bending rod (24) and can sense that the pin shaft (6) is thrown into the notch; after the pin shaft (6) is sensed to be thrown into the notch, the bending rod (24) is driven to actively rotate towards the inside of the notch, and a second sensor is arranged on a second rod body of the bending rod and can sense whether the second sensor is in contact with the pin shaft (6); the material moving mechanism (2) comprises a first rotary table base (21) which is controllably rotatably connected in the inner wall of the appearance detection cavity (5), the first rotary table base (21) rotates, a material moving step plate (8) is in contact with the pin shaft (6) and exerts thrust on the pin shaft (6) under the continuous rotation of the first rotary table base (21), when a second sensor acquires sensing data exceeding a preset pressure threshold value, the second rod body is indicated to rotate reversely to release the pin shaft (6), so that the pin shaft (6) is transferred from the feeding mechanism (1) to the material moving step plate (8),
the material moving step plate (8) is in contact with the pin shaft (6) to be detected supported by the material moving step plate to enable the pin shaft (6) to be detected to form a first shielding area, the visual recognition mechanism (3) at least comprises an auxiliary column (9) arranged in the area to be detected, the visual recognition mechanism (3) at least comprises a first visual recognition device (10) aligned to the area to be detected, the auxiliary column (9) can be in contact with the pin shaft (6) to be detected and exert an external force action on the pin shaft to be detected, so that the first shielding area is eliminated, the visual recognition mechanism (3) at least comprises a second visual recognition device (10) aligned to the area to be detected, one side of the pin shaft (6) to be detected, which is far away from the first visual recognition device, the second shielding area is formed, and the visual recognition mechanism (3) controls the rotation of the auxiliary column (9) based on the detection signal of at least one sensor, the pin (6) to be detected is indirectly driven by means of the auxiliary column (9) and the material-moving step plate (8), so that the second shielding area is eliminated.
2. System according to claim 1, characterized in that the transfer means (2) can simultaneously receive at least one pin (6) to be tested, at least one pin (6) being tested and at least one pin (6) that has been tested.
3. The system according to claim 2, characterized in that the auxiliary column (9) is provided with a composite microarray (11) for adsorption at one end contacting with the pin (6), and the auxiliary column (9) is fixed relative to or isolated from the pin (6) by opening and closing the composite microarray (11) for adsorption.
4. A system according to claim 3, wherein the visual recognition means (3) further comprises at least one second visual recognition device (12) disposed in the visual inspection chamber (5), the second visual recognition device (12) being configured to capture image data of the upper and lower end surfaces of the pin (6) to be inspected beyond the field of view of the first visual recognition device (10).
5. System according to claim 4, characterized in that at least one sensor is a distance or displacement sensor for acquiring data of the relative position between the auxiliary column (9) and the pin (6) to be detected.
6. The system according to claim 5, characterized in that the material moving mechanism (2) is configured to take at least one pin (6) with it in a way that accommodates different pin (6) sizes to disengage from the feeding mechanism (1) and take it to transfer to the area to be inspected without impact between the pin (6) on the inner wall of the appearance inspection chamber (5) and the pin (6).
7. The detection method of the industrial appearance detection system based on intelligent vision according to claim 1, characterized by comprising at least the following steps:
receiving a plurality of pin shafts (6) to be detected through a feeding mechanism (1);
the material moving mechanism (2) drives at least one pin shaft (6) to be separated from the material supply mechanism (1) in a mode of adapting to different sizes of the pin shaft (6) under the condition that no impact is generated between the pin shaft (6) and the inner wall of the appearance detection cavity (5) and the pin shaft (6);
the material moving mechanism (2) transfers the pin shaft (6) to be detected to a region to be detected;
when the pin shaft (6) is detected to be arranged in the area to be detected, the visual recognition mechanism (3) is indicated to execute the appearance detection operation under the condition that the vertical placing posture of the pin shaft (6) in the appearance detection cavity (5) is kept;
and acquiring the size data and the appearance data of the pin shaft (6).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210512825.6A CN114951039B (en) | 2021-06-03 | 2021-06-03 | System for be used for industry outward appearance to detect |
| CN202110623148.0A CN113203736B (en) | 2021-06-03 | 2021-06-03 | Industrial appearance detection method based on intelligent vision |
| CN202210512824.1A CN115046995A (en) | 2021-06-03 | 2021-06-03 | Visual identification mechanism for industrial appearance detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110623148.0A CN113203736B (en) | 2021-06-03 | 2021-06-03 | Industrial appearance detection method based on intelligent vision |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210512824.1A Division CN115046995A (en) | 2021-06-03 | 2021-06-03 | Visual identification mechanism for industrial appearance detection |
| CN202210512825.6A Division CN114951039B (en) | 2021-06-03 | 2021-06-03 | System for be used for industry outward appearance to detect |
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| Publication Number | Publication Date |
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| CN113203736A CN113203736A (en) | 2021-08-03 |
| CN113203736B true CN113203736B (en) | 2022-06-07 |
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| CN202210512824.1A Pending CN115046995A (en) | 2021-06-03 | 2021-06-03 | Visual identification mechanism for industrial appearance detection |
| CN202210512825.6A Active CN114951039B (en) | 2021-06-03 | 2021-06-03 | System for be used for industry outward appearance to detect |
| CN202110623148.0A Active CN113203736B (en) | 2021-06-03 | 2021-06-03 | Industrial appearance detection method based on intelligent vision |
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| CN202210512824.1A Pending CN115046995A (en) | 2021-06-03 | 2021-06-03 | Visual identification mechanism for industrial appearance detection |
| CN202210512825.6A Active CN114951039B (en) | 2021-06-03 | 2021-06-03 | System for be used for industry outward appearance to detect |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114951039A (en) | 2022-08-30 |
| CN114951039B (en) | 2023-10-31 |
| CN115046995A (en) | 2022-09-13 |
| CN113203736A (en) | 2021-08-03 |
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