CN113560201A - Detection method - Google Patents
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- CN113560201A CN113560201A CN202110831660.4A CN202110831660A CN113560201A CN 113560201 A CN113560201 A CN 113560201A CN 202110831660 A CN202110831660 A CN 202110831660A CN 113560201 A CN113560201 A CN 113560201A
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- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 238000012545 processing Methods 0.000 claims abstract description 41
- 238000012546 transfer Methods 0.000 claims abstract description 34
- 230000007547 defect Effects 0.000 claims abstract description 20
- 230000002950 deficient Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 13
- 238000007689 inspection Methods 0.000 claims description 9
- 238000004512 die casting Methods 0.000 description 25
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 230000010006 flight Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
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- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003746 surface roughness Effects 0.000 description 1
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Abstract
The invention relates to a detection method, which comprises the following steps: acquiring an image of a workpiece to be detected through a vision system; the vision system transmits the acquired image to a processing system, and the processing system judges whether the workpiece to be detected has a forming defect according to the image; when the workpiece to be detected is detected as a bad workpiece with a forming defect, conveying the bad workpiece to a specified position; when the workpiece to be detected is detected as a normal workpiece without forming defects, the vision system transmits coordinate position information of the normal workpiece to a transfer system, and the transfer system moves to the coordinate position to take away the normal workpiece. Therefore, the detection efficiency and the detection precision of the workpiece can be improved, and the detection cost can be reduced.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a detection method.
Background
The essence of die casting is a forming process in which liquid or semi-solid metal is filled into a die cavity of a die casting mold at a very high speed under the action of high pressure, and is formed and cooled to solidify under the action of pressure to obtain a die casting. The die casting has the advantage of good product quality, for example, the die casting has high dimensional precision which can reach IT9 level at most; the surface smoothness is good, and the surface roughness can reach Ra0.4 mu m to the maximum; the tissue density is high, and the strength and the hardness are high, so that the surface of the material has good wear resistance and corrosion resistance; high size precision and good interchangeability. The die-casting production efficiency is high, mechanization and automation are easy to realize, the service life of the die-casting die is long, meanwhile, the machining allowance can be reduced, the metal utilization rate is improved, auxiliary machining equipment is reduced, and therefore the manufacturing cost is reduced.
After the die castings are produced, if the poor die castings with the forming defects are directly subjected to subsequent related treatment processes without screening, the poor die castings are subjected to meaningless processing, and finally a large amount of manpower and material resources are wasted, so that the die castings must be detected firstly to judge whether the die castings are the poor die castings with the forming defects such as incomplete forming defects or cracks. Generally, the detection is performed manually, but the manual detection efficiency is low, the detection precision is low, a misjudgment phenomenon that a defective die casting is mistaken for a normal die casting exists, and a missing detection phenomenon that an undetected die casting is mistaken for a detected die casting is possibly caused. Meanwhile, before the die castings qualified in detection are transferred to subsequent processing equipment for processing, the die castings are required to be placed on a preset positioning tool, so that the die castings are transferred to relevant processing equipment from the positioning tool by a manipulator, the positioning time is increased, the design and manufacturing cost of the positioning tool is increased, and the detection efficiency and the detection cost are also influenced.
Disclosure of Invention
The invention solves the technical problem of how to improve the detection efficiency and the detection precision of the workpiece and reduce the detection cost.
A method of detection comprising the steps of:
acquiring an image of a workpiece to be detected through a vision system;
the vision system transmits the acquired image to a processing system, and the processing system judges whether the workpiece to be detected has a forming defect according to the image; and
when the workpiece to be detected is detected as a bad workpiece with a forming defect, conveying the bad workpiece to a specified position; when the workpiece to be detected is detected as a normal workpiece without forming defects, the vision system transmits coordinate position information of the normal workpiece to a transfer system, and the transfer system moves to the coordinate position to take away the normal workpiece.
In one embodiment, the workpiece to be tested is conveyed by a conveying belt.
In one embodiment, the conveying belt stops moving when the conveying belt conveys the workpiece to be tested to a designated area near the vision system; when the workpiece to be detected is detected as a bad workpiece, the conveying belt starts to move; when the workpiece to be detected is detected as a normal workpiece, the conveying belt starts to move after the normal workpiece is moved out.
In one embodiment, the presence of the workpiece to be tested on the conveyor belt in a designated area near the vision system is detected by a sensor.
In one embodiment, the sensor is configured to include an emitting component and a receiving component which are arranged at intervals, and when the light emitted by the emitting component cannot be received by the receiving component, the workpiece to be detected exists in the designated area; when the light emitted by the emitting assembly cannot be received by the receiving assembly, the workpiece to be detected does not exist in the designated area.
In one embodiment, a receptacle is provided at a tail output end of the conveyor belt, and the conveyor belt inputs the defective work pieces from the tail output end to the receptacle for collection.
In one embodiment, the conveying belt is provided into a first conveying section, a second conveying section and a third conveying section, the first conveying section and the third conveying section are arranged in parallel, one end of the second conveying section is vertically connected with the first conveying section, and the other end of the second conveying section is vertically connected with the third conveying section; and inputting the workpiece to be detected from the first conveying section, and acquiring an image of the workpiece to be detected in the third conveying section.
In one embodiment, the vision system includes an industrial stereo camera, the industrial stereo camera includes a first lens and a second lens, a central axis of the first lens is a first central axis, a central axis of the second lens is a second central axis, and the first central axis and the second central axis intersect.
In one embodiment, the processing system compares the image with a standard picture stored in the processing system and calculates a difference value between the image and the standard picture, the processing system provides a set threshold value for reference, and when the difference value is greater than the set threshold value, the workpiece to be detected is a poor workpiece; and when the difference value is smaller than or equal to the set threshold value, the workpiece to be detected is detected as a normal workpiece.
In one embodiment, at least one of the following schemes is further included:
sharing the same coordinate system by the transfer system and the vision system, and transmitting the coordinate position of the normal workpiece to the transfer system by the vision system in a character string manner;
the transfer system is configured as a six-axis robot.
One technical effect of one embodiment of the invention is that: the vision system transmits the acquired image to the processing system, and the processing system judges whether the workpiece to be detected has a forming defect or not according to the image. The vision system and the processing system can replace manual detection, so that the detection efficiency and the detection precision of the workpiece are improved, and the detection cost is reduced. Meanwhile, the coordinate position of the normal workpiece is conveyed to the transfer system through the vision system, the transfer system directly moves to the coordinate position to take the normal workpiece away, so that the arrangement of a positioning tool can be omitted, the design and manufacturing cost of the positioning tool is omitted on the one hand, and the detection cost is further reduced. On the other hand, the time consumed by transferring the normal workpiece between the conveying belt and the positioning tool is eliminated, so that the detection efficiency is further improved.
Drawings
FIG. 1 is a block diagram of a process flow of a detection method according to an embodiment;
FIG. 2 is a schematic plan view of an inspection line including a vision system, a processing system, a transfer system, and a conveyor.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Referring to fig. 1 and fig. 2, the detection method provided by the present invention is used for detecting a workpiece, where the workpiece to be detected is marked as a workpiece to be detected, and when the workpiece to be detected has a forming defect, the workpiece to be detected is a bad workpiece; when the workpiece to be detected does not have the forming defect, the workpiece to be detected is a normal workpiece, the workpiece to be detected can be a die casting and the like, and the detection method mainly comprises the following steps:
and S310, acquiring an image of the workpiece to be detected through the vision system 230.
S320, the vision system 230 transmits the acquired image to the processing system 220, and the processing system 220 judges whether the workpiece to be detected has a forming defect according to the image.
S330, when the workpiece to be detected is detected as a bad workpiece with a forming defect, conveying the bad workpiece to a specified position; when the workpiece to be measured is detected as a normal workpiece without forming defects, the vision system 230 conveys the coordinate position of the normal workpiece to the transfer system 240, and the transfer system 240 moves to the coordinate position to take the normal workpiece away.
In some embodiments, the workpiece to be measured is conveyed by a conveyor belt 100, and the conveyor belt 100 may be a belt or a synchronous belt. The conveyor belt 100 may comprise three sections, i.e. the conveyor belt 100 may be of a three-section design, in particular the conveyor belt 100 comprises a first conveyor section 110, a second conveyor section 120 and a third conveyor section 130. The first conveying section 110 may be sleeved on the first driving wheel and the first driven wheel, the first driving wheel may be driven by the first motor, and when the first motor drives the first driving wheel to rotate, the first conveying section 110 is driven to move by the cooperation of the first driven wheel. The die casting machine 210 may be disposed adjacent to the first conveying section 110. After the die cast is molded in the die casting mold of the die casting machine 210, the die cast as the workpiece to be tested may be transferred from the inside of the die casting mold onto the first conveying section 110 for subsequent inspection of the workpiece to be tested.
The third conveying flights 130 may be arranged in parallel with the first conveying flights 110, i.e., the first conveying flights 110 and the third conveying flights 130 are spaced apart by a distance. The second conveying section 120 is connected between the first conveying section 110 and the third conveying section 130, the second conveying section 120 is vertically connected with the first conveying section 110 and the third conveying section 130, for example, one end of the second conveying section 120 is vertically connected with one end of the first conveying section 110, the other end of the second conveying section 120 is vertically connected with one end of the third conveying section 130, and the first conveying section 110 and the third conveying section 130 are both located on the same side of the width direction of the second conveying section 120, for example, the first conveying section 110 and the third conveying section 130 are both located on the left side or the right side of the width direction of the second conveying section 120. The first conveying section 110 and the third conveying section 130 may also be respectively located on opposite sides of the second conveying section 120 in the width direction, for example, the first conveying section 110 may be located on the left side of the second conveying section 120 in the width direction, and the third conveying section 130 is located on the right side of the second conveying section 120 in the width direction; the first conveying segment 110 may be located on the right side of the width direction of the second conveying segment 120, and the third conveying segment 130 may be located on the left side of the width direction of the second conveying segment 120.
The second conveying section 120 may be sleeved on a second driving wheel and a second driven wheel, the second driving wheel may be driven by a second motor, and when the second motor drives the second driving wheel to rotate, the second conveying section 120 is driven to move by the cooperation of the second driven wheel. The workpiece to be tested transferred from the first conveying section 110 may enter the second conveying section 120 to continue the forward transfer. The third conveying section 130 may be sleeved on a third driving wheel and a third driven wheel, the third driving wheel may be driven by a third motor, and when the third motor drives the third driving wheel to rotate, the third conveying section 130 is driven to move by the synergistic effect of the third driven wheel. The workpiece to be tested transferred from the second conveying section 120 may enter the third conveying section 130 to continue the forward transfer. All three of the vision system 230, the treatment system 220 and the transfer system 240 may be arranged beside the third conveying section. When the workpiece to be tested sequentially passes through the first conveying section 110 and the second conveying section 120 to enter the third conveying section 130, the workpiece to be tested can continue to move forward for a certain distance to enter a designated area, obviously, the designated area is located near the vision system 230.
In some embodiments, a sensor may be disposed beside the designated area, and the sensor may feed back information on whether the workpiece to be measured exists in the designated area. When the sensor feeds back the information that the workpiece to be detected does not exist in the designated area, the whole conveying belt 100 can continue to move; when the sensor feeds back information that the workpiece to be measured exists in the designated area, the entire conveyor belt 100 may stop moving, so that the vision system 230 performs image acquisition on the workpiece to be measured located in the designated area. The sensor may be configured to include a transmitting component and a receiving component, and both the transmitting component and the receiving component may be spaced apart along the width direction of the third conveying section 130, for example, the transmitting component is located on one side of the width direction of the third conveying section 130, and the receiving component is located on the other side of the width direction of the third conveying section 130. The emitting component can emit light rays which can pass through the designated area, when the workpiece to be detected exists in the designated area, the light rays emitted by the emitting component cannot reach the receiving component and are received by the receiving component due to the blocking effect of the workpiece to be detected, and at the moment, the sensor feeds back the information of the workpiece to be detected existing in the designated area. When the workpiece to be detected does not exist in the designated area, the blocking effect of the workpiece to be detected on light does not exist in the designated area, the light emitted by the emitting assembly is ensured to pass through the designated area and be received by the receiving assembly, and at the moment, the sensor feeds back the information that the workpiece to be detected does not exist in the designated area.
Of course, the sensor emitting and receiving assemblies may be integrally disposed rather than being spaced apart, such that both the emitting and receiving assemblies are simultaneously located on the same side of the third conveying section 130 in the width direction. When the sensor works, when a workpiece to be detected exists in the designated area, the light emitted by the emitting assembly is reflected on the workpiece to be detected and received by the receiving assembly under the blocking effect of the workpiece to be detected, and at the moment, the sensor feeds back the information of the workpiece to be detected existing in the designated area. When the workpiece to be detected does not exist in the designated area, the reflection effect of the workpiece to be detected on the light does not exist in the designated area, the light emitted by the emitting assembly can be emitted through the designated area and cannot be reflected to the receiving assembly, namely, the receiving assembly cannot receive the light emitted by the emitting assembly, and at the moment, the sensor feeds back the information of the workpiece to be detected which does not exist in the designated area.
Therefore, through setting up the sensor, can feed back the information whether to have the work piece that awaits measuring in the appointed area through the sensor, the sensor can replace the function of naked eye promptly, avoids the visual angle fatigue and the relevant maloperation that artifical observation and production, improves the speed and the degree of accuracy of information feedback to improve detection efficiency and detection precision, and reduce and detect the cost.
In some embodiments, the vision system 230 may be an industrial stereo camera, and when the workpiece to be measured moves to the designated area, the conveyor belt 100 stops moving, and the vision system 230 takes an all-around photograph of the outer surface of the workpiece to be measured to acquire an image. Because the vision system 230 is an industrial stereo camera, a dead angle of shooting can be prevented, and the vision system 230 can cover the outer surface of the workpiece to be detected in all directions, so that the accuracy of the acquired image is improved. After the vision system 230 finishes capturing the image, the vision system 230 may transmit the captured image to the processing system 220, for example, a data line may be directly connected between the vision system 230 and the processing system 220, and the image of the vision system 230 may be directly transmitted to the processing system 220 through the data line, that is, the image is transmitted by a wired transmission manner. As another example, a bluetooth connection or WiFi connection may be established between the vision system 230 and the processing system 220, and the image of the vision system 230 may be transmitted to the processing system 220 through the bluetooth or WiFi, i.e., the image is transmitted by wireless transmission.
The industrial stereo camera comprises a first lens and a second lens, wherein the central axis of the first lens is marked as a first central axis, the central axis of the second lens is marked as a second central axis, and the first central axis and the second central axis are intersected. In view of the intersecting arrangement of the first central axis and the second central axis, when the industrial stereo camera rotates, the first lens and the second lens can cover the whole outer surface of the workpiece to be measured, so that the image acquisition precision of the industrial stereo camera is further improved.
The processing system 220 stores a standard picture, which can be processed from an image of a normal workpiece. After the processing system 220 collects the image, the processing system 220 compares the collected image with the standard image and calculates the difference between the image and the standard image, of course, the processing system 220 provides a set threshold for reference. When the difference value is greater than the set threshold value, the workpiece to be detected is a defective workpiece, and at this time, the conveyor belt 100 starts to operate so as to convey the defective workpiece to a specified position. When the difference value is less than or equal to the set threshold value, the workpiece to be detected is detected as a normal workpiece, at this time, the conveyor belt 100 still stops working, the transfer system 240 takes the normal workpiece away from the third transmission section, and after the normal workpiece is taken away, the conveyor belt 100 starts working, so that the next workpiece to be detected moves to a designated area for the next round of detection.
Therefore, the workpiece to be detected is subjected to image acquisition through the vision system 230, the image is analyzed through the processing system 220, and compared with manual observation, on one hand, the work efficiency of the vision system 230 and the processing system 220 is high, whether the workpiece to be detected has a forming defect or not can be rapidly judged, and therefore the detection efficiency is improved. On the other hand, the vision system 230 can improve the accuracy of the acquired image, and the processing system 220 has high calculation accuracy and can accurately judge whether the workpiece to be detected has a forming defect, thereby improving the detection accuracy. On the other hand, the vision system 230 and the processing system 220 have low cost and can replace manual work for a long time, so that the labor cost is greatly reduced, and the detection cost is finally reduced.
A container 250 may be further disposed at a tail output end of the third conveying section 130, the container 250 may have a barrel-shaped structure, and when the workpiece to be measured is determined to be a defective workpiece, the defective workpiece may fall into the container 250 from the tail output end in the moving process of the third conveying section 130, so that the container 250 collectively contains the defective workpieces. The defective work piece is removed from the container 250 at set intervals for transfer to the next waste disposal station. The container 250 can be further provided with a detection alarm unit, when the defective workpieces in the container 250 reach saturation, the detection alarm unit detects the saturation information and generates an alarm, so that the staff can take the defective workpieces in the container 250 away in time. Of course, the receptacle 250 may establish a conveyor belt with the waste disposal station, and when the number of defective workpieces in the receptacle 250 reaches a set number, the conveyor belt is operated to automatically transfer the defective workpieces in the receptacle 250 to the waste disposal station.
In some embodiments, the transfer system 240 may employ a six-axis manipulator, so that the transfer system 240 has more degrees of freedom, and it is ensured that the transfer system 240 can grasp a normal space from different angles at different positions, in a popular way, the transfer system 240 has multiple "grasping postures", and is applicable to different grasping conditions, so as to reduce the debugging time of the "grasping postures", thereby improving the working efficiency of the transfer system 240 in grasping a normal workpiece. The transferring system 240 and the vision system 230 share the same coordinate system, which may be a rectangular spatial coordinate system, in a case where the workpiece to be measured is detected as a normal workpiece, the vision system 230 may accurately calculate a coordinate position of the normal workpiece located in the designated area, and transmit the coordinate position to the transferring system 240 in a character string manner, and after the transferring system 240 receives information of the coordinate position, the transferring system 240 may quickly and accurately reach the coordinate position of the normal workpiece to capture the normal workpiece, so as to transfer the normal workpiece to a next processing station on the other equipment 260 for related processing. A data line may be directly connected between the vision system 230 and the transfer system 240, and the character string of the vision system 230 may be directly transmitted to the processing system 220 through the data line, that is, the character string is transmitted by means of wired transmission. As another example, a bluetooth connection or WiFi connection may be established between the vision system 230 and the transfer system 240, and the character string of the vision system 230 may be transmitted to the processing system 220 through the bluetooth or WiFi, that is, the character string is transmitted by wireless transmission.
If the positioning tool is arranged beside the conveying belt 100, when the workpiece to be detected is detected as a normal workpiece, the normal workpiece is firstly placed on the positioning tool through the transfer mechanism, namely, the accurate coordinate position of the normal workpiece is determined through the positioning tool. The normal work piece on the positioning tool is then removed by the robot to be transferred to the next processing station on the other equipment 260 for processing. So on the one hand will increase the design and manufacturing cost of location frock to improve and detect the cost. On the other hand, the time consumed for transferring the normal workpiece between the conveying belt 100 and the positioning tool is increased, so that the detection efficiency is reduced.
In the detection method in the above embodiment, the coordinate position of the normal workpiece is conveyed to the transfer system 240 through the vision system 230, and the transfer system 240 directly moves to the coordinate position to take away the normal workpiece, so that the arrangement of the positioning tool can be omitted, the design and manufacturing cost of the positioning tool can be omitted, and the detection cost can be reduced. On the other hand, the time consumed by transferring the normal workpiece between the conveying belt 100 and the positioning tool is eliminated, so that the detection efficiency is improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of detection, comprising the steps of:
acquiring an image of a workpiece to be detected through a vision system;
the vision system transmits the acquired image to a processing system, and the processing system judges whether the workpiece to be detected has a forming defect according to the image; and
when the workpiece to be detected is detected as a bad workpiece with a forming defect, conveying the bad workpiece to a specified position; when the workpiece to be detected is detected as a normal workpiece without forming defects, the vision system transmits coordinate position information of the normal workpiece to a transfer system, and the transfer system moves to the coordinate position to take away the normal workpiece.
2. The inspection method according to claim 1, wherein the workpiece to be inspected is conveyed by a conveyor belt.
3. The inspection method according to claim 2, wherein in a case where the conveyor belt conveys the workpiece to be inspected to a specified area in the vicinity of the vision system, the conveyor belt stops moving; when the workpiece to be detected is detected as a bad workpiece, the conveying belt starts to move; when the workpiece to be detected is detected as a normal workpiece, the conveying belt starts to move after the normal workpiece is moved out.
4. The inspection method of claim 2, wherein the presence of the workpiece to be inspected on the conveyor belt in a designated area near the vision system is detected by a sensor.
5. The detection method according to claim 4, wherein the sensor is configured to include an emitting component and a receiving component which are arranged at intervals, and when the light emitted by the emitting component cannot be received by the receiving component, the workpiece to be detected exists in the designated area; when the light emitted by the emitting assembly cannot be received by the receiving assembly, the workpiece to be detected does not exist in the designated area.
6. The inspection method according to claim 2, wherein a housing is provided at a tail output end of the conveyor belt, and the conveyor belt inputs the defective workpiece from the tail output end into the housing and collects the defective workpiece.
7. The inspection method according to claim 2, wherein the conveyor belt is provided as a first conveyance section, a second conveyance section, and a third conveyance section, the first conveyance section and the third conveyance section being arranged in parallel, one end of the second conveyance section being vertically connected to the first conveyance section, and the other end of the second conveyance section being vertically connected to the third conveyance section; and inputting the workpiece to be detected from the first conveying section, and acquiring an image of the workpiece to be detected in the third conveying section.
8. The inspection method according to claim 1, wherein the vision system comprises an industrial stereo camera, the industrial stereo camera comprises a first lens and a second lens, a central axis of the first lens is denoted as a first central axis, a central axis of the second lens is denoted as a second central axis, and the first central axis and the second central axis intersect with each other.
9. The inspection method according to claim 1, wherein the processing system compares the image with a standard picture stored in the processing system and calculates a difference value between the image and the standard picture, the processing system provides a set threshold value for reference, and when the difference value is greater than the set threshold value, the workpiece to be inspected is detected as a bad workpiece; and when the difference value is smaller than or equal to the set threshold value, the workpiece to be detected is detected as a normal workpiece.
10. The detection method according to claim 1, further comprising at least one of the following:
sharing the same coordinate system by the transfer system and the vision system, and transmitting the coordinate position of the normal workpiece to the transfer system by the vision system in a character string manner;
the transfer system is configured as a six-axis robot.
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