CN113634510A - Automatic line for appearance detection and sorting of pipe joint forge piece - Google Patents
Automatic line for appearance detection and sorting of pipe joint forge piece Download PDFInfo
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- CN113634510A CN113634510A CN202110899066.9A CN202110899066A CN113634510A CN 113634510 A CN113634510 A CN 113634510A CN 202110899066 A CN202110899066 A CN 202110899066A CN 113634510 A CN113634510 A CN 113634510A
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- 230000007246 mechanism Effects 0.000 claims abstract description 256
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- 238000007599 discharging Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 12
- 238000011179 visual inspection Methods 0.000 description 9
- 238000007689 inspection Methods 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
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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
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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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The invention relates to an automatic line for detecting and sorting the appearance of a pipe joint forging, which comprises a feeding mechanism and a visual detection mechanism, wherein the feeding mechanism is positioned between a feeding mechanism and a conveying mechanism; a sorting mechanism is further arranged on one side of the conveying mechanism, and a visual detection mechanism is further arranged on the periphery of the sorting mechanism; and the conveying mechanism is provided with a plurality of workpiece positioning seats for conveying workpieces. The invention provides an automatic line for detecting and sorting the appearance of a pipe joint forging, which can detect and sort the defects of the pipe joint forging.
Description
Technical Field
The invention relates to the technical field of machining, in particular to an automatic line for appearance detection and sorting of a pipe joint forge piece.
Background
The pipe joint is a main component of a hydraulic pipeline and is a bridge for connecting the pipeline and the pipeline. The surface defects can be caused by a series of factors such as insufficient stamping, scratching and the like in the production process of the pipe joint. In order to guarantee the quality of products, the forged pipe joints need to be subjected to defect detection and sorted. Until now, these tasks have been performed manually. The labor intensity of workers is high, the efficiency is low, and the detection for a long time damages the vision, so that the accuracy of the detection is influenced. In order to solve this problem, a pipe joint detection apparatus has been developed in the prior art.
For example, patent application No.: CN 201811392049.0; the patent name: a visual detection method for pipe joints includes such steps as providing a conveying line, automatically conveying pipe joints, sequentially arranging an internal peeping detection mechanism to detect if there is impurities in the pipe joints, an external surface detection mechanism to detect the surface smoothness of the pipe joints, a three-phase machine detection mechanism to detect if there is collision damage to the end of the pipe joints and if the internal wall is rusted, and sorting and collecting.
However, the charging stand structure in the prior art has the following disadvantages: firstly, large-batch feeding and conveying are inconvenient to realize, and the conveying stability is poor; secondly, a plurality of angles of the appearance of the rotary joint cannot be detected, and the image acquisition effect of visual detection is poor. Thirdly, the detected adapter is not convenient to sort.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides an automatic line for detecting and sorting the appearance of the pipe joint forge piece, and can detect and sort the pipe joint forge piece.
In order to achieve the purpose, the invention adopts the technical scheme that: an automatic line for appearance detection and sorting of pipe joint forgings comprises a feeding mechanism and a visual detection mechanism, wherein the feeding mechanism is located between a feeding mechanism and a conveying mechanism, and the visual detection mechanism corresponds to the conveying mechanism; a sorting mechanism is further arranged on one side of the conveying mechanism, and a visual detection mechanism is further arranged on the periphery of the sorting mechanism; and the conveying mechanism is provided with a plurality of workpiece positioning seats for conveying workpieces.
In a preferred embodiment of the invention, the conveying mechanism comprises a first frame arranged between the feeding mechanism and the sorting mechanism, a plurality of chain tracks are arranged on the first frame, a plurality of chains capable of carrying out closed-loop conveying are arranged on the chain tracks, the chains are driven to convey by the driving mechanism, and a plurality of workpiece positioning seats are arranged on the chains.
In a preferred embodiment of the invention, the feeding mechanism comprises a mounting seat arranged between the feeding mechanism and the conveying mechanism, a displacement mechanism is arranged on the mounting seat in a driving manner, and a first clamping jaw capable of displacing relative to the feeding mechanism and the conveying mechanism is arranged on the displacement mechanism in a driving manner.
In a preferred embodiment of the invention, the displacement mechanism comprises a driving rod and a transmission rod which are respectively arranged on the mounting seat in a swinging mode, one end of the driving rod is pivotally connected with one end of a connecting rod, the other end of the connecting rod is pivotally connected with the middle of the transmission rod, the end part of the transmission rod is pivotally connected with a first synchronous belt wheel, a mounting frame is arranged on the first synchronous belt wheel in a driving mode, and a clamping jaw I is arranged on the mounting frame.
In a preferred embodiment of the invention, the feeding mechanism comprises a bin positioned below and a stepping feeding device positioned above, a scraper lifting device is further arranged between the bin and the stepping feeding device, one end of the scraper lifting device extends into the bin, and the other end of the scraper lifting device corresponds to the stepping feeding device.
In a preferred embodiment of the present invention, the visual inspection mechanism comprises a plurality of inspection cameras and a plurality of light sources corresponding to the inspection cameras.
In a preferred embodiment of the present invention, the light source comprises a plurality of ring light sources or/and a plurality of low angle light sources.
In a preferred embodiment of the invention, the sorting mechanism is a rotary sorting mechanism, the sorting mechanism comprises a second bracket arranged on one side of the conveying mechanism, a platform is arranged on the second bracket, a cam divider is arranged on the platform, a rotary table is arranged on the cam divider in a driving manner, a plurality of mounting plates six are arranged at intervals on the periphery of the rotary table, a plurality of lifting mechanisms are arranged on the mounting plates six, a rotary mechanism is arranged on the lifting mechanisms in a driving manner, and a clamping jaw two is arranged on the rotary mechanism in a driving manner.
In a preferred embodiment of the invention, a soft plug is arranged in the second clamping jaw; or/and a plurality of visual detection mechanisms corresponding to the sorting mechanism are arranged on the periphery of the rotary sorting mechanism; or/and the conveying mechanism, the visual detection mechanism and the sorting mechanism are arranged in the light shield, and a plurality of feeding and discharging grooves are formed in the light shield.
In a preferred embodiment of the present invention, an appearance detecting and sorting method for an automatic line for detecting and sorting an appearance of a pipe joint forging includes the following steps:
step one, feeding the workpiece through a feeding mechanism.
And step two, driving the displacement mechanism in the feeding mechanism to drive the clamping jaw to displace to the material taking position of the feeding mechanism, clamping the workpiece through the first clamping jaw, driving the displacement mechanism to move to drive the clamping jaw to displace to the workpiece positioning seat on the chain of the conveying mechanism, and placing the workpiece on the workpiece positioning seat through the first clamping jaw.
And step three, driving the chain to circularly convey through the driving conveying mechanism, driving the workpiece positioning seats arranged on the chain at intervals to move, and further conveying the workpieces loaded on the workpiece positioning seats.
And fourthly, the loaded workpiece sequentially passes through a visual detection mechanism arranged on the periphery of the conveying mechanism, image acquisition is carried out on the workpiece through detection cameras with different image angles arranged in the visual detection mechanism, and the workpiece is supplemented with light by utilizing an annular light source or/and a low-angle light source, so that appearance detection is realized.
And fifthly, conveying the workpieces subjected to appearance detection to a sorting mechanism, sequentially acquiring the workpieces through a plurality of clamping jaws II arranged on the sorting mechanism, and sequentially conveying the clamping jaws II by a turntable arranged on the sorting mechanism to realize transfer and sorting of the workpieces.
The invention solves the defects existing in the background technology, and has the beneficial effects that:
the invention discloses an automatic line for detecting and sorting the appearance of a pipe joint forging, which can detect and sort the defects of the pipe joint forging.
1. The visual detection mechanism is arranged on the two sides and the upper end of the conveying mechanism, and the defects on the two side faces and the top of the workpiece are identified.
2. The cooperation between transport mechanism, visual inspection mechanism, the letter sorting mechanism reaches the purpose that detects the work piece multi-angle. The operation of sorting the workpieces is realized, the cost is saved, and the working efficiency is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of an automated line for appearance inspection and sorting of pipe joint forgings in a preferred embodiment of the invention;
FIG. 2 is a schematic view of the feeding mechanism in the preferred embodiment of the present invention;
FIG. 3 is a schematic axial view of the transfer mechanism in the preferred embodiment of the present invention;
FIG. 4 is a schematic side view of the transfer mechanism in the preferred embodiment of the invention;
FIG. 5 is a schematic diagram of the shadowless detection module in the visual inspection mechanism according to the preferred embodiment of the invention;
FIG. 6 is a schematic structural diagram of a low-angle light source detection module in a visual detection mechanism according to a preferred embodiment of the present invention;
FIG. 7 is a schematic axial view of a sorting mechanism in a preferred embodiment of the present invention;
FIG. 8 is a schematic top view of a sorting mechanism in accordance with a preferred embodiment of the present invention;
FIG. 9 is an enlarged schematic view of the sorting mechanism of FIG. 1 in accordance with a preferred embodiment of the present invention;
FIG. 10 is a schematic axial view of an automated line for inspection and sorting of the appearance of pipe joint forgings in accordance with the preferred embodiment of the present invention;
FIG. 11 is a schematic view of the structure of the loading mechanism in the preferred embodiment of the present invention;
in the figure: 1-a feeding mechanism, 11-a silo, 12-a step-by-step feeding device, 121-a step-by-step conveyor belt, 13-a scraper lifting device, 2-a feeding mechanism, 201-a clamping jaw I, 202-a clamping mechanism, 203-a mounting plate I, 204-a vertical shaft, 205-a mounting plate II, 206-a synchronous pulley I, 207-a mounting plate III, 208-a horizontal shaft, 209-a transmission rod, 210-a connection rod, 211-a driving rod, 3-a conveying mechanism, 301-a rack I, 302-a driven shaft, 304-a workpiece positioning seat, 305-a chain, 306-a driving shaft, 307-a photoelectric sensor I, 308-a bearing seat, 309-a chain track, 311-a reducer, 313-a synchronous pulley II, 314-a servo motor and 315-a chain wheel, 4-visual detection mechanism, 401-bracket I, 402-annular light source I, 403-detection camera, 404-annular light source II, 405-low-angle light source, 5-sorting mechanism, 51-station I, 52-station II, 53-station III, 54-station IV, 55-station V, 56-station VI, 501-bracket II, 502-lifting mechanism, 503-mounting plate VI, 505-turntable, 506-photoelectric sensor II, 507-cam divider, 508-swing mechanism, 509-clamping jaw II, 510-soft plug, 511-platform, 6-light shield and 7-workpiece.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and examples, which are simplified schematic drawings and illustrate only the basic structure of the invention in a schematic manner, and thus show only the constituents relevant to the invention.
It should be noted that, if directional indications (such as up, down, bottom, top, etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative position relationship, motion situation, etc. of each component in a certain posture, and if the certain posture is changed, the directional indications are changed accordingly. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are intended to be inclusive and mean, for example, that there may be a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 11, an automation line for appearance detection and sorting of pipe joint forgings comprises a feeding mechanism 2 located between a feeding mechanism 1 and a conveying mechanism 3, and a visual detection mechanism 4 corresponding to the conveying mechanism 3; a sorting mechanism 5 is further arranged on one side of the conveying mechanism 3, and a visual detection mechanism 4 is further arranged on the periphery of the sorting mechanism 5; the conveying mechanism 3 is provided with a plurality of workpiece positioning seats 304 for conveying the workpieces 7. Conveying mechanism 3, visual inspection mechanism 4, letter sorting mechanism 5 set up in lens hood 6, and are provided with a plurality of on the lens hood 6 and advance the blown down tank.
As shown in fig. 1, the feeding mechanism 1 includes a bin 11 located below and a stepping feeding device 12 located above, a scraper lifting device 13 is further disposed between the bin 11 and the stepping feeding device 12, one end of the scraper lifting device 13 extends into the bin 11, and the other end of the scraper lifting device 13 corresponds to a stepping conveyor belt 121 on the stepping feeding device 12.
As shown in fig. 1 and 2, the feeding mechanism 2 includes a mounting seat disposed between the feeding mechanism 1 and the conveying mechanism 3, a displacement mechanism is disposed on the mounting seat, and a first clamping jaw 201 capable of displacing relative to the feeding mechanism 1 and the conveying mechanism 3 is disposed on the displacement mechanism. The displacement mechanism comprises a driving rod 211 and a driving rod 209 which are arranged on the mounting seat in a swinging mode respectively, one end of the driving rod 211 is in pivot connection with one end of a connecting rod 210, the other end of the connecting rod 210 is in pivot connection with the middle of the driving rod 209, the end portion of the driving rod 209 is in pivot connection with a first synchronous pulley 206, a mounting frame is arranged on the first synchronous pulley 206 in a driving mode, and a clamping jaw 201 is arranged on the mounting frame. The mounting bracket includes the third 207 of mounting panel of being connected with the driving of synchronous pulley 206, be provided with a pair of horizontal axis 208 of outside extension perpendicularly on the third 207 of mounting panel, the one end of horizontal axis 208 and the perpendicular installation of the third 207 of mounting panel, the other end of horizontal axis 208 is fixed with the second 205 of mounting panel, the fixed vertical axle 204 that wears to be equipped with on the second 205 of mounting panel, the one end and the second 205 fixed mounting of mounting panel of vertical axle 204, the other end and the first 203 fixed equipment of mounting panel of vertical axle 204, make the third 207 of mounting panel, horizontal axis 208, the second 205 of mounting panel, vertical axle 204, the first 203 of mounting panel constitute an inverted L-shaped structure's linking arm. The end part of the first mounting plate 203 is provided with a clamping mechanism 202, the clamping mechanism 202 is provided with a first clamping jaw 201 in a driving mode, and clamping and releasing actions are achieved by driving clamping flaps of the first clamping jaw 201 to open and close relatively through the clamping mechanism 202. The clamping mechanism 202 can adopt a clamping air cylinder in the prior art, and the first clamping jaw 201 can adopt a pneumatic clamping jaw driven by the clamping air cylinder.
As shown in fig. 1, 3 and 4, the conveying mechanism 3 is a stepping conveying line, the conveying mechanism 3 includes a first frame 301 arranged between the feeding mechanism 1 and the sorting mechanism 5, the first frame 301 is provided with a plurality of chain rails 309, the chain rails 309 are provided with a plurality of chains 305 capable of performing closed-loop conveying, the chains 305 are driven and conveyed by a driving mechanism, and the chains 305 are provided with a plurality of workpiece positioning seats 304. Further, in order to improve the stability of the transmission of the workpiece 7, a transmission groove is formed in the upper portion of the first frame 301, the two ends of the transmission groove are respectively provided with a driven shaft 302 and a driving shaft 306 through a bearing seat 308 in a pivoting manner, a chain rail 309 is arranged on the side wall of the transmission groove in a relative manner, a pair of chains 305 in a closed-loop structure is arranged on the two sides of the transmission groove in a relative manner, the chains 305 are respectively sleeved on chain wheels 315 on the driven shaft 302 and the driving shaft 306 in a driving manner, the chains 305 are meshed with the chain wheels 315 in a driving manner, and the upper sides of the two chains 305 are respectively penetrated through the corresponding chain rails 309. Further, a chain rail 309 is mounted on the rail mounting plate of the transfer slot for tensioning the chain 305. The chain 305 passes through the chain track 309 and loops around the end sprockets 315. The driving shaft 306 is in driving connection with a second synchronous pulley 313 through a synchronous belt, and the second synchronous pulley 313 is in driving connection with a servo motor 314 through a speed reducer 311. The servo motor 314 drives the second synchronous pulley 313 to drive the driving shaft 306 to rotate, so that the transmission of the transmission mechanism 3 is realized. The inner sides of the oppositely arranged chains 305 are provided with hanging lugs, the oppositely arranged hanging lugs are transversely provided with workpiece positioning seats 304 in a crossing manner, and the workpiece positioning seats 304 are provided with positioning tables corresponding to the workpieces 7. Further, the reducer 311 is a planetary reducer 311. The first photoelectric sensor 307 is installed on the first frame 301 of the aluminum profile structure. When the first photoelectric sensor 307 on the conveying mechanism 3 detects the workpiece positioning seat 304 with the L-shaped structure, the servo motor 314 stops temporarily for a period of preset value, so as to facilitate the appearance detection image acquisition of the visual detection mechanism 4.
As shown in fig. 1, 5, 6, and 9, the visual inspection mechanism 4 includes a plurality of inspection cameras 403, and a plurality of light sources corresponding to the inspection cameras 403. The light sources comprise several ring light sources or/and several low angle light sources 405. Further, the detection mechanism includes a shadowless detection module or/and a low-angle light source 405 detection module. The shadowless detection module comprises a multi-angle shadowless detection module with a plurality of detection angles, for example, one or more of an upper shadowless detection module, two side shadowless detection modules, a lower shadowless detection module and an inclined shadowless detection module. The upper shadowless detection module comprises a pair of first supports 401 which are arranged oppositely, annular light sources 402 which irradiate downwards are arranged on the first supports 401 respectively, the annular light sources 402 are arranged on two sides of the conveying groove respectively, and an irradiation included angle irradiating downwards is formed between the annular light sources 402 which are arranged oppositely. The first annular light source 402 adopts a plurality of LED lamp beads which are arranged on the annular lamp housing in an annular mode to form an annular shadowless light source. And a pair of detection cameras 403 corresponding to the ring light source one 402 are arranged outside the ring light source one 402, and the workpiece 7 passing under the pair of ring light source one 402 is detected by the detection cameras 403. A pair of annular light sources 404 which are arranged oppositely is further arranged behind the first support 401, the annular light sources 404 are longitudinally arranged on two sides of the conveying groove oppositely, a pair of detection cameras 403 are respectively arranged on the outer sides of the annular light sources 404, and the front sides of two sides of the workpiece 7 passing through the space between the annular light sources 404 are detected through the detection cameras 403.
As shown in fig. 1, an image acquisition mechanism is further disposed on the upper portion of the conveying groove of the conveying mechanism 3, the image acquisition mechanism includes a light supplement box disposed above the conveying groove, a through groove for facilitating conveying of the workpiece 7 is disposed on the lower portion of the light supplement box, and a sampling camera corresponding to the workpiece positioning seat 304 in the conveying groove is disposed on the upper portion of the light supplement box. The upper part of the workpiece 7 is image sampled by a sampling camera.
Fig. 1 and 7-9 show that sorting mechanism 5 adopts rotation type sorting mechanism 5, sorting mechanism 5 is including installing support two 501 in one side of transport mechanism 3, be provided with platform 511 on support two 501, be provided with cam splitter 507 on platform 511, the drive is provided with carousel 505 on the cam splitter 507, the periphery of carousel 505 is provided with a plurality of mounting panel six 503 at the interval, mounting panel six 503 corresponds station one to station six of sorting mechanism 5, station one to station six is according to the anticlockwise direction of rotation, station one is the material loading station, station two is front defect detection station, station three is rear part defect detection station, station four is bottom defect detection station, station five is defect unloading station, station six is yields unloading station. The six plate loading devices are provided with a plurality of lifting mechanisms 502, the lifting mechanisms 502 are provided with rotary mechanisms 508 in a driving mode, and the rotary mechanisms 508 are provided with clamping jaws 509 in a driving mode. A soft plug 510 is arranged in the second clamping jaw 509. The periphery of the rotary sorting mechanism 5 is also provided with a plurality of visual detection mechanisms 4 corresponding to the sorting mechanism 5. The peripheral tool detection mechanism that sets up of rotation type letter sorting mechanism 5 includes downside shadowless detection module, incline shadowless detection module to and low angle light source 405 detects the module. The sorting mechanism 5 is provided with a second photoelectric sensor 506 corresponding to the feeding station, the periphery of the sorting mechanism 5 is provided with a first annular light source 402 and a detection camera 403 which are positioned in a front defect detection station and are combined for detecting the front defect of the workpiece 7, the periphery of the sorting mechanism 5 is provided with a first annular light source 402 and a detection camera 403 which are positioned in a rear defect detection station and are combined for detecting the rear defect of the workpiece 7, and the periphery of the sorting mechanism 5 is provided with a low-angle light source 405 and a detection camera 403 which are positioned in a bottom defect detection station. The detection of the appearance defects of the workpiece 7 is realized by the combination of the annular light source I402 and the detection camera 403. The low-angle light source 405 includes a pair of oppositely disposed low-angle light sources 405 disposed at the periphery of the sorting mechanism 5, and a detection camera 403 disposed at a lower portion of the low-angle light sources 405, a detection angle of the detection camera 403, a lower portion between the opposite low-angle light sources 405, and upward photographing from below. The second clamping jaw 509 driven and arranged on the sorting mechanism 5 respectively passes through the lower shadowless light detection module, the inclined shadowless light detection module and the low-angle light source 405 detection module. The detection of the appearance of the workpiece 7 at multiple angles is realized. The workpieces 7 are classified and sorted by synchronously rotating a plurality of stations of the sorting mechanism 5.
Example two
On the basis of the first embodiment, the step conveyor belt 121 of the step feeding device 12 of the feeding mechanism 1 is of a segmented butt-joint type structure, the conveying channel at the front end is narrow, and the conveying channel at the rear end is wide relative to the front end. The conveying material channel through the front end enables redundant materials to fall into a feed back conveyor belt on one side through a notch arranged on one side of the conveying material channel side of the front end, the feed back conveyor belt is connected with the storage bin 11, and redundant workpieces 7 are guided into the storage bin 11. A clamping adjusting mechanism is arranged on the conveying channel at the rear end, and the workpiece 7 is clamped by the posture adjusting mechanism arranged on one side of the stepping conveying belt 121 to rotate and adjust to a preset required posture; and the workpiece 7 is clamped to the positioning table of the conveying mechanism 3 through the feeding mechanism 2.
EXAMPLE III
On the basis of embodiment two, can also be provided with the gesture detection probe that corresponds with step conveyor 121 in feed mechanism 1 for detect the conveying gesture of work piece 7, can push the work piece 7 that does not conform to the gesture requirement on the feed back conveyer belt through setting up the kickoff block in step conveyor 121 one side, the feed back conveyer belt links up with feed bin 11, with unnecessary work piece 7 leading-in feed bin 11.
Example four
As shown in fig. 1 to 9, the method for detecting and sorting an automatic line for detecting and sorting the appearance of a pipe joint forging in the first embodiment or the second embodiment or the third embodiment includes the following steps:
step one, feeding the workpiece 7 through the feeding mechanism 1.
And step two, driving the displacement mechanism in the feeding mechanism 2 to drive the first clamping jaw 201 to displace to the material taking position of the feeding mechanism 1, clamping the workpiece 7 through the first clamping jaw 201, driving the displacement mechanism to move to drive the first clamping jaw 201 to displace to the workpiece positioning seat 304 on the chain 305 of the conveying mechanism 3, and placing the workpiece 7 on the workpiece positioning seat 304 by the first clamping jaw 201.
And step three, driving the chain 305 to circularly convey through the driving conveying mechanism 3, driving the workpiece positioning seats 304 arranged on the chain 305 at intervals to displace, and further conveying the workpieces 7 loaded on the workpiece positioning seats 304.
And fourthly, the loaded workpiece 7 sequentially passes through the visual detection mechanism 4 arranged on the periphery of the conveying mechanism 3, the detection cameras 403 with different image angles arranged in the visual detection mechanism 4 are used for carrying out image acquisition on the workpiece 7, and the annular light source or/and the low-angle light source 405 are used for supplementing light to the workpiece 7, so that the appearance detection is realized.
And step five, conveying the workpiece 7 subjected to appearance detection to a sorting mechanism 5, sequentially acquiring the workpieces 7 through a plurality of second clamping jaws 509 arranged on the sorting mechanism 5, and driving the second clamping jaws 509 to sequentially convey through a turntable 505 arranged on the sorting mechanism 5 to realize transfer and sorting of the workpieces 7.
Specifically, as shown in fig. 1, the feeding mechanism 1 includes a bin 11 located below and a stepping feeding device 12 located above, a scraper lifting device 13 is further disposed between the bin 11 and the stepping feeding device 12, one end of the scraper lifting device 13 extends into the bin 11, and the other end of the scraper lifting device 13 corresponds to the stepping feeding device 12.
Further, before the mechanical structure is started, the forged workpiece 7, namely the pipe joint forge piece, is placed in the bin 11 of the feeding mechanism 1. The equipment is started, and the workpiece 7 is scraped to the conveying belt of the scraper lifting device by the scraper lifting device and is conveyed to the feeding mechanism 2.
The first clamping jaw 201 of the feeding mechanism 2 clamps the workpiece 7, and the transmission rod 209 is driven to perform swinging motion through the first synchronous pulley 206, so that the workpiece 7 is placed on the workpiece positioning seat 304 of the conveying mechanism 3. The workpiece 7 passes through the partial visual inspection mechanism 4 under the transfer of the conveyance mechanism 3. When the workpiece positioning seat 304 is detected by the first photoelectric sensor 307 on the conveying mechanism 3, the servo motor 314 is stationary for a preset time to perform appearance detection and image acquisition. The high-resolution industrial camera is used for detecting defects of the two sides and the top of the workpiece 7, namely pictures are acquired by the camera 403, and in order to guarantee that the captured pictures are clear, when the equipment is started, the annular light source I402, the annular light source II 404 and the low-angle light source 405 are all turned on. The sorting mechanism 5 is tightly connected with the conveying mechanism 3, the second clamping jaw 509 is a pneumatic finger, the second clamping jaw 509 is right above the second photoelectric sensor 506, when the second photoelectric sensor 506 detects the workpiece positioning seat 304, the lifting mechanism 502 moves downwards, and the second clamping jaw 509 drives the soft plug 510 to clamp the workpiece 7. Then, the lift mechanism 502 is raised, and the cam divider 507 carries the lift mechanism 502 to perform counterclockwise rotational movement from the first station to the sixth station. The workpieces 7 are driven by the sorting mechanism 5 to pass through the visual detection mechanism 4 on the periphery of the sorting mechanism 5. When the second photoelectric sensor 506 detects the second clamping jaw 509, the cam divider 507 is stationary for a preset time. When the lifting mechanism 502 moves to the second station, the swing mechanism 508 drives the workpiece 7 to rotate clockwise for a half turn, and the corresponding detection camera 403 acquires pictures to detect the defects of the front part of the workpiece 7; when the lifting mechanism 502 moves to the third station, the rotary cylinder drives the workpiece 7 to rotate anticlockwise for a half turn, the corresponding detection camera 403 acquires pictures, and defect detection is performed on the rear part of the workpiece 7; when the lifting mechanism 502 moves to the fourth station, the corresponding detection camera 403 acquires pictures, and defect detection is performed on the bottom of the workpiece 7; if the workpiece 7 is defective, the second clamping jaw 509 is released at the position of the fifth station; if the workpiece 7 is qualified, the second clamping jaw 509 is released at the six-station position. At this time, the lifting mechanism 502 enters the next step and repeats the above operations.
The working principle is as follows:
as shown in fig. 1-11, an automation line for appearance detection and sorting of pipe joint forgings comprises a feeding mechanism 1, a feeding mechanism 2, a conveying mechanism 3, a visual detection mechanism 4, a sorting mechanism 5 and a light shield 6. The bin 11 of the feeding mechanism 1 is used for storing pipe joint forgings, the scraper lifting device 13 is used for loading the pipe joint forgings in bulk, and the feeding mechanism 1 is used for separately loading single workpieces 7.
The feeding mechanism 2 is installed between the feeding mechanism 1 and the stepping type conveying mechanism 3, and is used for clamping the workpiece 7, namely the pipe joint forging, to the workpiece positioning seat 304 of the conveying mechanism 3. The visual inspection mechanism 4 is placed in the second process, and the visual inspection mechanism 4 includes a light source and a detection camera 403, wherein the light source is used for supplementing light, and the detection camera 403 is used for collecting and detecting surface defects of the workpiece 7. The conveying mechanism 3 penetrates part of the visual inspection mechanism 4 for conveying the workpiece 7 during inspection. The sorting mechanism 5 is placed in the third station sequence, is close to the conveying mechanism 3, and is used for detecting the surface defects of the workpieces 7 and sorting the workpieces. A light shield 6 installed around the transfer mechanism 3 and the rotary sorting mechanism 5 for preventing a person from being dazzled by the light source.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. An automatic line for appearance detection and sorting of pipe joint forgings comprises a feeding mechanism and a visual detection mechanism, wherein the feeding mechanism is located between a feeding mechanism and a conveying mechanism, and the visual detection mechanism corresponds to the conveying mechanism; the method is characterized in that: a sorting mechanism is further arranged on one side of the conveying mechanism, and a visual detection mechanism is further arranged on the periphery of the sorting mechanism; and the conveying mechanism is provided with a plurality of workpiece positioning seats for conveying workpieces.
2. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: the conveying mechanism comprises a first rack arranged between the feeding mechanism and the sorting mechanism, a plurality of chain tracks are arranged on the first rack, a plurality of chains capable of conveying in a closed loop are arranged on the chain tracks, the chains are driven to convey through a driving mechanism, and a plurality of workpiece positioning seats are arranged on the chains.
3. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: the feeding mechanism is including setting up mount pad between feed mechanism and the transport mechanism, the drive is provided with displacement mechanism on the mount pad, the drive is provided with relatively on the displacement mechanism the clamping jaw one of feed mechanism and transport mechanism displacement action.
4. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: the displacement mechanism is including setting up actuating lever and the transfer line of swing setting on the mount pad respectively, the one end of actuating lever and the one end pivotal connection of connecting rod, the other end of connecting rod and the middle part pivotal connection of transfer line, the tip pivotal connection of transfer line has synchronous pulley one, the drive is provided with the mounting bracket on the synchronous pulley one, be provided with clamping jaw one on the mounting bracket.
5. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: feed mechanism is including the feed bin that is located the below and the step-by-step loading attachment that is located the top, the feed bin with still be provided with scraper blade hoisting device between the step-by-step loading attachment, in scraper blade hoisting device's one end extended to the feed bin, scraper blade hoisting device's the other end corresponded with step-by-step loading attachment.
6. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: the visual detection mechanism comprises a plurality of detection cameras and a plurality of light sources corresponding to the detection cameras.
7. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: the light source comprises a plurality of annular light sources or/and a plurality of low-angle light sources.
8. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: the sorting mechanism adopts a rotary sorting mechanism, the sorting mechanism comprises a second support installed on one side of the conveying mechanism, a platform is arranged on the second support, a cam divider is arranged on the platform and is driven to be provided with a turntable, a plurality of mounting plates six are arranged at intervals on the periphery of the turntable, a plurality of lifting mechanisms are arranged on the mounting plates six, a rotary mechanism is driven to be arranged on the lifting mechanisms, and a clamping jaw two is driven to be arranged on the rotary mechanism.
9. The automated line of pipe joint forging appearance detection and sorting of claim 1, wherein: a soft plug is arranged in the clamping jaw II;
or/and a plurality of visual detection mechanisms corresponding to the sorting mechanism are arranged on the periphery of the rotary sorting mechanism;
or/and the conveying mechanism, the visual detection mechanism and the sorting mechanism are arranged in the light shield, and a plurality of feeding and discharging grooves are formed in the light shield.
10. The appearance detection and sorting method of the automatic line for detecting and sorting the appearance of the pipe joint forge piece, as recited in any one of claims 1 to 9, wherein the method comprises the following steps:
firstly, feeding a workpiece through a feeding mechanism;
driving a displacement mechanism in the feeding mechanism to drive the clamping jaw to displace to a material taking position of the feeding mechanism, clamping the workpiece through a first clamping jaw, driving the displacement mechanism to move to drive the clamping jaw to displace to a workpiece positioning seat on a chain of the conveying mechanism, and placing the workpiece on the workpiece positioning seat through the first clamping jaw;
driving the chain to circularly convey through the driving conveying mechanism to drive the workpiece positioning seats arranged on the chain at intervals to displace, and further conveying the workpieces loaded on the workpiece positioning seats;
fourthly, the loaded workpiece sequentially passes through a visual detection mechanism arranged on the periphery of the conveying mechanism, image acquisition is carried out on the workpiece through detection cameras with different image angles arranged in the visual detection mechanism, and the workpiece is supplemented with light by utilizing an annular light source or/and a low-angle light source, so that the defect detection of the appearance is realized;
and fifthly, conveying the workpieces subjected to appearance detection to a sorting mechanism, sequentially acquiring the workpieces through a plurality of clamping jaws II arranged on the sorting mechanism, and sequentially conveying the clamping jaws II by a turntable arranged on the sorting mechanism to realize transfer and sorting of the workpieces.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110899066.9A CN113634510A (en) | 2021-08-06 | 2021-08-06 | Automatic line for appearance detection and sorting of pipe joint forge piece |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110899066.9A CN113634510A (en) | 2021-08-06 | 2021-08-06 | Automatic line for appearance detection and sorting of pipe joint forge piece |
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| CN113634510A true CN113634510A (en) | 2021-11-12 |
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| CN202110899066.9A Pending CN113634510A (en) | 2021-08-06 | 2021-08-06 | Automatic line for appearance detection and sorting of pipe joint forge piece |
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| JP2017110424A (en) * | 2015-12-17 | 2017-06-22 | メトロ開発株式会社 | Segment joint and its manufacturing method |
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Application publication date: 20211112 |