CN114646260A - Sliding shoe visual inspection machine - Google Patents
Sliding shoe visual inspection machine Download PDFInfo
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- CN114646260A CN114646260A CN202111604639.7A CN202111604639A CN114646260A CN 114646260 A CN114646260 A CN 114646260A CN 202111604639 A CN202111604639 A CN 202111604639A CN 114646260 A CN114646260 A CN 114646260A
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- 238000011179 visual inspection Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 230000000007 visual effect Effects 0.000 claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- 239000000463 material Substances 0.000 claims description 8
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- 230000003028 elevating effect Effects 0.000 claims 1
- 238000007599 discharging Methods 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 5
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- 230000001360 synchronised effect Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The invention provides a slipper visual inspection machine which comprises a rack, a workbench, a rotary table, a positioning device, a rotary lifting device, a feeding conveying device, a feeding mechanical arm, a two-axis displacement mechanism, a discharging conveying device, a discharging mechanical arm, a bottom visual inspection mechanism, a side-tilting overlooking visual inspection mechanism, an overlooking visual inspection mechanism and an appearance visual inspection mechanism. According to the invention, according to the structural characteristics of the sliding shoes, a plurality of detection stations and visual detection mechanisms corresponding to the detection stations are arranged on one workbench, a rotary circulation mode is adopted in the workpiece detection process, the distance between the feeding and the discharging is shortened, the driving structure is compact and reasonable, the miniaturization of the equipment is realized, and if a numerical control system is matched with the corresponding driving mechanism and the corresponding detection mechanism, the full-automatic digital control of the equipment can be realized, so that all detection items of the sliding shoes can be realized at one time, and the sliding shoe detection efficiency is greatly improved.
Description
Technical Field
The invention relates to detection equipment for mechanical parts, in particular to equipment for detecting a sliding shoe, and particularly relates to a sliding shoe visual detection machine.
Background
The slipper is a common part in mechanical equipment such as a plunger pump, for example, a slipper with a ball socket applied to an axial plunger pump, and a slipper friction pair composed of the slipper and a swash plate is one of three friction pairs of the axial plunger pump. The sliding shoes have high movement speed, are frequently impacted by periodic pressure and have large contact specific pressure, so the sliding shoes are easy to wear, and the service life of equipment is influenced. The wear resistance of the sliding shoe is not only influenced by the material of the sliding shoe, but also closely related to the structural precision of the sliding shoe.
The shoe is generally a ball and is a ball-and-socket shoe (hereinafter simply referred to as a shoe) having a structure as shown in fig. 27, and items to be detected include height, outer diameter, flange outer diameter, and appearance, as well as cylindricity of the outer shape of a part, flatness of the bottom surface, surface profile and form and position accuracy of the ball and socket, and form and position accuracy of a central hole of the ball and socket. At present, although part of the detection items are automated, the detection of the sliding shoes is still very complicated for manufacturers, and the production efficiency is seriously influenced.
Disclosure of Invention
The detection machine provided by the invention has the advantages that according to the structural characteristics of the sliding shoes, a plurality of detection stations and visual detection mechanisms corresponding to the detection stations are arranged on one workbench, a rotary circulation mode is adopted in the workpiece detection process, the distance between feeding and discharging is shortened, the driving structure is compact and reasonable, the miniaturization of equipment is realized, the full-automatic digital control of the equipment is facilitated, all detection items of the sliding shoes are finished at one time, and the sliding shoe detection efficiency is greatly improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a slipper visual inspection machine comprises a rack, a workbench, a rotating table, a positioning device, a rotary lifting device, a feeding conveying device, a feeding mechanical arm, a two-axis displacement mechanism, a discharging conveying device, a discharging mechanical arm, a bottom visual inspection mechanism, a side-tilting overlooking visual inspection mechanism, an overlooking visual inspection mechanism and an appearance visual inspection mechanism;
the workbench is arranged at the upper part of the frame, the rotary table is arranged above the middle part of the workbench, four work stations are arranged on the same horizontal plane above the rotary table, the axis of the rotary table is taken as the original point, the first work station is positioned in the positive direction of the Y axis, the second work station is positioned in the positive direction of the X axis, the third work station is positioned in the negative direction of the Y axis, the fourth work station is positioned in the negative direction of the X axis, and the four work stations are in central symmetry by taking the axis of the rotary table as the center; the rotary table is provided with four through holes E corresponding to the four work station points, and each through hole E is provided with a positioning device used for positioning and placing a workpiece;
the three rotary lifting devices are arranged below the rotary table and detachably connected with the positioning device, the rotating shafts of the three rotary lifting devices are vertically arranged, and the three rotary lifting devices are respectively positioned below the first station point, the second station point and the third station point; the rotary lifting devices are provided with plug connectors and are detachably connected with the positioning device through the plug connectors;
the side visual inspection mechanism is arranged on the side of the first station point and comprises: the first linear array camera is horizontally arranged on the lens, and the first light source horizontally emits light; the lens of the first linear array camera faces the first work station point, and the center height of the lens is higher than the upper surface of the rotating platform;
the side-tipping type overlook visual detection mechanism is arranged above the second station point and comprises: the second linear array camera is arranged with a lens inclined downwards, and the second light source emits light rays downwards in an inclined way, wherein the lens of the second linear array camera faces to a second working position point;
overlook visual inspection mechanism set up the top at the third worker's position, it includes: the second area-array camera is arranged vertically downwards from the lens, and the third light source emits light rays vertically downwards; the lens of the second area-array camera faces a third work site point;
the appearance visual detection mechanism is arranged on one side of a third work site and comprises a third array camera and a fourth light source, wherein the lens of the third array camera is horizontally arranged, the center height of the lens of the third array camera is higher than the upper surface of the rotating platform, and the lens of the third array camera faces the third work site; the fourth light source is a backlight light source and is arranged above the middle of the rotating platform through a mounting plate B, and the mounting plate B is perpendicular to the axis of the lens of the third array camera.
The rotary lifting device comprises: the device comprises a mounting plate A fixedly connected to the bottom surface of the workbench, an air cylinder vertically arranged on the mounting plate A, a slide rail vertically arranged on one side of the air cylinder, and a motor arranged on the slide rail;
the output end of the air cylinder is vertically downward, the output end of the air cylinder is connected with a transverse connecting rod, a sliding block is arranged on the sliding rail and connected with the transverse connecting rod, and the motor is arranged on the sliding block;
the motor be servo motor, its output shaft connector clip, the connector clip is the driving lever, the whole T type structure that constitutes for horizontal pole and montant of driving lever, its montant lower extreme is connected with the motor output, the horizontal pole upper end passes workstation upper surface and the separable connection of positioner.
The positioning device comprises an upper support, a lower support, a positioning table, a positioning ring, a central shaft, a magnetic object stage, a cross rotating shaft, a plane thrust bearing and a pressure spring,
the lower support is fixedly arranged below the inner part of the through hole E, and a vertical through hole A is formed in the lower support;
the upper support is fixedly connected to the upper part of the lower support, an inner hole with an opening at the lower part is formed in the bottom of the upper support, the inner hole is coaxial with the through hole A, and a through hole B coaxial with the inner hole is formed in the top wall of the inner hole;
the positioning table is fixedly arranged at the upper part of the upper support, a positioning groove is arranged in the middle of the upper surface of the positioning table, a through hole C is formed in the bottom wall of the positioning groove, and the through hole C is coaxial with the through hole B;
the positioning ring is detachably arranged in the positioning groove and used for positioning a workpiece;
the central shaft consists of a cylindrical shaft body and an annular boss, the annular boss is coaxially arranged in the middle of the shaft body and is arranged in the through hole A, and the upper part of the shaft body penetrates through the through hole B and the through hole C;
the magnetic object stage is fixedly arranged at the top end of the central shaft, the outer diameter of the magnetic object stage is larger than the inner diameter of the through hole B, and the magnetic object stage is used for placing a workpiece;
the pressure spring is sleeved on the shaft body and positioned between the annular boss and the top wall of the inner hole;
the cross rotating shaft is fixedly sleeved at the lower end of the central shaft, the bottom surface of the cross rotating shaft is provided with a cross slot, and the cross rotating shaft is detachably connected with a plug connector of the rotary lifting device through the cross slot;
the plane thrust bearing is sleeved on the shaft body and is positioned between the annular boss and the cross rotating shaft; the shaft ring of the plane thrust bearing is in transition fit with the shaft body, the seat ring of the plane thrust bearing is in sliding fit with the through hole A, the upper end face of the plane thrust bearing is in contact with the lower end face of the annular boss, a spring washer is arranged between the lower end face of the plane thrust bearing and the cross-shaped rotating shaft, and the spring washer is in contact with the lower end face of the plane thrust bearing.
The feeding conveying device is arranged on the right side of the rear part of the upper surface of the workbench, the two-axis displacement mechanism is arranged on the rear part of the upper surface of the workbench, and the feeding manipulator is movably arranged on the two-axis displacement mechanism; the blanking manipulator is arranged on the left side of the workbench, and the blanking conveyor belt is arranged on the left side of the blanking device; the side visual detection mechanism is arranged on the workbench and is positioned at the left end of the two-axis displacement mechanism.
The feeding and conveying device is a conveying belt; the two-axis displacement mechanism comprises: x is to sharp slip table and Z to sharp slip table, X is installed on the workstation to sharp slip table, and Z is installed on X is to sharp slip table, material loading manipulator installs on Z is to sharp slip table.
Bottom surface visual detection mechanism set up between revolving stage and material loading conveyer to be located two displacement mechanism the place ahead, it includes: the light source device comprises a first area-array camera and a fifth light source, wherein the first area-array camera is vertically arranged upwards, the fifth light source is vertically and upwards used for emitting light rays, the first area-array camera is arranged on the bottom surface of a workbench, the fifth light source is arranged on the upper part of the workbench, and a through hole F is formed in the workbench and used for allowing the light rays of a lens of the first area-array camera to pass through; the fifth light source is an annular light source, the axis of the fifth light source is coaxial with the lens of the first area array camera, and the fifth light source is located above the first area array camera.
The upper surface of the workbench is provided with a second support, the second linear array camera and the second light source are both arranged at the upper end of the second support, and the second light source is positioned below the second linear array camera.
The upper surface of the workbench is also provided with a third bracket and a fourth bracket, the second area-array camera and the third light source are both arranged at the upper end of the third bracket, and the third light source is positioned below the second area-array camera; the fourth support has a cantilever, the tail end of the cantilever is positioned above the middle part of the rotating table, and the fourth light source is fixedly connected below the tail end of the cantilever through a mounting plate B.
The invention has the beneficial effects that: according to the invention, according to the structural characteristics of the sliding shoes, a plurality of detection stations and visual detection mechanisms corresponding to the detection stations are arranged on one workbench, a rotary circulation mode is adopted in the workpiece detection process, the distance between the feeding and the discharging is shortened, the driving structure is compact and reasonable, the miniaturization of the equipment is realized, and if a numerical control system is matched with the corresponding driving mechanism and the corresponding detection mechanism, the full-automatic digital control of the equipment can be realized, so that all detection items of the sliding shoes can be realized at one time, and the sliding shoe detection efficiency is greatly improved.
Drawings
Fig. 1 is a top view of the overall structure of the present invention.
Fig. 2 is a schematic position diagram of four work sites.
Fig. 3 is a perspective view of a part of the structure of the present invention.
Fig. 4 is a perspective view of the table and the turntable.
Fig. 5 is a perspective view of a part of the structure of the bottom of the worktable.
Fig. 6 is a perspective view of the rotary lifting device.
Fig. 7 is a perspective view of the rotary lifting device and the positioning device.
Fig. 8 is a schematic diagram of the positional relationship between the rotary lifting device and the positioning device.
Fig. 9 is a front view of the turntable.
FIG. 10 is a schematic view of a driving structure of the turntable.
Fig. 11 is a schematic perspective view of the positioning device.
Fig. 12 is a perspective sectional view of the positioning device.
Fig. 13 is a cross-sectional view of the positioning device.
Fig. 14 is a perspective view of the lower support.
Fig. 15 is a perspective view of the upper support.
Fig. 16 is a perspective view of the central shaft.
Fig. 17 is a perspective view of a cross-shaped rotation shaft.
Fig. 18 is a perspective view of the magnetic stage.
Fig. 19 is a perspective view of the positioning table.
Fig. 20 is a perspective view of the retaining ring.
Fig. 21 is a perspective view of the feeding conveyor.
Fig. 22 is a perspective view of the loading robot and the two-axis displacement mechanism.
Fig. 23 is a perspective view of the side vision inspection mechanism.
Fig. 24 is a perspective view of a side-tilting type top-view visual inspection mechanism.
Fig. 25 is a right side view looking down on the visual detection mechanism.
Fig. 26 is a perspective view of the bottom surface visual inspection mechanism.
Fig. 27 is a perspective view of the slipper.
In the figure:
1. the automatic feeding device comprises a frame, 2, a workbench, 3, a rotating table, 4, a feeding conveying device, 5, a feeding manipulator, 6, a two-axis displacement mechanism, 7, a discharging conveying device, 8, a discharging manipulator, 9, a plug connector, 10 and a workpiece;
201. a first station point, 202, a second station point, 203, a third station point, 204, a fourth station point, 298 and a through hole F;
301. an upper support 302, a lower support 303, a positioning table 304, a positioning ring 305, a central shaft 306, a magnetic object stage 307, a cross rotating shaft 308, a plane thrust bearing 309, a pressure spring 310, a spring washer 311, an inner hole 312, through holes B, 321, through holes A, 331, a positioning groove 332, through holes C, 351, a shaft body 352, an annular boss 371, a cross slot 398, a driving motor 397, a synchronous belt, 399 and a through hole E;
601. an X-direction linear sliding table, 602 and a Z-direction linear sliding table;
902. the device comprises an air cylinder, 903, a sliding rail, 904, a motor, 905, a transverse connecting rod, 906, a sliding block, 907 and a mounting plate A;
1101. a first line-array camera 1102, a first light source;
1201. a second line-array camera 1202, a second light source 1203, a second support;
1301. a second area-array camera 1302, a third light source 1303 and a third support;
1401. a third array camera 1402, a fourth light source 1403, a mounting plate B, 1404, a fourth support 1405, a cantilever;
1501. a first area-array camera 1502, a fifth light source.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to 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.
As shown in fig. 1 to 26, a slipper visual inspection machine comprises a frame 1, a workbench 2, a rotary table 3, a positioning device, a rotary lifting device, a feeding conveying device 4, a feeding manipulator 5, a two-axis displacement mechanism 6, a discharging conveying device 7, a discharging manipulator 8, a bottom visual inspection mechanism, a side-tilting type overlooking visual inspection mechanism, an overlooking visual inspection mechanism and an appearance visual inspection mechanism;
the worktable 2 is arranged at the upper part of the frame 1, the rotary table 3 is arranged above the middle part of the worktable 2, the driving mechanism of the rotary table comprises a driving motor 398 and a synchronous belt 397, and the driving motor 398 is arranged at the bottom of the platform 2; the lower end of the rotating shaft of the rotating platform 3 is also positioned at the bottom of the platform 2, and the driving motor 398 is connected with the lower end of the rotating shaft through a synchronous belt 397; the driving motor 398 is a servo motor; four work station points are arranged on the same horizontal plane above the rotary table 3, the axis of the rotary table is taken as an original point, the first work station point 201 is positioned in the positive direction of the Y axis, the second work station point 202 is positioned in the positive direction of the X axis, the third work station point 203 is positioned in the negative direction of the Y axis, the fourth work station point 204 is positioned in the negative direction of the X axis, and the four work station points are centrosymmetric by taking the axis of the rotary table 3 as the center; the rotating table 3 is provided with four through holes E399 corresponding to the four work stations, and each through hole E399 is provided with a positioning device for positioning and placing the workpiece 10;
the number of the rotary lifting devices is three, the three rotary lifting devices are all arranged below the rotary table 3 and detachably connected with the positioning device, the rotating shafts of the three rotary lifting devices are all vertically arranged, and the three rotary lifting devices are respectively positioned below the first station point 201, the second station point 202 and the third station point 203; the rotary lifting devices are provided with plug connectors 9 and are detachably connected with the positioning device through the plug connectors 9;
the side visual inspection mechanism is arranged at the side of the first station point 201, and comprises: a first line-array camera 1101 with a horizontally arranged lens, a first light source 1102 horizontally emitting light; the lens of the first line-array camera 1101 faces the first station point 201, and the height of the center of the lens is higher than the upper surface of the rotating platform 3;
the side-tipping type overlook visual detection mechanism is arranged above the second station point 202 and comprises: a second linear array camera 1201 with a lens arranged obliquely downwards, and a second light source 1202 emitting light obliquely downwards, wherein the lens of the second linear array camera 1201 faces the second work site 202;
the overlook visual detection mechanism is arranged above the third station 203 and comprises: a second area-array camera 1301 with a vertically downward lens, and a third light source 1302 emitting light vertically downward; the lens of the second area-array camera 1301 faces the third station point 203;
the appearance visual detection mechanism is arranged on one side of the third station 203 and comprises a third array camera 1401 and a fourth light source 1402, wherein the lens of the third array camera 1401 is horizontally arranged, the height of the center of the lens of the third array camera 1401 is higher than the upper surface of the rotating platform 3, and the third array camera faces the third station 203; the fourth light source 1402 is a backlight light source, which is disposed above the middle of the rotary stage 3 through a mounting plate B1403, the mounting plate B1403 being perpendicular to the lens axis of the third array camera 1401.
The rotary lifting device comprises: the device comprises a mounting plate A907 fixedly connected to the bottom surface of the workbench 2, a cylinder 902 vertically arranged on the mounting plate A907, a slide rail 903 vertically arranged on one side of the cylinder 902, and a motor 904 arranged on the slide rail 903;
the output end of the air cylinder 902 is vertically downward, the output end of the air cylinder 902 is connected with a transverse connecting rod 905, a sliding block 906 is arranged on the sliding rail 903, the sliding block 906 is connected with the transverse connecting rod 605, and the motor 904 is arranged on the sliding block 906;
The positioning device comprises an upper support 301, a lower support 302, a positioning table 303, a positioning ring 304, a central shaft 305, a magnetic object table 306, a cross rotating shaft 307, a plane thrust bearing 308 and a pressure spring 309,
the lower support 302 is fixedly arranged below the inner part of the through hole E399, and a vertical through hole A321 is arranged in the lower support 302;
the upper support 301 is arranged above the inside of the through hole E399 and fixedly connected to the upper part of the lower support 302, an inner hole 311 with an opening at the lower part is arranged at the bottom of the upper support 301, the inner hole 311 is coaxial with the through hole A321, and a through hole B312 which is coaxial with the inner hole 311 is coaxially arranged on the top wall of the inner hole 311;
the positioning table 303 is fixedly arranged at the upper part of the upper support 301, a positioning groove 331 is arranged in the middle of the upper surface of the positioning table 303, a through hole C332 is arranged on the bottom wall of the positioning groove 331, and the through hole C332 is coaxial with the through hole B312;
the positioning ring 304 is detachably arranged in the positioning groove 331, and the positioning ring 304 is used for positioning the workpiece 10;
the central shaft 305 is composed of a cylindrical shaft body 351 and an annular boss 352, the annular boss 352 is coaxially arranged in the middle of the shaft body 351 and is installed in the through hole A321, and the upper part of the shaft body 351 passes through the through hole B312 and the through hole C332;
the magnetic stage 306 is fixedly arranged at the top end of the central shaft 305, the outer diameter of the magnetic stage 306 is larger than the inner diameter of the through hole B312, and the magnetic stage 306 is used for placing the workpiece 10;
the pressure spring 309 is sleeved on the shaft body 351 and is positioned between the annular boss 352 and the top wall of the inner hole 311;
the cross-shaped rotating shaft 307 is fixedly sleeved at the lower end of the central shaft 305, a cross-shaped slot 371 is arranged at the bottom surface of the cross-shaped rotating shaft 307, and the cross-shaped rotating shaft 307 is detachably connected with the plug connector 9 of the rotary lifting device through the cross-shaped slot 371;
the plane thrust bearing 308 is sleeved on the shaft body 351 and is positioned between the annular boss 352 and the cross-shaped rotating shaft 307; the shaft ring of the plane thrust bearing 308 is in transition fit with the shaft body 351, the race of the plane thrust bearing is in sliding fit with the through hole A321, the upper end face of the plane thrust bearing 308 is in contact with the lower end face of the annular boss 352, a spring washer 310 is arranged between the lower end face of the plane thrust bearing 308 and the cross rotating shaft 307, and the spring washer 310 is in contact with the lower end face of the plane thrust bearing 308.
The feeding conveying device 4 is arranged on the right side of the rear part of the upper surface of the workbench 2, the two-axis displacement mechanism 6 is arranged on the rear part of the upper surface of the workbench 2, and the feeding manipulator 5 is movably arranged on the two-axis displacement mechanism 6; the blanking manipulator 8 is arranged on the left side of the workbench, and the blanking conveying device 7 is arranged on the left side of the blanking manipulator 8; the side visual detection mechanism is arranged on the workbench 2 and is positioned at the left end of the two-axis displacement mechanism 6.
The feeding and conveying device 4 is a conveying belt; the two-axis displacement mechanism 6 includes: the X-direction linear sliding table 601 and the Z-direction linear sliding table 602 are arranged on the workbench 2, the Z-direction linear sliding table 602 is arranged on the X-direction linear sliding table 601, and the feeding manipulator 5 is arranged on the Z-direction linear sliding table 602.
Bottom surface visual detection mechanism set up between revolving stage 3 and material loading conveyer 4 to be located 6 the place ahead of two-axis displacement mechanism, it includes: the light source device comprises a first area-array camera 1501 with a vertically upward lens and a fifth light source 1502 for emitting light rays vertically upward, wherein the first area-array camera 1501 is installed on the bottom surface of a workbench 2, the fifth light source 1502 is installed on the upper part of the workbench 2, a through hole F298 is formed in the workbench 2, and the through hole F298 is used for lens light rays of the first area-array camera 1501 to pass through; the fifth light source 1502 is a ring-shaped light source, the axis of which is coaxial with the lens of the first area-array camera 1501, and the fifth light source 1502 is located above the first area-array camera 1501.
The upper surface of the workbench 2 is provided with a second support 1203, the second linear array camera 1201 and the second light source 1202 are both arranged at the upper end of the second support, and the second light source 1202 is positioned below the second linear array camera 1201.
The upper surface of the workbench is also provided with a third bracket 1303 and a fourth bracket 1404, the second area-array camera 1301 and the third light source 1302 are both arranged at the upper end of the third bracket 1303, and the third light source 1302 is positioned below the second area-array camera 1301; the fourth support 1404 has a cantilever 1405, the end of the cantilever 1405 is located above the middle of the rotation stage 3, and the fourth light source 1402 is attached to the end of the cantilever 1405 below the mounting plate B1403.
The operation process of the invention is as follows:
after a workpiece 10 enters from the feeding conveying device 4 and the feeding manipulator 5 grabs the workpiece 10, the feeding manipulator 5 is driven by the two-axis displacement mechanism 6 to move to the position above the bottom surface visual detection mechanism and stay for a certain time to detect the bottom surface of the workpiece 10;
then the feeding manipulator 5 moves to the position above the first station point 201, the workpiece 10 is placed in a positioning ring 304 of the positioning device, and after the magnetic stage 306 and the workpiece 10 are positioned, the feeding manipulator 5 is released and returns to the initial position to continuously grab a second workpiece 10; at this time, the positioning device located below the first station 201 is combined with the rotary lifting device, the rotary lifting device drives the positioning device to lift, so that the workpiece 10 is lifted from the positioning ring 304 to the first station 201, then the magnetic stage 306 rotates more than one circle, and the side visual inspection mechanism inspects the side structure of the workpiece 10;
after the side structure detection is finished, the rotary lifting device rotates and falls back until the rotary lifting device is separated from the positioning device, and the workpiece 10 enters the positioning ring 304 again along with the magnetic object stage 306 under the action of the pressure spring 309; the rear rotating table 3 rotates, the workpiece 10 moves to a position below the second station point 202, ascends again and rotates, and the side-tilting type overlook visual detection mechanism detects the inner surface structure of the ball socket; in the process of detecting the side surface of the workpiece 10, the feeding mechanical arm 5 grabs a second workpiece 10 to complete the detection of the bottom surface of the workpiece, and when the first workpiece 10 moves from the first station 201 to the second station 202, the second workpiece 10 enters the first station 201;
the detection of the inner surface structure of the ball socket of the first workpiece 10 is finished, and the detection of the side surface structure of the second workpiece 10 is also finished at the same time; next, as the rotary table 3 rotates, the first workpiece 10 enters the third station 203, and the second workpiece 10 enters the second station 202, and the detection is performed synchronously; at this point the third workpiece enters the first station 201;
when the detection of the first workpiece 10 at the third station 203 is finished, the first workpiece enters the fourth station, is taken out by the blanking manipulator and is placed on the blanking conveying device in a classified manner according to the detection result, and the detection of the first workpiece 10 is finished; the subsequent workpieces 10 are continuously operated in the above-described rhythm by the rotation cycle of the rotary table 3.
Specifically, the technical scheme of the invention is mainly characterized by equipment structure, the structure is combined with a numerical control system and visual detection software, so that the full-automatic one-time detection of the sliding shoes can be realized, the detection efficiency is greatly improved, one-time detection can be realized, and the product quality is comprehensively improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
The details of the present invention are not described in detail in the prior art.
Claims (8)
1. The utility model provides a piston shoes visual detection machine, includes frame (1), workstation (2), revolving stage (3), positioner, rotatory elevating gear, material loading conveyer (4), material loading manipulator (5), two-axis displacement mechanism (6), unloading conveyer (7), unloading manipulator (8), bottom surface visual detection mechanism, side visual detection mechanism, the formula of heeling on visual detection mechanism, overlook visual detection mechanism and appearance visual detection mechanism, characterized by:
the workbench (2) is arranged at the upper part of the rack (1), the rotary table (3) is arranged above the middle part of the workbench (2), four work stations are arranged on the same horizontal plane above the rotary table (3), the axis of the rotary table is used as an original point, the first work station (201) is positioned in the positive direction of the Y axis, the second work station (202) is positioned in the positive direction of the X axis, the third work station (203) is positioned in the negative direction of the Y axis, the fourth work station (204) is positioned in the negative direction of the X axis, and the four work stations are centrosymmetric by using the axis of the rotary table (3) as a center; the rotating table (3) is provided with four through holes E (399) corresponding to the four work station points, and each through hole E (399) is provided with a positioning device which is used for positioning and placing a workpiece (10);
the number of the rotary lifting devices is three, the three rotary lifting devices are all arranged below the rotary table (3) and detachably connected with the positioning device, rotating shafts of the three rotary lifting devices are all vertically arranged, and the three rotary lifting devices are respectively positioned below the first station point (201), the second station point (202) and the third station point (203); the rotary lifting devices are provided with plug connectors (9) and are detachably connected with the positioning device through the plug connectors (9);
the side visual inspection mechanism is arranged on the side of the first station point (201), and comprises: a first linear array camera (1101) with a horizontally arranged lens, a first light source (1102) for horizontally emitting light; the lens of the first linear array camera (1101) faces the first station point (201), and the central height of the lens is higher than the upper surface of the rotating platform (3);
the side-tipping type overlook visual detection mechanism is arranged above the second station point (202), and comprises: a second linear array camera (1201) with a lens arranged obliquely downwards, and a second light source (1202) emitting light obliquely downwards, wherein the lens of the second linear array camera (1201) faces to a second work site (202);
the overlook visual detection mechanism is arranged above a third station point (203), and comprises: the second area-array camera (1301) with a vertically downward lens and a third light source (1302) emitting light rays vertically downward; the lens of the second area-array camera (1301) faces a third work point (203);
the appearance visual detection mechanism is arranged on one side of a third station point (203) and comprises a third array camera (1401) and a fourth light source (1402) with horizontally arranged lenses, and the center height of the lens of the third array camera (1401) is higher than the upper surface of the rotating platform (3) and faces the third station point (203); the fourth light source (1402) is a backlight light source, which is disposed above the middle of the rotary stage (3) through a mounting plate B (1403), the mounting plate B (1403) being perpendicular to the lens axis of the third array camera (1401).
2. The visual inspection machine of a slipper as defined in claim 1, wherein: the rotary lifting device comprises: the device comprises a mounting plate A (907) fixedly connected to the bottom surface of the workbench (2), a cylinder (902) vertically arranged on the mounting plate A (907), a slide rail (903) vertically arranged on one side of the cylinder (902), and a motor (904) arranged on the slide rail (903);
the output end of the air cylinder (902) is downward, the output end of the air cylinder (902) is connected with a transverse connecting rod (905), a sliding block (906) is arranged on the sliding rail (903), the sliding block (906) is connected with the transverse connecting rod (605), and the motor (904) is installed on the sliding block (906);
motor (904) be servo motor, its output shaft plug connector (9), plug connector (9) are the driving lever, the whole T type structure that constitutes for horizontal pole and montant of driving lever, its montant lower extreme is connected with motor (904) output, the horizontal pole upper end is passed workstation (2) upper surface and the separable connection of positioner.
3. The visual inspection machine of a slipper as defined in claim 1, wherein: the positioning device comprises an upper support (301), a lower support (302), a positioning table (303), a positioning ring (304), a central shaft (305), a magnetic object stage (306), a cross rotating shaft (307), a plane thrust bearing (308) and a pressure spring (309),
the lower support (302) is fixedly arranged below the inner part of the through hole E (399), and a vertical through hole A (321) is formed in the lower support (302);
the upper support (301) is arranged above the inside of the through hole E (399) and fixedly connected to the upper part of the lower support (302), an inner hole (311) with an opening at the lower part is arranged at the bottom of the upper support (301), the inner hole (311) is coaxial with the through hole A (321), and a through hole B (312) which is coaxial with the inner hole (311) is coaxially arranged on the top wall of the inner hole (311);
the positioning table (303) is fixedly arranged at the upper part of the upper support (301), a positioning groove (331) is formed in the middle of the upper surface of the positioning table (303), a through hole C (332) is formed in the bottom wall of the positioning groove (331), and the through hole C (332) is coaxial with the through hole B (312);
the positioning ring (304) is detachably arranged in the positioning groove (331), and the positioning ring (304) is used for positioning the workpiece (10);
the central shaft (305) consists of a cylindrical shaft body (351) and an annular boss (352), the annular boss (352) is coaxially arranged in the middle of the shaft body (351) and is installed in the through hole A (321), and the upper part of the shaft body (351) penetrates through the through hole B (312) and the through hole C (332);
the magnetic object stage (306) is fixedly arranged at the top end of the central shaft (305), the outer diameter of the magnetic object stage is larger than the inner diameter of the through hole B (312), and the magnetic object stage (306) is used for placing a workpiece (10);
the pressure spring (309) is sleeved on the shaft body (351) and is positioned between the annular boss (352) and the top wall of the inner hole (311);
the cross rotating shaft (307) is fixedly sleeved at the lower end of the central shaft (305), a cross slot (371) is formed in the bottom surface of the cross rotating shaft (307), and the cross rotating shaft (307) is detachably connected with a plug connector (9) of the rotary lifting device through the cross slot (371);
the plane thrust bearing (308) is sleeved on the shaft body (351) and is positioned between the annular boss (352) and the cross rotating shaft (307); the shaft ring of the plane thrust bearing (308) is in transition fit with the shaft body (351), the shaft ring of the plane thrust bearing is in sliding fit with the through hole A (321), the upper end face of the plane thrust bearing (308) is in contact with the lower end face of the annular boss (352), a spring washer (310) is arranged between the lower end face of the plane thrust bearing (308) and the cross-shaped rotating shaft (307), and the spring washer (310) is in contact with the lower end face of the plane thrust bearing (308).
4. The visual inspection machine of a slipper as defined in claim 1, wherein: the feeding conveying device (4) is arranged on the right side of the rear part of the upper surface of the workbench (2), the two-axis displacement mechanism (6) is arranged on the rear part of the upper surface of the workbench (2), and the feeding manipulator (5) is movably arranged on the two-axis displacement mechanism (6); the blanking manipulator (8) is arranged on the left side of the workbench, and the blanking conveying device (7) is arranged on the left side of the blanking manipulator (8); the side visual detection mechanism is arranged on the workbench (2) and is positioned at the left end of the biaxial displacement mechanism (6).
5. The visual inspection machine of a slipper as defined in claim 1, wherein: the feeding conveying device (4) is a conveying belt; the two-axis displacement mechanism (6) comprises: x is to sharp slip table (601) and Z to sharp slip table (602), X is installed on workstation (2) to sharp slip table (601), and Z is installed on X is to sharp slip table (601) to sharp slip table (602), material loading manipulator (5) are installed on Z is to sharp slip table (602).
6. The visual inspection machine of a slipper as defined in claim 1, wherein: bottom surface visual detection mechanism set up between revolving stage (3) and material loading conveyer (4) to be located biaxial displacement mechanism (6) the place ahead, it includes: the light source device comprises a first area-array camera (1501) with a vertically upward lens and a fifth light source (1502) for emitting light rays vertically upward, wherein the first area-array camera (1501) is installed on the bottom surface of a workbench (2), the fifth light source (1502) is installed on the upper portion of the workbench (2), a through hole F (298) is formed in the workbench (2), and the through hole F (298) is used for lens light rays of the first area-array camera (1501) to pass through; the fifth light source (1502) is a ring-shaped light source, the axis of the ring-shaped light source is coaxial with the lens of the first area-array camera (1501), and the fifth light source (1502) is positioned above the first area-array camera (1501).
7. The visual inspection machine of a slipper as defined in claim 1, wherein: the upper surface of the workbench (2) is provided with a second support (1203), the second linear array camera (1201) and the second light source (1202) are both arranged at the upper end of the second support, and the second light source (1202) is located below the second linear array camera (1201).
8. The visual inspection machine of a slipper as defined in claim 1, wherein: the upper surface of the workbench is also provided with a third support (1303) and a fourth support (1404), the second area-array camera (1301) and the third light source (1302) are both arranged at the upper end of the third support (1303), and the third light source (1302) is positioned below the second area-array camera (1301); the fourth bracket (1404) is provided with a cantilever (1405), the tail end of the cantilever (1405) is positioned above the middle part of the rotating platform (3), and the fourth light source (1402) is fixedly connected below the tail end of the cantilever (1405) through a mounting plate B (1403).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111604639.7A CN114646260B (en) | 2021-12-25 | 2021-12-25 | Skid shoe vision detector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111604639.7A CN114646260B (en) | 2021-12-25 | 2021-12-25 | Skid shoe vision detector |
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| CN114646260A true CN114646260A (en) | 2022-06-21 |
| CN114646260B CN114646260B (en) | 2024-03-22 |
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| CN202111604639.7A Active CN114646260B (en) | 2021-12-25 | 2021-12-25 | Skid shoe vision detector |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116475094A (en) * | 2023-06-21 | 2023-07-25 | 翊腾电子科技（昆山）有限公司 | Automatic change metalwork detects machine |
| CN117571710A (en) * | 2024-01-17 | 2024-02-20 | 北京康视杰视觉技术有限公司 | Quality control equipment based on machine vision |
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Cited By (4)
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| CN116475094A (en) * | 2023-06-21 | 2023-07-25 | 翊腾电子科技（昆山）有限公司 | Automatic change metalwork detects machine |
| CN116475094B (en) * | 2023-06-21 | 2023-08-29 | 翊腾电子科技（昆山）有限公司 | Automatic change metalwork detects machine |
| CN117571710A (en) * | 2024-01-17 | 2024-02-20 | 北京康视杰视觉技术有限公司 | Quality control equipment based on machine vision |
| CN117571710B (en) * | 2024-01-17 | 2024-03-12 | 北京康视杰视觉技术有限公司 | Quality control equipment based on machine vision |
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| CN114646260B (en) | 2024-03-22 |
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