CN113740347A - Method for detecting front and back surfaces of product - Google Patents
Method for detecting front and back surfaces of product Download PDFInfo
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- CN113740347A CN113740347A CN202111039830.1A CN202111039830A CN113740347A CN 113740347 A CN113740347 A CN 113740347A CN 202111039830 A CN202111039830 A CN 202111039830A CN 113740347 A CN113740347 A CN 113740347A
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Abstract
The invention provides a method for detecting the front and back of a product, which is characterized in that a plurality of stations are arranged on a turntable, at least two jig positions are arranged on each station, the product is fed to the turntable through a feeding mechanical arm, the front and back detection of the product is completed under the action of a detection camera, a turnover module and other mechanisms by utilizing the rotation of the turntable, and the rotation angle of a single product for completing the front and back detection along with the rotation of the turntable is more than 360 degrees. The front and back sides of the product are detected by using a single camera, the space utilization rate is improved, and the cost is reduced; simultaneously, accomplish single product positive and negative and detect carousel pivoted angle and be greater than 360, effectively avoid mechanisms such as detection camera, upset module to appear standby state, very big shortening check-out time, improve detection efficiency.
Description
Technical Field
The invention belongs to the technical field of photoelectric detection, and particularly relates to a method for detecting the front and back surfaces of a product.
Background
When detecting a product, it is generally required to detect the front and back of the product respectively, for example: detecting whether the defects such as fouling, dirt, mixed materials, white spots, scars, damages and the like exist. Among the prior art, place two cameras on carrying the tool usually, then set up a plurality of stations and detect the product on carrying the tool, realize detecting the front, the reverse side of product, this kind of operation, efficiency is limited, and required camera subassembly is more, increases manufacturing cost, has still increased the equipment space of equipment simultaneously. In the prior art, a single camera is used for detecting the front and the back of a product, for example, patent document CN112495814A discloses a product surface defect detection device and a product surface defect detection method, wherein a turnover manipulator is used for clamping a conveying jig to turn over a product, so as to realize the detection of the front and the back of the product to be detected.
Therefore, how to detect the front and back of a product without increasing the number of cameras and improve the detection efficiency of the product to be detected becomes a hot problem of current research in the field.
Disclosure of Invention
In view of all or some of the deficiencies of the prior art as set forth above, the present invention is directed to: the method for detecting the front and back of the product comprises the steps that a plurality of stations are arranged on a rotary table, at least two jig positions are arranged on each station, the product is fed to the rotary table through a feeding mechanical arm, the front and back detection of the product is completed under the action of a detection camera, a turnover module and other mechanisms through the rotation of the rotary table, and the angle of the front and back detection of a single product rotating along with the rotary table is larger than 360 degrees. The front and back sides of the product are detected, the space utilization rate is improved, and the cost is reduced; simultaneously, accomplish single product positive and negative and detect carousel pivoted angle and be greater than 360, effectively avoid detecting mechanisms such as camera, upset module to appear standby state, realize the synchronization of a plurality of products, continuous operation, the required time of single product detection cycle is greatly shortened, improves detection efficiency.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for detecting the front and back surfaces of a product uses a device for detecting the front and back surfaces of the product to detect, and is characterized in that the device for detecting the front and back surfaces of the product comprises a station turntable, a material moving mechanism, a detection camera and a turning module; the detection cameras, the overturning module and the material moving mechanism are arranged on the periphery of the outer side of the station turntable; a plurality of stations are arranged on the station turntable, and a plurality of jigs are arranged on each station; the method comprises the following steps:
s1, the material moving mechanism feeds the product into a jig of the station turntable;
s2, the station turntable rotates to the position of the detection camera, the plurality of jigs can move relatively, and the detection camera detects one surface of the product;
s3, continuing to rotate the station turntable to the overturning module, and overturning the product by the overturning module;
s4, the station turntable rotates to the position of the detection camera, and the detection camera detects the other surface of the product;
s5, the material moving mechanism discharges the product with front and back detection, and the rotation angle of the station turntable from product feeding to discharging is larger than 360 degrees.
The technical scheme has the beneficial effects that the plurality of stations are arranged on the same station turntable, and each station is provided with at least two jigs, so that the space utilization rate and the detection efficiency are improved; the product is turned by the turning module, so that the front side and the back side of the product can be detected by using a single camera, the use of camera elements is reduced, and the cost is reduced; simultaneously, accomplish single product positive and negative and detect carousel pivoted angle and be greater than 360, effectively avoid detecting the standby state of mechanisms such as camera, upset module, very big shortening check-out time, improve detection efficiency.
The material moving mechanism is a manipulator, the manipulator is arranged at an upstream station of the detection camera, and the S1 further comprises the following steps:
s11, the manipulator overturns the product and places the product in a jig of the station turntable in a state that the reverse side of the product is upward; or the like, or, alternatively,
and S12, placing the product in the fixture of the station turntable in a front-up state by the manipulator.
The technical scheme has the beneficial effects that the product is turned over during feeding so that the product is placed in the jig of the station turntable in a reverse side upward state, and the product enters the downstream operation platform in a front side upward state after the front side and the reverse side detection is completed, so that the follow-up operation requirements are met. During feeding, the product is turned over to be placed in the jig of the station turntable in a front-side-up state, feeding time is shortened, and detection efficiency is improved.
Be provided with at least one No. 1 tool and at least one No. 2 tool on the station, S2 still includes the step:
s21, the detection camera carries out reverse detection on the product placed in the No. 1 jig; or the like, or, alternatively,
s22, the detection camera carries out front detection on the product placed in the No. 1 jig;
the S3 further includes:
s31, the overturning module overturns the product in the jig No. 1 by 180 degrees, and the overturned product is placed in the jig No. 2 of the station turntable; or the like, or, alternatively,
s32, the product in the 1 # jig is overturned 180 DEG by the overturning module, and the overturned product is placed in the 1 # jig of the station turntable. The technical scheme has the beneficial effects that the station is provided with at least one No. 1 jig and at least one No. 2 jig, so that synchronous detection of two products can be realized, namely, one product is subjected to front detection, and then the jigs are driven to relatively move to carry out back detection on the other product, so that the detection efficiency is effectively improved; simultaneously, set up at least one No. 1 tool and at least one No. 2 tool on same station and can realize the while upset of two or more products in upset module department, effectively shorten single product and accomplish the time that positive and negative detection needs. And the product that the upset module will have accomplished the upset is put back to the normal position in tool 1 or new position 2 tool, guarantees all to have vacant tool in order to wait the material loading on every station when the carousel rotates, improves detection efficiency and space utilization.
The material moving mechanism is a mechanical arm, the S4 front part comprises S41, the S41 comprises: the station turntable rotates to the manipulator, and the manipulator feeds the product of which the front and back sides are detected in the No. 1 jig or the No. 2 jig;
the S4 is preceded by S42, and the S42 comprises:
s43, the station turntable rotates to the manipulator, and the manipulator feeds the vacant jig No. 1; or the like, or, alternatively,
and S44, the station turntable rotates to the manipulator, and the manipulator feeds the vacant No. 2 jig. Arranging a blanking and feeding mechanism before secondary detection, blanking the product subjected to front and back detection, and leaving a jig to be fed; and after the blanking is finished, the feeding is carried out, so that the utilization rate of mechanisms such as a jig and a corresponding detection camera is ensured, and the detection time is shortened.
The S4 further includes:
s45, the detection camera carries out front detection on the product in the No. 1 jig, then the No. 2 jig is driven to move relatively on the station, and the detection camera carries out back detection on the product in the No. 2 jig; or the like, or, alternatively,
s46, the detection camera carries out reverse side detection on the product in the No. 1 jig, then drives the No. 2 jig to move relatively on the station, and the detection camera carries out front side detection on the product in the No. 2 jig. Through set up two at least tool positions on the station, install drive arrangement in the bottom of the corresponding station in tool position, tool position carries out relative movement under drive arrangement's drive to satisfy under the fixed circumstances of detection camera, realize the synchronous detection of product in the different tool positions.
The periphery of the outer side of the station turntable is also provided with a cleaning mechanism, S4 also comprises S47, S47 comprises: the turntable rotates to the cleaning mechanism, and the cleaning mechanism cleans products in the No. 1 jig or the No. 2 jig. The cleaning module is used for cleaning the product, so that the requirement that the front and back detection conditions are different during product detection can be met, and the efficient and rapid detection of the product is realized.
The overturning module comprises an overturning mechanism and a taking and placing mechanism; the S31 or S32 further comprises:
the product is taken out of the station turntable by the taking and placing mechanism and placed in a jig of the turnover mechanism, and the turnover mechanism is driven to turn over the jig by 180 degrees to complete the turnover of the product; and the taking and placing mechanism returns the overturned product to the jig of the station turntable again. The beneficial effects of this technical scheme lie in, adopt the upset of renovation utensil rack, hardly receive product specification and dimension influence, only need transform corresponding tool dish can, tilting mechanism can compatible different products, like this, use this kind of tilting mechanism's check out test set, change the model when can realizing different product detection fast, effectively reduced the equipment acquisition cost and the equipment of production and processing firm and deposited the administrative cost, be suitable for popularization and application. Meanwhile, the overturning module further comprises a taking and placing mechanism, when the product is overturned, the product can be synchronously placed back to the station turntable, and the time for completing the whole overturning function is shortened.
The station turntable is a six-station turntable, and in the step S5, the rotation angle of the six-station turntable from product feeding to product blanking is 480 degrees. The beneficial effects of this technical scheme lie in, rotate 480 through six station carousels, have realized utilizing six stations to carry out the synchronous operation of nine stations, avoid detecting the standby state of mechanisms such as camera and upset module, shorten the required time of single product detection cycle. Compared with the prior art, the invention has at least the following beneficial effects: provides a method for detecting the front and back of a product,
set up a plurality of station on the carousel, be provided with two tool positions on every station at least, through material loading manipulator with product material loading to carousel, utilize the carousel to rotate and accomplish the positive and negative detection of product under the effect of mechanisms such as detection camera, upset module, single product is accomplished the positive and negative and is detected and be greater than 360 along with carousel pivoted angle. The front and back sides of the product are detected by using a single camera, the space utilization rate is improved, and the cost is reduced; simultaneously, accomplish single product positive and negative and detect carousel pivoted angle and be greater than 360, effectively avoid detecting the standby state of mechanisms such as camera, upset module, realize the synchronization of a plurality of products, continuous operation, very big shortening single product detection cycle required time, improve detection efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive efforts.
Fig. 1 is a top view of a six-station turntable and surrounding components according to a first embodiment of the present invention, in which the direction of an arrow in the figure is the direction of rotation of the six-station turntable.
Fig. 2 is a flowchart of a front-back side detection method of a single-camera product according to a third embodiment of the present invention.
Fig. 3 is a top view of a six-station carousel according to a first embodiment of the invention.
Fig. 4 is a side view of a six-station carousel according to a first embodiment of the invention.
Fig. 5 is a bottom view of a six-station carousel according to a first embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating the position movement of the jig No. 1 and the jig No. 2 according to the first embodiment of the present invention.
Fig. 7 is a top view of a six-station turntable and surrounding components according to a second embodiment of the present invention, wherein the direction of the arrow in the figure is the direction of rotation of the six-station turntable.
Reference numerals: 1-six station turntable; 101-a turntable station; 102-station turntable bearing; tool No. 1011-1; no. 1012-2 jig; 2-six-axis manipulator feeding module; 3-detecting the camera; 4-four-axis manipulator; 5-turning over the module; 6-ultrasonic cleaning means; 7-alcohol cleaning mechanism.
Detailed Description
The technical solutions in the specific embodiments of the present invention will be clearly and completely described below, and it should be understood 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.
Example one
Fig. 1 shows an embodiment of the present invention, and in this embodiment, it should be noted that, in order to describe the technical solution more specifically, the steps described in this embodiment do not strictly correspond to the steps described in the summary of the invention.
The invention provides a device for detecting the front and back surfaces of a product by a single camera, which comprises a double-surface detection mechanism as shown in figure 1; wherein, two-sided detection mechanism contains station carousel, moves material mechanism, detects piece, upset module 14 and cleaning mechanism group. Further, the material moving mechanism is a feeding manipulator and a discharging manipulator in this embodiment. Of course, in other embodiments, the material moving mechanism may be a single robot, and one robot is used to complete the loading and unloading of the product. In other embodiments, the material moving mechanism is a feeding manipulator and a discharging manipulator, and the feeding manipulator and the discharging manipulator can be located at the same position outside the station turntable, i.e. the feeding and discharging of the product are performed at the same station. Preferably, the loading mechanical rear and the unloading mechanical hand are located at different positions outside the station turntable, as in the present embodiment: the feeding manipulator is six manipulator material loading modules 2, and the unloading manipulator is four-axis manipulator 4, and six manipulator material loading modules 2, detection camera 3, four-axis manipulator 4, upset module 5, ultrasonic cleaning unit 6 and the clean unit 7 of alcohol set gradually around the station carousel along the clockwise. In the present embodiment, the six-axis robot loading module 2, the inspection camera 3, the four-axis robot 4, the flipping module 5, the ultrasonic cleaning unit 6, and the alcohol cleaning unit 7 are separated by an angle of 60 °. Of course, in other embodiments, the interval angle between the six-axis robot feeding module 2, the inspection camera 3, the four-axis robot 4, the flipping module 5, the ultrasonic cleaning mechanism 6 and the alcohol cleaning mechanism 7 is 60 °, however, the disclosure is not limited thereto, and the interval angle between the six-axis robot feeding module 2, the inspection camera 3, the four-axis robot 4, the flipping module 5, the ultrasonic cleaning unit 6 and the alcohol cleaning mechanism 7 in the clockwise direction may be other angles to achieve the object of the present invention.
When the six-axis manipulator feeds the product sucked from the tray of the upstream platform onto the station turntable, the six-axis manipulator feeding module 2 overturns the product to enable the reverse side of the product to be upward, and then the product is placed on the station turntable in a state that the reverse side is upward. As shown in fig. 2, in this embodiment, 6 stations are provided on the station turntable, wherein each station is provided with a number 1 jig position and a number 2 jig position, that is, there are two jig positions on each station. Corresponding induction devices are installed below each jig position and used for transferring information about whether products are placed in the jigs to other devices. Preferably, in other embodiments, the station turntable station can be provided with four or eight stations; of course, each station can be provided with three or four jig positions.
In this embodiment, the six-axis manipulator feeding module 2 places the first product to be detected in the fixture 1011 No. 1 of the first station of the six-station turntable 1 in a state that the reverse side is upward, and the product rotates clockwise along with the six-station turntable 1 to the position of the detection camera 3. Because the detection camera 3 is fixed on the frame of the detection piece, as shown in fig. 5, the tool 1 can be driven by the driving device arranged at the bottom of the six-station turntable 1 to move in the first station, so as to move the product to the detection position of the detection camera 3, and the detection camera 3 receives information from the sensor below the tool 1 1011 to detect the back side of the product in the tool 1 1011. After the reverse side detection is finished, the product rotates to the position of the four-axis manipulator 4 along with the six-station turntable 1 in the No. 1 jig 1011, at the moment, the product does not perform the blanking action because the product is not subjected to the front side detection, and the product continues to rotate to the overturning module 5 along with the six-station turntable 1.
When the product rotates to the turning module 5 along with the six-station turntable 1, the turning module 5 changes the product from a reverse side upward state to a front side upward state. After the product is turned over, the turning module 5 is moved to a position right above the No. 2 jig 1012 of the first station of the six-station turntable 1, and the product with the upward front surface is placed in the No. 2 jig 1012 of the first station.
The product in the first station No. 2 tool 1012 with the upward front surface continues to rotate to the ultrasonic cleaning mechanism 6 along with the six-station turntable 1. The ultrasonic cleaning mechanism 6 is provided with a fan assembly and a dust collecting device, and the fan assembly and the dust collecting device are controlled by a driving device in the ultrasonic cleaning mechanism 6. The ultrasonic cleaning mechanism 6 starts to start after receiving information of a sensor below the No. 2 jig 1012 from the first station, the front of a product is cleaned by the aid of the air knife assembly, and meanwhile, dust generated in the cleaning process is collected by the dust collecting device to guarantee stable operation of equipment. In this embodiment, when the six-axis manipulator feeding module 2 feeds the jig 1011 at position 1, the turntable starts, the downstream devices do not start at the same time, and the downstream devices need to start after receiving the information of the existing products in the jig sent by the sensor below the corresponding jig position. In this embodiment, when the jig 1011 of the first station 1 is rotated to the ultrasonic cleaning mechanism 6, the ultrasonic cleaning mechanism 6 is not activated because no product is placed in the jig 1011 of the first station 1.
After the ultrasonic cleaning mechanism 6 finishes cleaning, the product with the upward front surface placed in the No. 2 jig 1012 of the first station continues to rotate to the downstream alcohol cleaning mechanism 7 along with the six-station turntable 1. The sensor below No. 2 tool 1012 at the first station transmits the information that the product is in the tool to the alcohol cleaning mechanism 7, and the alcohol cleaning mechanism 7 starts to start after receiving the information. The clean mechanism 7 of alcohol is provided with and places the mechanism including driving piece, moving mechanism and alcohol, and clean mechanism 7 of alcohol utilizes the dustless cloth that the driving piece drive was placed on moving mechanism to clean the front of product in No. 2 tool 1012 of first station, cleans it and carries out the alcohol after finishing. After cleaning, the six-station turntable 1 rotates again.
Six station carousel 1 rotates and gets back to six manipulators material loading module 2 departments after the round, and six manipulators material loading module 2 carries out the material loading for the second time to vacant tool 1011 No. 1 in the first station, all placed the product in two tools in the first station this moment, and product in tool 1011 No. 1 is reverse side upwards, and product in tool 1012 No. 2 is positive upwards. After the feeding is finished, the six-station turntable 1 continues to rotate to the position of the detection camera 3. The detection camera 3 carries out reverse side detection on products in the No. 1 jig 1011 at the first station. The first station No. 2 jig 1012 is driven by the bottom driving device to move to the detection position of the detection camera 3, and the detection camera 3 detects the front of the product in the first station No. 2 jig 1012 to complete the front and back detection of the product in the first station No. 2 jig 1012.
The six-station turntable 1 continues to rotate to the four-shaft mechanical arm 4. The four-axis manipulator 4 receives information from a sensor below the first station No. 2 jig 1012 to start, and sucks and places a product which is subjected to front and back detection from the first station No. 2 jig 1012 into a downstream working platform. The six-station turntable 1 for detecting the front side and the back side of a product needs to rotate more than one circle. In this embodiment, the rotation angle of the six-station rotary table 1 for completing front and back detection of one product is 480 °, which greatly shortens the time for completing front and back detection of a single product, namely the sum of the time required for completing steps from all original mechanisms for completing front and back detection of a single product and the time required for rotating the rotary table to each mechanism, and the sum of the time required for completing the most complex instruction function, namely the sum of the time required for turning over a single cycle of a module and the time required for rotating the rotary table by 60 °, and greatly shortens the time required for detecting a single cycle of front and back detection of a product.
Example two
As shown in fig. 7, in the present embodiment, the six-axis robot feeding module 2, the ultrasonic cleaning unit 6, the alcohol cleaning unit 7, the inspection camera 3, the four-axis robot 4, and the turning module 5 are sequentially disposed around the outer side of the six-station turntable 1 in a clockwise direction. The six-axis manipulator feeding module 2 places the product on the six-station turntable 1 in a state that the front surface of the product is upward. In this embodiment, two jig positions, i.e., No. 1 jig 1011 and No. 2 jig 1012, are provided at each station. Of course, in other embodiments, three or four jig positions may be provided for each station. The six-axis manipulator feeding module 2 feeds a product to the jig 1011 at the first station in a state that the front surface of the product faces upwards, the six-station turntable 1 rotates the jig 1011 at the first station to rotate to the ultrasonic cleaning unit 6 for cleaning for the first time, and the six-axis manipulator feeding module 2 feeds the jig 1 at the second station. After the first cleaning is finished, the product 1011 in the jig 1 at the first station is rotated to the alcohol cleaning unit 7 for secondary cleaning, and the product in the jig 1 at the second station is cleaned for the first time at the ultrasonic cleaning unit 6. After the secondary cleaning is finished, the product of 1011 in the No. 1 jig of the first station rotates to the detection camera 3, and the detection camera 3 detects the front of the product by moving to the detection position of the detection camera 3 under the driving of the jig bottom driving device. The product in the tool 1011 of 1 of first station rotates to upset module 5 department after positive detection, and upset module 5 overturns 180 through the product in tilting mechanism 501 with tool 1 to return the product after will overturning in original tool 1011 No. 1.
Further, the product that has finished overturning rotates to six-axis manipulator feeding module 2 along with six station turntables 1, and six-axis manipulator feeding module 2 feeds No. 2 tool 1012, and the product is fed with the state that the front face is up. After the feeding is finished, the products with the upward back surfaces in the No. 1 jig 1011 and the upward front surfaces in the No. 2 jig 1012 continue to rotate to the ultrasonic cleaning unit 6 and the alcohol cleaning unit 7 along with the six-station turntable 1, and the products with the upward front surfaces in the No. 2 jig 1012 are cleaned. After the cleaning, the ascending product of 1011 reverse side in 1 tool and the ascending product of 1012 obverse side in No. 2 tool continue to rotate to detection camera 3 department along with six station carousel 1, and detection camera 3 carries out the reverse side to the ascending product of reverse side in No. 1 tool 1011 earlier and detects, and No. 2 tool 1012 carries out the position switch under bottom drive arrangement's drive afterwards, moves to the detection position that detects camera 3, and detection camera 3 carries out the obverse side to the ascending product of obverse side in No. 2 tool 1012 and detects. After the detection is finished, products with upward back surfaces in the No. 1 jig 1011 and products with upward front surfaces in the No. 2 jig 1012 continue to rotate to the position of the four-shaft mechanical arm 4 along with the six-station turntable 1, and when the four-shaft mechanical arm 4 senses that products exist in the No. 2 jig 1012, the products with the detected front surfaces and the detected back surfaces in the No. 1 jig 1011 are discharged. In this embodiment, the front and back sides of a product are inspected for its angular position of 600 ° as it rotates with the six-station turret.
Of course, in other embodiments, eight stations are provided on the station turntable, and each station is provided with four jig positions, two No. 1 jig positions and two No. 2 jig positions. Six manipulator material loading modules 2 all carry out the material loading to two No. 1 tool positions, rotate along with eight carousel in the worker, and clean mechanism all cleans two products in No. 1 tool, rotates to detection camera 3 departments after clean the completion, and detection camera 3 detects two products in step. After the detection of one side is completed, the turntable continues to rotate to the turning module 5, and the turning mechanism 501 of the turning module 5 synchronously turns over two products in the two jig numbers 1 1011. After the turning is completed, the pick-and-place mechanism 502 of the turning module places the turned 2 products into two No. 2 jigs 1012. The eight-station turntable rotates to the position of the six-axis manipulator feeding module 2, and the six-axis manipulator feeding module 2 feeds two vacant jigs 1011. The eight-station turntable continues to rotate to the cleaning mechanism, the cleaning mechanism cleans products in the jig 1011 No. 1, the eight-station turntable continues to rotate to the detection camera 3, the detection camera 3 detects the products in the jig 1011 No. 1, then the jig 1012 No. 2 moves relatively under the drive of the driving device, and the detection camera 3 detects the products in the jig No. 2. Detection is completed, the eight-station turntable rotates to the position of 4 four-shaft mechanical arms, and the four-shaft mechanical arms are used for synchronously blanking two products in the two No. 1 jigs 1011. At the moment, the angle of the product for completing the front and back detection along with the rotation of the eight-station turntable is 600 degrees, and the front and back detection of two products is simultaneously carried out, so that the utilization rate of mechanisms arranged around the outer side of the station turntable is further improved, and the time for completing the single front and back detection is shortened.
EXAMPLE III
As shown in FIG. 2, a method for detecting the front and back of a product by a single camera is provided, and the front and back of the product are detected by the device for detecting the front and back of the product by the single camera.
In this embodiment, the feeding manipulator takes out the product from the upstream fixture tray and turns the product 180 ° before feeding, so that the product is placed in the fixture 1011 No. 1 at the first station of the station turntable at the feeding port with the reverse side upward. In order to improve the utilization rate of the corresponding device in the embodiment, the product is uniformly turned over during feeding, so that the product is fed in a reverse side-up state. In other embodiments, the product is not turned during loading, and the product is placed in the jig of the station turntable in a front-up state. The positions of the material moving mechanism, the detection camera 3 and the turning module 5 are correspondingly adjusted to realize the front and back detection of the product.
After the feeding action is finished, the turntable rotates to a detection station along the clockwise direction, and a detection camera 3 fixed at the detection station is ready for detection after receiving information; as shown in fig. 4, a jig cylinder below the station turntable drives the jig 1011 # 1 to move to the detection position of the detection camera 3 on the station; the detection camera 3 performs reverse detection on the product.
And then, after the detection is finished, the station turntable continuously rotates to the four-axis manipulator 4. Since no product is placed in the No. 2 jig 1012, the four-axis robot 4 does not operate, that is, does not perform a blanking operation. Of course, in other embodiments, a single robot may be used to load and unload the product at the same location, or two robots may be used to unload and load the product at the same location.
The station turntable continues to rotate to the turnover module 5, the turnover module 5 turns over the product in the No. 1 jig 1011 by 180 degrees, and the product is turned from the state that the back surface is upward to the state that the front surface is upward. And the turned product is placed into the No. 2 jig 1012 of the station turntable in a front-up state.
Subsequently, the station turntable is rotated to the station of the ultrasonic cleaning mechanism 6. The ultrasonic cleaning mechanism 6 receives a signal from a sensor under the No. 2 jig 1012, and starts to clean a product placed in the No. 2 jig 1012 with an upward front surface for the first time. After the first cleaning, the station turntable continues to rotate to the station of the alcohol cleaning mechanism 7, the alcohol cleaning mechanism 7 starts to start after receiving a signal of the sensor below the No. 2 jig 1012, and the product with the upward front surface in the No. 2 jig 1012 is cleaned for the second time. Of course, in other embodiments, the cleaning mechanism may not be provided to clean the product.
After the two cleaning processes are finished, the station turntable continues to rotate to the position of the six-axis manipulator feeding module 2, and the vacant fixture No. 1 1011 is fed again. Then, the station turntable rotates to the position of the detection camera 3, the detection camera 3 carries out reverse detection on the product in the No. 1 jig 1011, then the No. 2 jig 1012 moves relatively, the detection camera 3 carries out front detection on the product in the No. 1 jig 1011,
then, the station turntable continues to rotate to the four-axis manipulator 4, and after receiving the information from the lower part of the No. 2 jig 1012, the four-axis manipulator 4 feeds the product which is detected on the front side and the back side in the No. 2 jig 1012. In this embodiment, the angle that the front and back detection is accomplished along with station carousel pivoted to single product is 480, and other mechanisms also carry out respective work in step when arbitrary mechanism all around in the station carousel outside moves, has realized utilizing six stations to carry out the synchronous operation of nine stations, avoids detecting the standby state of mechanisms such as camera and upset module, shortens the required time of single product detection cycle, has improved the utilization ratio of the relevant mechanism that sets up all around in the station carousel outside. The time for completing the front and back detection of a single product is shortened to the sum of the time for completing the most complex instruction function and the time for rotating the turntable for one station from the sum of the time required by all the original mechanisms for completing the steps and the time required by rotating the turntable to each mechanism. If the time consumed by the turnover module to complete the instruction function is the longest in the embodiment, the time for completing the single product detection is the sum of the time for completing one cycle of turnover of the product by the turnover module 5 and the time required by rotating the turntable from the blanking station to the turnover module 5, so that the detection efficiency is improved while the product detection time is shortened.
The foregoing outlines features of several embodiments so that those skilled in the art may better understand the aspects of the present disclosure. Those skilled in the art should appreciate that they may readily use the present disclosure as a basis for designing or modifying other processes and structures for carrying out the same purposes and/or achieving the same advantages of the embodiments introduced herein. Those skilled in the art should also realize that such equivalent constructions do not depart from the spirit and scope of the present disclosure, and that they may make various changes, substitutions, and alterations herein without departing from the spirit and scope of the present disclosure.
The above description of the embodiments is only intended to facilitate the understanding of the method and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method for detecting the front and back surfaces of a product uses a device for detecting the front and back surfaces of the product to detect, and is characterized in that the device for detecting the front and back surfaces of the product comprises a station turntable, a material moving mechanism, a detection camera and a turning module; the detection cameras, the overturning module and the material moving mechanism are arranged on the periphery of the outer side of the station turntable; a plurality of stations are arranged on the station turntable, and a plurality of jigs are arranged on each station; the method comprises the following steps:
s1, the material moving mechanism feeds the product into a jig of the station turntable;
s2, the station turntable rotates to the position of the detection camera, the plurality of jigs can move relatively, and the detection camera detects one surface of the product;
s3, continuing to rotate the station turntable to the overturning module, and overturning the product by the overturning module;
s4, the station turntable rotates to the position of the detection camera, and the detection camera detects the other surface of the product;
s5, the material moving mechanism discharges the product with front and back detection, and the rotation angle of the station turntable is larger than 360 degrees from product feeding to product discharging.
2. The method for detecting the front and back of a product according to claim 1, wherein the material moving mechanism is a manipulator, the manipulator is disposed at an upstream station of the detection camera, and the step S1 further comprises the steps of:
s11, the manipulator overturns the product and places the product in a jig of the station turntable in a state that the reverse side of the product is upward; or the like, or, alternatively,
and S12, the manipulator places the product in a fixture of the station turntable in a front-up state.
3. The method for detecting the front and back of the product according to claim 1, wherein at least one No. 1 jig and at least one No. 2 jig are arranged on the station, and the step S2 further comprises the steps of:
s21, the detection camera carries out reverse detection on the product placed in the No. 1 jig; or the like, or, alternatively,
and S22, the detection camera detects the front surface of the product placed in the No. 1 jig.
4. The method for detecting the obverse and reverse sides of a product according to claim 1, wherein said S3 further comprises:
s31, the overturning module overturns the product in the jig No. 1 by 180 degrees, and the overturned product is placed in the jig No. 2 of the station turntable; or the like, or, alternatively,
s32, the product in the No. 1 jig is overturned 180 degrees by the overturning module, and the overturned product is placed in the No. 1 jig of the station turntable.
5. The method for inspecting front and back sides of a product according to claim 1, wherein the material moving mechanism is a robot, S41 is further included before S4, and S41 includes: and the station turntable rotates to the manipulator, and the manipulator feeds the product which is subjected to front and back detection in the No. 1 jig or the No. 2 jig.
6. The method for inspecting front and back sides of a product according to claim 1, wherein the material moving mechanism is a robot, S42 is further included before S4, and S42 includes:
s43, the station turntable rotates to the manipulator, and the manipulator feeds the vacant jig No. 1; or the like, or, alternatively,
and S44, the station turntable rotates to the manipulator, and the manipulator feeds the vacant No. 2 jig.
7. The method for detecting the obverse and reverse sides of a product according to claim 1, wherein said S4 further comprises:
s45, the detection camera carries out front detection on the product in the No. 1 jig, then the No. 2 jig is driven to move relatively on the station, and the detection camera carries out back detection on the product in the No. 2 jig; or the like, or, alternatively,
s46, the detection camera carries out reverse side detection on the product in the No. 1 jig, then drives the No. 2 jig to move relatively on the station, and the detection camera carries out front side detection on the product in the No. 2 jig.
8. The method for inspecting front and back sides of a product according to claim 1, wherein a cleaning mechanism is further disposed around an outer side of the station turntable, S47 is included before S4, and S47 includes: the station turntable rotates to the cleaning mechanism, and the cleaning mechanism cleans products in the No. 1 jig or the No. 2 jig.
9. The method for detecting the front and back of a product as claimed in claim 4, wherein the turnover module comprises a turnover mechanism and a pick-and-place mechanism; the S31 or S32 further comprises: the product is taken out of the station turntable by the taking and placing mechanism and placed in a jig of the turnover mechanism, and the turnover mechanism is driven to turn over the jig by 180 degrees to complete the turnover of the product; and the taking and placing mechanism returns the overturned product to the jig of the station turntable again.
10. The method for detecting the front and back of a product as claimed in claim 1, wherein in the step S5, the rotation angle of the station turntable from product feeding to product discharging is 480 °.
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| CN202111039830.1A CN113740347A (en) | 2021-09-06 | 2021-09-06 | Method for detecting front and back surfaces of product |
| PCT/CN2022/107242 WO2023029801A1 (en) | 2021-09-06 | 2022-07-22 | Method for testing front and back sides of product |
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| CN202111039830.1A CN113740347A (en) | 2021-09-06 | 2021-09-06 | Method for detecting front and back surfaces of product |
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| CN116620855B (en) * | 2023-07-25 | 2023-11-03 | 宁德微图智能科技有限公司 | Automatic feeding and discharging cleaning equipment |
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| WO2023029801A1 (en) | 2023-03-09 |
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