CN113663933A - Workpiece vision sorting system - Google Patents

Abstract

The invention provides a visual workpiece sorting system, which comprises: loading attachment, turnover device, triaxial rotary mechanical hand, visual detection device, conveyor and unloading sorting device. According to the invention, double-channel feeding is realized through the feeding device, so that the feeding efficiency is higher; according to the turnover device, the two channels of incoming materials are sequentially received in a translation mode, so that the three-axis rotary manipulator can conveniently take the materials in one action; the three-axis rotating manipulator can perform integral autorotation and coordinate with the autorotation of the independent suction nozzle assembly according to the detection requirement, so that the angle of a workpiece product to be sucked is convenient to adjust, and the size detection of each surface of the workpiece product is facilitated; the visual detection device is provided with a plurality of groups of industrial cameras, and can be matched with the three-axis rotating mechanical arm and the conveying device to respectively detect all surfaces of a workpiece product; unloading sorting device can be based on the testing result, with work piece product letter sorting in the magazine unit of difference, be favorable to certified products and defective work separation.

Description

Workpiece vision sorting system

Technical Field

The invention relates to the technical field of workpiece sorting, in particular to a visual sorting system for small workpieces.

Background

For some small workpieces, in order to be able to fit well into the product to which they are applied, it is necessary to inspect the dimensions of the different faces thereof, to sort out the non-defective products and to separate the defective products.

However, the shapes of some small workpiece products are irregular, so that the loading and the turnover of the small workpiece products and the continuous detection of different surfaces are difficult. Therefore, it is necessary to provide a further solution to the above problems.

Disclosure of Invention

The invention aims to provide a workpiece visual sorting system to overcome the defects in the prior art.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a workpiece vision sorting system, comprising: the device comprises a feeding device, a turnover device, a three-axis rotating manipulator, a visual detection device, a conveying device and a discharging sorting device;

the turnover device is positioned at the downstream of the feeding device and can receive incoming materials of the feeding device; the three-axis rotating machine performs three-dimensional revolving motion between the revolving device and the visual detection device; the visual inspection device includes: a plurality of sets of industrial cameras spaced along the conveyor; the unloading sorting device is located the low reaches of conveyor, and it includes: the sorting manipulator comprises a sorting manipulator and a material box mechanism, wherein the material box mechanism comprises a plurality of material box units related to different detection results.

As an improvement of the workpiece visual sorting system of the invention, the feeding device comprises: the vibration plate, the driving part, the first conveying channel and the second conveying channel;

the vibration disc is provided with a first discharge hole and a second discharge hole, the first conveying channel is communicated with the first discharge hole, the second conveying channel is communicated with the second discharge hole, and the driving part provides direct vibration conveying acting force for the first conveying channel and the second conveying channel.

As an improvement of the workpiece visual sorting system of the invention, the turnover device comprises: a material guide mechanism and a turnover jig;

the material guide mechanism is located between the feeding device and the turnover jig, incoming materials are sent into the turnover jig on the downstream through the material guide device, and the turnover jig can move in a translation reciprocating mode in the direction perpendicular to the direction of the incoming materials.

As an improvement of the workpiece visual sorting system of the invention, the material guiding mechanism comprises: the material guide device comprises a material guide base, a material guide block and a material shifting assembly;

the material guide base is provided with a material guide groove, material guide blocks are arranged on two sides of the material guide groove, the material guide groove and the material guide blocks on the two sides of the material guide groove form a material guide channel, and the material guide blocks and the material guide base are integrally arranged or separately arranged;

the group material subassembly set up in the both ends of guide base, the group material subassembly of arbitrary end includes: the material shifting cylinder, the material shifting rod and the reset structure;

the material poking cylinder is fixed on the material guide base, the material poking rod is pivotally connected to the end of the material guide base, the output end of the material poking cylinder abuts against one end of the material poking rod, the other end of the material poking rod extends to the position of the material guide channel from the lower part of the material guide block, and the reset structure comprises: the material pushing device comprises a reset tension spring and a fixed column, wherein one end of the reset tension spring is connected to the material guide base, the other end of the reset tension spring is connected to the fixed column, and the fixed column is further installed on the material pushing rod.

As an improvement of the workpiece vision sorting system of the present invention, the turnover jig comprises: the jig comprises a jig body and a translation mechanism;

the translation mechanism can drive the jig body to integrally move along a direction vertical to the incoming material direction; the jig body is provided with a plurality of cavities which are transversely arranged side by side at intervals.

As an improvement of the workpiece vision sorting system of the present invention, the three-axis rotary manipulator comprises: the manipulator comprises a manipulator body, and an X-axis driving module, a Y-axis driving module and a Z-axis driving module which are used for driving the manipulator body to perform three-dimensional motion;

the manipulator body includes: the device comprises a first driving cylinder, a transmission connecting rod and a plurality of first rotary suction nozzle components; one end of the transmission connecting rod is in transmission connection with the output end of the first driving cylinder, the first rotary type suction nozzle assemblies are arranged at intervals, the first shifting block of each first rotary type suction nozzle assembly extends into the groove at the lower end of the transmission connecting rod, and when the first driving cylinder works, the transmission connecting rod drives the corresponding first rotary type suction nozzle assembly to synchronously rotate through the first shifting block.

As an improvement of the visual sorting system for workpieces according to the present invention, in the visual inspection apparatus, a first industrial camera group is located at an upstream end of a conveying line in a conveying apparatus, and includes: two bottom view industrial cameras arranged side by side;

a second industrial camera set is located downstream of the first industrial camera set, comprising: the system comprises two side-view industrial cameras positioned on one side of a conveying line, two side-view industrial cameras positioned on the other side of the conveying line, an upper-view industrial camera positioned above the conveying line and a light source;

the third industrial camera group is located at a downstream end of the conveyance line in the conveyance device, and includes: two side-view industrial cameras located on one side of the conveyor line, one side-view industrial camera located on the other side of the conveyor line, and an upper-view industrial camera located above the conveyor line.

As an improvement of the workpiece vision sorting system of the invention, the conveying device comprises: the device comprises a first fixing jig, a lifting manipulator, a second fixing jig and a conveying line;

the first fixing jig and the second fixing jig can be driven by the conveying line to perform translational reciprocating motion, and the lifting manipulator can absorb and transfer a workpiece product in the first fixing jig to the second fixing jig.

As an improvement of the workpiece vision sorting system of the present invention, the first fixing jig includes: the clamping device comprises a bottom plate, a stop block arranged on the bottom plate and a first clamping mechanism;

the stop block is arranged on one side of the top surface of the bottom plate through a backing plate and is provided with a plurality of cavities;

first fixture installs in the opposite side of bottom plate top surface, it includes: the movable plate, the translation push plate, the second driving cylinder and the plurality of clamping cylinders are arranged on the base;

the second driving air cylinder is arranged on the bottom surface of the bottom plate, the output end of the second driving air cylinder is in transmission connection with the translation push plate through a connecting rod, the movable plate is arranged on the translation push plate, and the plurality of clamping air cylinders are arranged on the movable plate and respectively correspond to the cavities on the stop blocks;

the bottom plate is also provided with an inclined plane which gradually inclines downwards in the direction away from the stop block, a roller is arranged below the movable plate, the roller is connected to the bottom of the movable plate by virtue of a support penetrating through the translation push plate, and the roller can roll along the inclined plane;

the lifting manipulator comprises: the lifting linear motor is vertically arranged and drives the manipulator body to reciprocate up and down;

the manipulator body includes: the third driving cylinder, the linkage push plate and the plurality of second rotary type suction nozzle components;

the third driving cylinder is connected to the output end of the lifting linear motor through the base where the third driving cylinder is located, the output end of the third driving cylinder is connected with the linkage push plate, the second rotary type suction nozzle assemblies are arranged at intervals, the second shifting block of each second rotary type suction nozzle assembly is in transmission connection with the linkage push plate through a movable joint, and when the second driving cylinder works, the linkage push plate can drive the corresponding second rotary type suction nozzle assembly to synchronously rotate through the second shifting block;

the fixed tool of second includes: the device comprises a substrate, an upper jig seat, a lower jig seat and a second clamping mechanism;

the lower jig seat is arranged on the substrate, a plurality of material platforms are arranged on the lower jig seat, the upper jig seat is arranged on the lower jig seat, a plurality of avoiding grooves are formed in the upper jig seat, and the material platforms on the lower jig seat are accommodated in the corresponding avoiding grooves;

second fixture carries out the centre gripping location to the work piece product that is located the material bench, and it includes: the fourth driving cylinder, the push rod and the push blocks;

the push block is movably arranged in each avoidance groove of the upper jig seat according to the pushing and clamping direction, the push block is positioned on one side of the material platform in the same avoidance groove, the output end of the fourth driving cylinder is in transmission connection with one end of the push rod, the push rod is arranged in the groove in the bottom of the lower jig seat according to the clamping direction of the second clamping mechanism, a plurality of sliding grooves which are vertically arranged in a penetrating manner are further formed in the bottom of the lower jig seat, and each push block is connected with the push rod through connecting pins which penetrate through the sliding grooves.

As an improvement of the workpiece vision sorting system of the invention, the sorting manipulator comprises: the sorting manipulator body and the second linear motor;

the second linear motor is arranged at the downstream end of the conveying device, and the sorting manipulator body is connected with the output end of the second linear motor; the sorting manipulator body comprises: the material nozzle comprises a material nozzle fixing seat and a plurality of suction nozzle assemblies arranged on the material nozzle fixing seat;

the magazine mechanism includes: the third linear motor drives the plurality of material box units to do translational motion;

any one of the material box units is provided with an ID number, the number of each material box unit is related to the result of visual detection, the sorting manipulator body can move to the upper part of any one of the material box units under the drive of the second linear motor and the third linear motor, and the sucked workpiece products are placed in the corresponding material boxes below according to the corresponding relation between the number of each material box unit and the result of visual detection.

Compared with the prior art, the invention has the beneficial effects that: the workpiece visual sorting system realizes double-channel feeding through the feeding device, and has higher feeding efficiency;

according to the turnover device of the workpiece visual sorting system, the two channels of incoming materials are sequentially received in a translation mode, so that the three-axis rotary manipulator can conveniently take materials in one action;

the three-axis rotating manipulator can perform integral autorotation and coordinate with the autorotation of the independent suction nozzle assembly according to the detection requirement, so that the angle of a workpiece product to be sucked is convenient to adjust, and the size detection of each surface of the workpiece product is facilitated;

the visual detection device is provided with a plurality of groups of industrial cameras which are arranged at intervals along the conveying direction of the workpiece product, and further can be matched with the three-axis rotating mechanical arm and the conveying device to respectively detect all surfaces of the workpiece product;

unloading sorting device can be based on the testing result, with work piece product letter sorting in the magazine unit of difference, be favorable to certified products and defective products separation to and the letter sorting that refines of different kind defective products.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a visual workpiece sorting system according to an embodiment of the present invention;

FIG. 2 is an enlarged perspective view of the loading device shown in FIG. 1;

FIG. 3 is an enlarged perspective view of the transfer device of FIG. 1;

FIG. 4 is an enlarged perspective view of the material guiding mechanism of FIG. 3;

fig. 5 is an enlarged perspective view of the transferring jig in fig. 3;

FIG. 6 is an enlarged perspective view of the three-axis rotary robot of FIG. 1;

figure 7 is an enlarged perspective view of the robot body of figure 6;

FIG. 8 is an exploded perspective view of the first rotary suction nozzle assembly of FIG. 7;

FIG. 9 is an enlarged perspective view of the visual inspection device of FIG. 1;

FIG. 10 is an enlarged perspective view of the delivery device of FIG. 1;

fig. 11 is an enlarged perspective view of the first fixing jig in fig. 10;

FIG. 12 is an enlarged perspective view of the translational push plate of FIG. 11 with the movable plate removed;

FIG. 13 is an enlarged perspective view of the elevator robot of FIG. 10;

figure 14 is an enlarged perspective view of the robot body of figure 13;

FIG. 15 is an exploded perspective view of the second rotary suction nozzle assembly of FIG. 14;

fig. 16 is an enlarged perspective view of the second fixing jig in fig. 10;

fig. 17 is a partially enlarged schematic view of the avoiding groove position in fig. 16;

fig. 18 is an enlarged perspective view of the second clamping mechanism of the second fixing fixture;

fig. 19 is an enlarged perspective view of the material table of the lower jig base;

fig. 20 is a schematic perspective view of the blanking and sorting apparatus;

FIG. 21 is an exploded perspective view of the nozzle assembly of FIG. 20.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the invention provides a workpiece visual sorting system which is suitable for detecting the size of a small workpiece product and sorting qualified products and unqualified products according to a detection result.

As shown in fig. 1, the workpiece visual sorting system of the present embodiment includes: the device comprises a feeding device 100, a turnover device 200, a three-axis rotating manipulator 300, a visual detection device 400, a conveying device 500 and a discharging sorting device 600.

As shown in fig. 2, the loading device 100 is used for realizing dual-channel loading of workpiece products, and comprises: vibration plate 10, drive portion 11, first conveying path 12 and second conveying path 13.

The vibratory pan 10 comprises: vibrating the disk body 101 and the base 102. The vibration disk body 101 is fixed on the base 102, and the vibration disk body 101 has a first discharge port and a second discharge port. The first discharge port and the second discharge port have shapes corresponding to the outline shape of the workpiece product, and are designed so that the workpiece product can be discharged in an upright state.

The first conveying channel 12 and the second conveying channel 13 are arranged in parallel, and the driving part 11 is simultaneously in transmission connection with the bottoms of the first conveying channel 12 and the second conveying channel 13. The first conveying channel 12 is communicated with the first discharge hole, and the second conveying channel 13 is communicated with the second discharge hole. Thus, when the driving portion 11 is operated, the first conveying channel 12 and the second conveying channel 13 generate a direct vibration conveying acting force along the workpiece conveying direction, so as to drive the workpiece products sent out from the vibration disc body 101 to perform a linear conveying. Through adopting the dual-conveying channel, the feeding efficiency of the workpiece product is improved. In one embodiment, the driving unit 11 is a linear vibrator.

As shown in fig. 3, the turnover device 200 is used for receiving workpiece products from the loading device 100 and turnover the workpiece products to a station suitable for taking out by the downstream three-axis rotary robot 300.

The epicyclic arrangement 200 comprises: a fixing seat 20, a material guiding mechanism 21 and a turnover jig 22.

The material guiding mechanism 21 and the turnover jig 22 are mounted on the fixing base 20 according to the workpiece conveying direction, and the turnover jig 22 is located on the downstream side of the material guiding mechanism 21.

As shown in fig. 4, the material guide mechanism 21 includes: a material guiding base 210, a material guiding block 211 and a material shifting assembly 212.

The material guiding base 210 is mounted on a fixing frame, which is further mounted on the fixing base 20. A material guide boss 2101 is arranged in the middle of the material guide base 210, and a material guide groove 2102 is arranged on the material guide boss 2101, wherein the material guide groove 2102 is designed to correspond to the bottom shape of the workpiece product. Two material guide grooves 2102 are formed in the material guide boss 2101 so as to be matched with the feeding device 100. Thus, the outlet end of the first conveyance path 12 communicates with one of the material guide chutes 2102, and the outlet end of the second conveyance path 13 communicates with the other material guide chute 2102.

The number of the guide blocks 211 is plural, and the guide blocks 211 are disposed on both sides of any one of the guide chutes 2102. Thus, the material guiding groove 2102 and the material guiding blocks 211 on the two sides thereof form a material guiding channel suitable for workpiece products to pass through. The material guiding block 211 can be integrated with the material guiding base 210 or can be separated from the material guiding base.

The material guiding base 210 is also provided with a material shifting assembly 212 at two ends. The kick-out assembly 212 at either end includes: a material ejecting cylinder 2121, a material ejecting rod 2122 and a resetting structure 2123. Wherein, the material poking cylinder 2121 is fixed on the material guiding base 210. The kick-off rod 2122 is L-shaped, and the kick-off rod 2122 is pivotally connected to the end of the material guiding base 210. The output end of the material ejecting cylinder 2121 abuts against one end of the material ejecting rod 2122, and the other end of the material ejecting rod 2122 extends from the lower part of the material guiding block 211 to the material guiding channel. Thus, when the material shifting cylinder 2121 works, the material shifting rod 2122 is driven to pivotally work, and further the workpiece product is driven to slide along the material guiding channel. Meanwhile, the reset structure 2123 may be a reset tension spring, and the reset tension spring is in a stretching state when the material shifting rod 2122 pivots. When the output end of the material shifting cylinder 2121 is separated from the material shifting rod 2122, the material shifting rod 2122 returns to the initial position under the action of the return tension spring.

As shown in fig. 5, the turnaround jig 22 includes: a jig body 221 and a translation mechanism 222.

The translation mechanism 222 is mounted on the fixing base 20 and drives the jig body 221 to move transversely integrally. In one embodiment, the translation mechanism 222 includes a first linear motor disposed perpendicular to the workpiece conveying direction, and the first linear motor is in transmission connection with the bottom of the jig body 221.

The fixture body 221 has a plurality of cavities 2210 for receiving the workpiece products. A plurality of cavities 2210 are spaced laterally side-by-side. Thus, under the driving of the translation mechanism 222, the cavities 2210 of the jig body 221 are sequentially aligned with the material guiding mechanism 21, and receive the workpiece products sent out by the material guiding mechanism 21. In one embodiment, the jig body 221 has six cavities 2210 spaced laterally side by side. Thus, in one feeding process, six workpiece products can be turned to a station suitable for the three-axis rotary manipulator 300 to take the materials.

As shown in fig. 6, the three-axis rotary robot 300 is used to grasp the workpiece product transferred by the transferring device 200 and transfer it to the downstream vision inspection device 400 for inspection.

The three-axis rotary manipulator 300 includes: an X-axis drive module 30, a Y-axis drive module 31, a Z-axis drive module 32, a rotation module 33, and a robot body 34.

The X-axis driving module 30 is used for driving the Y-axis driving module 31, the Z-axis driving module 32, the rotating module 33 and the robot body 34 to perform a translational motion along the X-axis direction as a whole. Specifically, the X-axis drive module 30 includes: x-axis linear motor and X-axis guide rail. The X-axis linear motor and the X-axis guide rail are arranged in parallel and are arranged on respective bases.

The Y-axis driving module 31 is used for driving the Z-axis driving module 32, the rotating module 33 and the robot body 34 to perform a translational motion along the Y-axis direction as a whole. Specifically, the Y-axis driving module 31 includes a Y-axis linear motor. One end of a base where the Y-axis linear motor is located is in transmission connection with the X-axis linear motor, and the other end of the base slides along the X-axis guide rail through a sliding block.

The Z-axis driving module 32 is configured to drive the rotating module 33 and the robot body 34 to perform a translational motion along the Z-axis direction as a whole. Specifically, the Z-axis driving module 32 includes a Z-axis linear motor. The base where the Z-axis linear motor is located is in transmission connection with the Y-axis linear motor.

The rotation module 33 is used to drive the entire robot body 34 to rotate. Specifically, the rotation module 33 includes a rotation motor, and an output end of the rotation motor is in transmission connection with the robot body 34.

Thus, under the driving of each driving module and the rotating module 33, the robot body 34 can move to the corresponding material taking position and grab the workpiece product on the turnover jig 22. Meanwhile, the workpiece is integrally rotated by a certain angle, so that the visual detection device 400 can conveniently perform visual detection on the workpiece product.

As shown in fig. 7, the robot body 34 includes: a first driving cylinder 340, a transmission link 341, a first guide mechanism 342, and a plurality of first rotary suction nozzle assemblies 343.

The first driving cylinder 340 is connected to the output end of the Z-axis linear motor through the base where the first driving cylinder is located. The first driving cylinder 340 and the transmission connecting rod 341 are parallel and horizontally arranged, and one end of the transmission connecting rod 341 is in transmission connection with the output end of the first driving cylinder 340 through a connecting piece. The first guide mechanism 342 is located between the first driving cylinder 340 and the transmission link 341, and includes: the slide rail and carry out the slider that slides along the slide rail. The slider is further connected to a transmission link 341. Thus, when the first driving cylinder 340 works, the driving link 341 connected to the first driving cylinder can be driven to perform a synchronous translational motion along the slide rail.

The first rotary suction nozzle assemblies 343 are used for sucking materials, and can also rotate workpiece products sucked by rotation to realize independent rotation of the workpiece products while the rotation of the manipulator body 34 is adjusted, so that the requirement of subsequent visual detection is met.

The first rotary nozzle assemblies 343 are commonly connected to a base. And each of the first rotary nozzle assemblies 343 is spaced apart from each other according to the arrangement of the cavities 2210 formed in the jig body 221. In this manner, to facilitate the extraction of work piece product from the cavity 2210. Since the fixture body 221 has six cavities 2210 spaced laterally side by side, the number of the first rotary nozzle assemblies 343 is also set to six correspondingly.

As shown in FIG. 8, any rotary nozzle assembly 343 includes: a first gas lever 3430, a first dial 3431, a first bushing 3432, a first bearing set 3433, and a first nozzle 3434.

Wherein, the upper end of the first air rod 3430 is connected with a joint, and the lower end is a flange structure. The first bushing 3432 is sleeved on the first air rod 3430, and a first bearing set 3433 is disposed between the first bushing 3432 and the base. The first nozzle 3434 is attached to the lower flange structure. In this way, the first nozzle 3434 can generate a suction force for sucking the workpiece product under the air pressure. In order to enable the transmission link 341 to drive the first suction nozzle 3434 to rotate, the lower end of the transmission link 341 is provided with a plurality of slots arranged side by side at intervals. At this time, one end of the first shifting block 3431 is sleeved on the upper portion of the first air rod 3430, and the other end extends into the corresponding slot. Thus, when the first driving cylinder 340 is operated, the transmission link 341 can drive the first air rod 3430 and the first suction nozzle 3434 at the lower end thereof to rotate synchronously via the first block 3431.

In addition, a reflective layer is formed on the surface of each first nozzle 3434 for facilitating subsequent visual inspection. Thus, the reflecting layer can reflect incident light, so that the surface of the sucked workpiece product has higher brightness, and the visual detection of an industrial camera is facilitated. In one embodiment, the reflective layer is a chromium plating layer.

As shown in fig. 9, the visual inspection apparatus 400 is used for performing size inspection on a workpiece product, and includes: and a plurality of groups of industrial cameras arranged at intervals along the conveying direction of the workpiece products. Therefore, through the visual detection of the multi-industry camera set, the sizes of the workpiece products can be respectively detected from a plurality of detection directions so as to judge whether the products are good products.

The first industrial camera group 40 is located at an upstream end of the conveying line in the conveying device 500 in the conveying direction of the workpiece products, and includes: two bottom view industrial cameras 401 arranged side by side.

Thus, the first industrial camera group 40 can acquire the bottom image of the workpiece product located at the first detection position from below by the two bottom-view industrial cameras 401. Then, the system calculates corresponding size data according to the acquired image, and judges whether the relevant size of the workpiece product at the detection position meets the standard or not by comparing the size data with the standard size.

The second industrial camera group 41 is located downstream of the first industrial camera group 40, and includes: two side view industrial cameras 411 on one side of the conveyor line, two side view industrial cameras 412 on the other side of the conveyor line, an upper view industrial camera 413 above the conveyor line, and a light source 414.

Thus, the second industrial camera group 41 detects the workpiece product located at the second detection position under the illumination of the light source 414, and acquires a first side image of the workpiece product by the two side-view industrial cameras 411 on one side, acquires a second side image of the workpiece product by the two side-view industrial cameras 412 on the other side, and acquires an upper image of the workpiece product by the upper-view industrial camera 413. Similarly, the system calculates corresponding size data according to the acquired image, and judges whether the relevant size of the workpiece product at the detection position meets the standard or not by comparing the size data with the standard size. The upper industrial camera 413 and the two side industrial cameras 411 and 412 may perform detection in cooperation with each other or independently according to actual detection requirements.

The third industrial camera group 42 is located at the downstream end of the conveyance line in the conveyance device 500, and includes: two side view industrial cameras 421 on one side of the conveyor line, one side view industrial camera 422 on the other side of the conveyor line, and an upper view industrial camera 423 above the conveyor line.

Accordingly, the second industrial camera group 41 detects the workpiece product located at the third detection position by acquiring the third side image of the workpiece product by the two side-view industrial cameras 421 on one side, acquiring the fourth side image of the workpiece product by the one side-view industrial camera 422 on the other side, and acquiring the upper side image of the workpiece product by the upper-view industrial camera 423. Similarly, the system calculates corresponding size data according to the acquired image, and judges whether the relevant size of the workpiece product at the detection position meets the standard or not by comparing the size data with the standard size. The upper industrial camera 423 and the side industrial cameras 421 and 422 may perform detection in cooperation with each other or independently of each other according to actual detection requirements.

As shown in fig. 10, the conveying device 500 is used for transferring the workpiece products among the first detection position, the second detection position, and the third detection position, and includes: a first fixing tool 50, a lifting manipulator 51, a second fixing tool 52 and a conveying line 53. The first fixing jig 50 and the second fixing jig 52 can be driven by the conveying line 53 to perform translational reciprocating motion, and the lifting manipulator 51 can suck and transfer the workpiece product in the first fixing jig 50 to the second fixing jig 52.

The first fixed jig 50 is initially located at the second inspection position, and the three-axis rotary robot 300 transfers the workpiece product to the first fixed jig 50 after the bottom inspection of the workpiece product by the first industrial camera group 40 is completed at the first inspection position, to perform the inspection of the front or rear of the workpiece by the second industrial camera group 41.

As shown in fig. 11, the first fixing jig 50 includes: a bottom plate 501, a stopper 502 provided on the bottom plate 501, and a first clamping mechanism 503.

The stopper 502 is mounted to one side of the top surface of the base plate 501 by a pad plate, and has a cavity 5021 adapted to receive and position a workpiece product. In order to match with the three-axis rotary manipulator 300, the number of the cavities 5021 is six, and the six cavities 5021 are correspondingly arranged according to the arrangement mode of the first rotary suction nozzle assemblies 343 on the three-axis rotary manipulator 300.

The first clamping mechanism 503 is installed on the other side of the top surface of the bottom plate 501, and pushes the workpiece product into the corresponding cavity 5021 in a lateral clamping manner, so as to accommodate and position the workpiece product. However, since the side-view industrial camera needs to inspect the side surface of the workpiece product when the workpiece product is inspected at the second inspection position, the first clamping mechanism 503 needs to be retracted to the initial position after completing the positioning of the pushing and clamping. Therefore, the first clamping mechanism 503 is configured to be capable of a combined movement of lifting and translation.

The first clamping mechanism 503 includes: a movable plate 5031, a translation push plate 5032, a second driving cylinder and a plurality of clamping cylinders 5034.

The second driving cylinder is installed on the bottom surface of the bottom plate 501, and the output end of the second driving cylinder is in transmission connection with the translation push plate 5032 through a connecting rod 5033. Thus, when the second driving cylinder works, the second driving cylinder can drive the translational push plate 5032 to move close to or far away from the opposite stop block 502. Meanwhile, a guide rail for assisting the translation push plate 5032 to move is arranged on the bottom plate 501.

The movable plate 5031 is disposed on the translation pushing plate 5032, and can perform a combined movement of lifting and translation along with the movement of the translation pushing plate 5032. Meanwhile, a plurality of clamping cylinders 5034 are mounted on the movable plate 5031 and respectively arranged corresponding to the cavities 5021 on the stoppers 502. Thus, when the movable plate 5031 approaches the stopper 502 by advancing and lifting, the clamping cylinder 5034 thereon operates to push the workpiece product into the corresponding cavity 5021 to complete positioning. In order to not block the optical path for subsequent visual inspection, the movable plate 5031 which completes the positioning of the pushing clamp is far away from the stop block 502 in a manner of retreating and descending, so that the side-view industrial camera can inspect the side surface of the workpiece product.

To achieve the above purpose, referring to fig. 12, the bottom plate 501 is further provided with a slope 5035, and the slope 5035 gradually inclines downwards in a direction away from the stopper 502. Meanwhile, a roller 5036 is disposed below the movable plate 5031, the roller 5036 is connected to the bottom of the movable plate 5031 by a bracket 5037 passing through the translation pushing plate 5032, and the roller 5036 can roll along the inclined surface 5035. Thus, when the second driving cylinder operates, the translational push plate 5032 moves close to the stopper 502 by sliding along the bottom plate 501, and the movable plate 5031 thereon is gradually lifted to a height position corresponding to the cavity 5021 while translating along the inclined plane 5035 by the roller 5036 at the bottom, so as to facilitate the pushing and clamping positioning of the clamping cylinder 5034; when the translational push plate 5032 moves away from the stopper 502 by sliding along the bottom plate 501, the movable plate 5031 thereon is gradually lowered to avoid shielding the detection pipeline of the subsequent side-view industrial camera while being translated along the inclined plane 5035 by the roller 5036 at the bottom.

As shown in fig. 13, the lifting robot 51 is used for sucking and transferring the workpiece product in the first fixing jig 50 to the second fixing jig 52, and includes: a robot body 510, and a lifting linear motor 511. The lifting linear motor 511 is vertically disposed, and drives the robot body 510 to reciprocate up and down.

Thus, when the first fixing jig 50 is translated to the lower side of the lifting manipulator 51 along with the conveying line 53, the manipulator body 510 can take out the workpiece product from the first fixing jig 50, and when the second fixing jig 52 is translated to the lower side of the lifting manipulator 51 along with the conveying line 53, the manipulator body 510 can transfer the sucked workpiece to the second fixing jig 52.

In order to perform left or right detection of a workpiece in cooperation with the third industrial camera group 42, the robot body 510 is configured to rotate the sucked workpiece by 90 °.

Specifically, as shown in fig. 14, the robot body 510 includes: a third driving cylinder 5101, a linkage push plate 5102, a second guide mechanism 5103, and a plurality of second rotary suction nozzle assemblies 5104.

The third driving cylinder 5101 is connected to the output end of the lifting linear motor 511 through the base. The output end of the third driving cylinder 5101 is connected with the linkage push plate 5102 through a connecting piece. The second guiding mechanism 5103 is located at the bottom of the linked push plate 5102, and includes: the slide rail and carry out the slider that slides along the slide rail. The slider is further connected to the bottom surface of the linked push plate 5102. Thus, when the third driving cylinder 5101 works, the linked pushing plate 5102 connected with the third driving cylinder can be driven to perform synchronous translational motion along the sliding rail.

The second rotary suction nozzle assemblies 5104 are used for sucking materials, and can also drive sucked workpiece products to rotate through rotation to realize independent rotation of each workpiece product, so that the left side or the right side of each workpiece product faces the third industrial camera group 42, and the requirement of subsequent visual detection is met.

The second rotary nozzle assemblies 5104 are commonly connected to a base 5105. And each of the second rotary nozzle assemblies 5104 is spaced according to the arrangement of the plurality of cavities 5021 on the first and second fixing tools 50 and 52. Thus, the workpiece product in the cavity 5021 can be sucked. Since the fixing jig has six cavities 5021 laterally arranged side by side at intervals, the number of the second rotary-type suction nozzle assemblies 5104 is also correspondingly set to six.

As shown in FIG. 15, any of the second rotary nozzle assemblies 5104 includes: a second air lever 51041, a second paddle 51042, a second bushing 51043, a second bearing set 51044, and a second suction nozzle 51045.

Wherein, the upper end of the second gas pole 51041 is connected with a joint, and the lower end is a flange structure. The second bush 51043 is sleeved on the second air rod 51041, and a second bearing set 51044 is further arranged between the second bush 51043 and the base. The second suction nozzle 51045 is connected to a flange structure at a lower end. Thus, the second suction nozzle 51045 can generate suction force for sucking the workpiece product under the action of air pressure. In order to make the linked pushing plate 5102 drive the second suction nozzle 51045 to rotate, a row of protruding clamping grooves 51021 are formed in the linked pushing plate 5102. At this time, the second pusher 51042 has one end sleeved on the upper portion of the second air bar 51041 and the other end perpendicularly connected to a hinge 51046, and the hinge 51046 is fitted in the corresponding clip groove 51021. Thus, when the second driving cylinder operates, the linked push plate 5102 can drive the second air rod 51041 and the second suction nozzle 51045 at the lower end thereof to synchronously rotate through the second pushing block 51042.

As shown in fig. 16, the second fixing jig 52 is initially located at the third inspection position, and after being moved by the conveying line 53 to the position below the lifting robot 51 to receive the workpiece product, the second fixing jig returns to the third inspection position, and the third industrial camera group 42 performs front or rear inspection on the workpiece.

The second fixing jig 52 includes: a substrate 520, an upper jig base 521, a lower jig base 522 and a second clamping mechanism 523.

As shown in fig. 17, the lower jig base 522 is mounted on the substrate 520, and the plurality of material platforms 5220 are disposed on the lower jig base 522, and the plurality of material platforms 5220 are correspondingly disposed according to the arrangement of the plurality of second rotary nozzle assemblies 5104 of the elevating robot 51. The material table 5220 is used for supporting the workpiece products placed in the second fixing jig 52. The upper jig base 521 is mounted on the lower jig base 522, and has a plurality of avoiding grooves 5210 formed thereon, and the material table 5220 on the lower jig base 522 is received in the corresponding avoiding groove 5210 and defines a clamping space of the workpiece product together with the avoiding groove 5210.

As shown in fig. 18, the second clamping mechanism 523 is used for clamping and positioning the workpiece product on the material table 5220 from the left side or the right side for the subsequent detection of the third industrial camera group 42, and includes: a fourth drive cylinder 5230, a push rod 5231, and a plurality of push blocks 5232.

The pushing block 5232 is movably disposed in each avoiding groove 5210 of the upper jig base 521 along the pushing direction, and the pushing block 5232 is located at one side of the material table 5220 in the same avoiding groove 5210. In order to facilitate the clamping and positioning of the push block 5232 on the workpiece product, a projection 52320 capable of abutting against the workpiece product is convexly arranged at the top of the push block 5232 near the edge of the material table 5220. In order to limit the pushing clamp of the pushing block 5232, the opposite side walls of the avoiding groove 5210 are symmetrically provided with limiting blocks 52101 located between the pushing block 5232 and the material table 5220. Correspondingly, step surfaces matched with the limiting blocks 52101 are further arranged on two sides of the push block 5232.

In one embodiment, the tabs 52320 are symmetrically located at both ends of the rim. The end face of either end tab 52320 is provided with a guide. As shown in fig. 19, the material stand 5220 is provided with a guide groove 52201 for accommodating the guide portion during the pushing and clamping process, and the side surface of the guide portion contacting the guide groove 52201 forms a guide surface. At this time, the portion of the end surface of the bump 52320, which is in contact with the workpiece product, forms an abutting surface, and the portion of the end surface of the material table 5220, which is in contact with the end surface, forms a limiting surface.

In addition, a cover plate 524 for vertically limiting the push block 5232 is further disposed above any one of the avoiding grooves 5210, and the cover plate 524 is locked and fixed to the top surface of the upper jig base 521. And the edge of the cover plate 524 is also provided with an extension between the two tabs 52320.

The fourth driving cylinder 5230 is disposed at the left or right side of the lower jig base 522, and an output end thereof is in transmission connection with one end of the push rod 5231. The push rod 5231 is disposed in a groove at the bottom of the lower jig base 522 in the clamping direction of the second clamping mechanism 523. The bottom of the lower jig base 522 is further provided with a plurality of sliding grooves which are vertically arranged in a penetrating manner, and each push block 5232 is connected with the push rod 5231 through a connecting pin which penetrates through the sliding grooves. Thus, when the fourth driving cylinder 5230 works, the push rod 5231 can drive the push blocks 5232 connected thereto to move synchronously, so as to clamp and position the workpiece on each material table 5220. When the workpiece product is clamped in place, the step surface of the push block 5232 abuts against the limiting block, the limiting surface abuts against the end surface of the material table 5220, and the abutting surface abuts against the workpiece product.

As shown in fig. 20, the unloading sorting apparatus 600 is used for sorting the workpiece products into corresponding magazines according to the detection result of the visual detection apparatus 400, and includes: a sorting robot 60 and a magazine mechanism 61.

The sorting robot 60 includes: a sorting robot body 601 and a second linear motor 602.

The second linear motor 602 is disposed at the downstream end of the conveying device 500 along the left-right direction, and the sorting manipulator body 601 is connected to the output end of the second linear motor 602 and can reciprocate along the left-right direction under the driving of the second linear motor 602.

The sorting manipulator body 601 is used for sucking the product which is detected and driving the product to move left and right.

The sorting robot body 601 includes: a nozzle fixing seat 6011 and a plurality of nozzle assemblies 6012 installed on the nozzle fixing seat 6011. The nozzle assemblies 6012 are correspondingly arranged according to the arrangement of the material table 5220 in the second fixing jig 52.

As shown in fig. 21, any one of the nozzle assemblies 6012 includes: a third air bar 60121, a third liner 60122, and a third suction nozzle 60123. The upper end of the third air rod 60121 is connected with a joint, and the lower end is a flange structure. Third bushing 60122 is sleeved onto third gas strut 60121. The third nozzle 60123 is attached to the lower flange structure. Thus, the third suction nozzle 60123 generates suction force for sucking the work product under the action of air pressure.

The magazine mechanism 61 includes: a plurality of material box units 611 and a third linear motor 612 for driving the plurality of material box units 611 to perform a translational motion in the front-back direction, and correspondingly, the base 102 where the plurality of material box units 611 are located is in transmission connection with the output end of the third linear motor 612. In one embodiment, the magazine units 611 are disposed side by side in the front-rear direction on the base 102.

Any of the cartridge units 611 has a respective ID number, and the ID number of each cartridge unit 611 is associated with the result of visual detection. For example, the number of one cartridge unit 611 is associated with the detection result OK, and the numbers of the remaining cartridge units 611 are associated with the detection results NG1, NG2, NG3, respectively. Wherein, the detection results of NG1, NG2, NG3 and the like represent that the detection results of different sizes of the workpiece products are unqualified. As such, workpiece products may be sorted in the corresponding magazine units 611 according to different detection results.

During sorting, the system sends a control signal to the sorting manipulator 60 according to the detection result, and under the driving of the second linear motor 602 and the third linear motor 612, the sorting manipulator body 601 can move to the upper part of any magazine unit 611, and the sucked workpiece product is placed in a corresponding magazine below.

In conclusion, the workpiece visual sorting system disclosed by the invention realizes double-channel feeding through the feeding device, and has higher feeding efficiency; according to the turnover device of the workpiece visual sorting system, the two channels of incoming materials are sequentially received in a translation mode, so that the three-axis rotary manipulator can conveniently take materials in one action; the three-axis rotating manipulator can perform integral autorotation and coordinate with the autorotation of the independent suction nozzle assembly according to the detection requirement, so that the angle of a workpiece product to be sucked is convenient to adjust, and the size detection of each surface of the workpiece product is facilitated; the visual detection device is provided with a plurality of groups of industrial cameras which are arranged at intervals along the conveying direction of the workpiece product, and further can be matched with the three-axis rotating mechanical arm and the conveying device to respectively detect all surfaces of the workpiece product; unloading sorting device can be based on the testing result, with work piece product letter sorting in the magazine unit of difference, be favorable to certified products and defective products separation to and the letter sorting that refines of different kind defective products.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. A workpiece vision sorting system, comprising: the device comprises a feeding device, a turnover device, a three-axis rotating manipulator, a visual detection device, a conveying device and a discharging sorting device;

the turnover device is positioned at the downstream of the feeding device and can receive incoming materials of the feeding device; the three-axis rotating machine performs three-dimensional revolving motion between the revolving device and the visual detection device; the visual inspection device includes: a plurality of sets of industrial cameras spaced along the conveyor; the unloading sorting device is located the low reaches of conveyor, and it includes: the sorting manipulator comprises a sorting manipulator and a material box mechanism, wherein the material box mechanism comprises a plurality of material box units related to different detection results.

2. The visual workpiece sorting system of claim 1, wherein the loading device comprises: the vibration plate, the driving part, the first conveying channel and the second conveying channel;

the vibration disc is provided with a first discharge hole and a second discharge hole, the first conveying channel is communicated with the first discharge hole, the second conveying channel is communicated with the second discharge hole, and the driving part provides direct vibration conveying acting force for the first conveying channel and the second conveying channel.

3. The workpiece vision sorting system of claim 1, wherein the turnaround means comprises: a material guide mechanism and a turnover jig;

the material guide mechanism is located between the feeding device and the turnover jig, incoming materials are sent into the turnover jig on the downstream through the material guide device, and the turnover jig can move in a translation reciprocating mode in the direction perpendicular to the direction of the incoming materials.

4. The visual workpiece sorting system of claim 3, wherein the material guide mechanism comprises: the material guide device comprises a material guide base, a material guide block and a material shifting assembly;

the material guide base is provided with a material guide groove, material guide blocks are arranged on two sides of the material guide groove, the material guide groove and the material guide blocks on the two sides of the material guide groove form a material guide channel, and the material guide blocks and the material guide base are integrally arranged or separately arranged;

the group material subassembly set up in the both ends of guide base, the group material subassembly of arbitrary end includes: the material shifting cylinder, the material shifting rod and the reset structure;

the material poking cylinder is fixed on the material guide base, the material poking rod is pivotally connected to the end of the material guide base, the output end of the material poking cylinder abuts against one end of the material poking rod, the other end of the material poking rod extends to the position of the material guide channel from the lower part of the material guide block, and the reset structure comprises: the material pushing device comprises a reset tension spring and a fixed column, wherein one end of the reset tension spring is connected to the material guide base, the other end of the reset tension spring is connected to the fixed column, and the fixed column is further installed on the material pushing rod.

5. The workpiece visual sorting system of claim 3, wherein the turnaround fixture comprises: the jig comprises a jig body and a translation mechanism;

the translation mechanism can drive the jig body to integrally move along a direction vertical to the incoming material direction; the jig body is provided with a plurality of cavities which are transversely arranged side by side at intervals.

6. The workpiece vision sorting system of claim 1, wherein the three-axis rotary robot comprises: the manipulator comprises a manipulator body, a three-axis driving module and a rotating module;

the rotating module drives the manipulator body to rotate, and the three-axis driving module drives the manipulator body and the rotating module to integrally move in three dimensions;

the manipulator body includes: the device comprises a first driving cylinder, a transmission connecting rod and a plurality of first rotary suction nozzle components; one end of the transmission connecting rod is in transmission connection with the output end of the first driving cylinder, the first rotary type suction nozzle assemblies are arranged at intervals, the first shifting block of each first rotary type suction nozzle assembly extends into the groove at the lower end of the transmission connecting rod, and when the first driving cylinder works, the transmission connecting rod drives the corresponding first rotary type suction nozzle assembly to synchronously rotate through the first shifting block.

7. The visual workpiece sorting system of claim 1, wherein the visual inspection device, with the first industrial camera group located at an upstream end of the conveyor line in the conveyor device, comprises: two bottom view industrial cameras arranged side by side;

a second industrial camera set is located downstream of the first industrial camera set, comprising: the system comprises two side-view industrial cameras positioned on one side of a conveying line, two side-view industrial cameras positioned on the other side of the conveying line, an upper-view industrial camera positioned above the conveying line and a light source;

the third industrial camera group is located at a downstream end of the conveyance line in the conveyance device, and includes: two side-view industrial cameras located on one side of the conveyor line, one side-view industrial camera located on the other side of the conveyor line, and an upper-view industrial camera located above the conveyor line.

8. The workpiece vision sorting system of claim 1, wherein the conveyor comprises: the device comprises a first fixing jig, a lifting manipulator, a second fixing jig and a conveying line;

the first fixing jig and the second fixing jig can be driven by the conveying line to perform translational reciprocating motion, and the lifting manipulator can absorb and transfer a workpiece product in the first fixing jig to the second fixing jig.

9. The visual workpiece sorting system of claim 1, wherein the first fixture comprises: the clamping device comprises a bottom plate, a stop block arranged on the bottom plate and a first clamping mechanism;

the stop block is arranged on one side of the top surface of the bottom plate through a backing plate and is provided with a plurality of cavities;

first fixture installs in the opposite side of bottom plate top surface, it includes: the movable plate, the translation push plate, the second driving cylinder and the plurality of clamping cylinders are arranged on the base;

the second driving air cylinder is arranged on the bottom surface of the bottom plate, the output end of the second driving air cylinder is in transmission connection with the translation push plate through a connecting rod, the movable plate is arranged on the translation push plate, and the plurality of clamping air cylinders are arranged on the movable plate and respectively correspond to the cavities on the stop blocks;

the bottom plate is also provided with an inclined plane which gradually inclines downwards in the direction away from the stop block, a roller is arranged below the movable plate, the roller is connected to the bottom of the movable plate by virtue of a support penetrating through the translation push plate, and the roller can roll along the inclined plane;

the lifting manipulator comprises: the lifting linear motor is vertically arranged and drives the manipulator body to reciprocate up and down;

the manipulator body includes: the third driving cylinder, the linkage push plate and the plurality of second rotary type suction nozzle components;

the third driving cylinder is connected to the output end of the lifting linear motor through the base where the third driving cylinder is located, the output end of the third driving cylinder is connected with the linkage push plate, the second rotary type suction nozzle assemblies are arranged at intervals, the second shifting block of each second rotary type suction nozzle assembly is in transmission connection with the linkage push plate through a movable joint, and when the second driving cylinder works, the linkage push plate can drive the corresponding second rotary type suction nozzle assembly to synchronously rotate through the second shifting block;

the fixed tool of second includes: the device comprises a substrate, an upper jig seat, a lower jig seat and a second clamping mechanism;

the lower jig seat is arranged on the substrate, a plurality of material platforms are arranged on the lower jig seat, the upper jig seat is arranged on the lower jig seat, a plurality of avoiding grooves are formed in the upper jig seat, and the material platforms on the lower jig seat are accommodated in the corresponding avoiding grooves;

second fixture carries out the centre gripping location to the work piece product that is located the material bench, and it includes: the fourth driving cylinder, the push rod and the push blocks;

the push block is movably arranged in each avoidance groove of the upper jig seat according to the pushing and clamping direction, the push block is positioned on one side of the material platform in the same avoidance groove, the output end of the fourth driving cylinder is in transmission connection with one end of the push rod, the push rod is arranged in the groove in the bottom of the lower jig seat according to the clamping direction of the second clamping mechanism, a plurality of sliding grooves which are vertically arranged in a penetrating manner are further formed in the bottom of the lower jig seat, and each push block is connected with the push rod through connecting pins which penetrate through the sliding grooves.

10. The workpiece vision sorting system of claim 1, wherein the sorting robot comprises: the sorting manipulator body and the second linear motor;

the second linear motor is arranged at the downstream end of the conveying device, and the sorting manipulator body is connected with the output end of the second linear motor; the sorting manipulator body comprises: the material nozzle comprises a material nozzle fixing seat and a plurality of suction nozzle assemblies arranged on the material nozzle fixing seat;

the magazine mechanism includes: the third linear motor drives the plurality of material box units to do translational motion;

any one of the material box units is provided with an ID number, the number of each material box unit is related to the result of visual detection, the sorting manipulator body can move to the upper part of any one of the material box units under the drive of the second linear motor and the third linear motor, and the sucked workpiece products are placed in the corresponding material boxes below according to the corresponding relation between the number of each material box unit and the result of visual detection.

Images