CN114951039B - System for be used for industry outward appearance to detect - Google Patents
System for be used for industry outward appearance to detect Download PDFInfo
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- CN114951039B CN114951039B CN202210512825.6A CN202210512825A CN114951039B CN 114951039 B CN114951039 B CN 114951039B CN 202210512825 A CN202210512825 A CN 202210512825A CN 114951039 B CN114951039 B CN 114951039B
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- 238000001514 detection method Methods 0.000 claims abstract description 63
- 239000000463 material Substances 0.000 claims abstract description 51
- 230000000007 visual effect Effects 0.000 claims abstract description 50
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000012546 transfer Methods 0.000 claims abstract description 20
- 238000005452 bending Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 description 20
- 239000002131 composite material Substances 0.000 description 6
- 238000002493 microarray Methods 0.000 description 6
- 239000011664 nicotinic acid Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000012216 screening Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 241000219122 Cucurbita Species 0.000 description 1
- 235000009852 Cucurbita pepo Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8411—Application to online plant, process monitoring
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The application relates to a material distributing mechanism for industrial appearance detection, which comprises a second turntable base and at least one clamping part, wherein the second turntable base and the first turntable base are arranged side by side; the clamping part can regulate and control the clamping space of the clamping part based on the size data of the pin shafts to be transferred, which are acquired by the visual identification mechanism, so as to realize the stable transfer of the pin shafts with different sizes. According to the application, the at least one pin shaft is transferred from the material transferring mechanism to the at least one discharge hole corresponding to the pin shaft size data and/or the appearance data by using external force driving. The pin shafts output by different discharge ports can acquire the size detection result without secondary detection, and the processing efficiency of the pin shaft detection process is improved.
Description
Description of the division
The original foundation of the divisional application is a patent application with the application number of 202110623148.0, the application date of 2021, 6 months and 3 days, and the application name of 'an industrial appearance detection method based on intelligent vision'.
Technical Field
The application relates to the technical field of automatic detection equipment, in particular to a system for industrial appearance detection.
Background
The pin shaft parts are standardized fasteners which can be fixedly connected in a static state and can also relatively move with the connected piece, are mainly used for the hinge joint of two parts to form hinge connection, are usually locked by cotter pins, and are reliable in work and convenient to detach. In the production process of many assemblies, pin shaft type parts are an indispensable part and the required number is large. Because of the multi-process characteristics of the pin shaft products, the domestic pin shaft production at present mainly adopts inter-process turnover production, so that the enterprise production cost is high, the production efficiency is low, particularly, in the process of carrying out the centerless grinding work section production, the range span of the length and the diameter size of the pin shaft products is large, the product weight is large, the maximum of a single pin shaft exceeds 500g, and the pin shaft has high appearance requirements on the centerless grinding, so that a great deal of manpower, manual and visual operations are required to be consumed or appearance detection is finished by means of a measuring instrument, and the pin shaft meets the production standard. At present, the commonly adopted manual detection mode is influenced by manual subjective emotion, physical energy fluctuation and fatigue of workers under the condition of continuous work, has the problems of objectivity and incompleteness of detection data, unreliable detection results and easiness in false detection or missing detection, has low production efficiency and increases the running cost of enterprises. Meanwhile, the manual recording spot check data means is behind, the interconnection and intercommunication of data cannot be realized with an upper MES system (manufacturing execution system) and a manufacturing enterprise production process execution management system, the digital production of products is difficult to realize, the national industrial development policy is not met, if the unqualified products flow into the market, the product quality of an engine manufacturing enterprise cannot be influenced, and meanwhile, the engine manufacturing enterprise can bring serious negative influence and economic loss to the pin manufacturing enterprise because of the responsibility following measures such as claim of unqualified pin parts.
In the prior art, as disclosed in patent document with publication number CN107150102B, a chain pin shaft sorting machine is proposed, which is mainly used for screening and separating pins with different lengths, separating pins with too long or too short, and putting pins with qualified lengths on an assembly production line of a chain. The device is used for deleting the pin shafts through the cooperation of the pin shaft pushing-out assembly and the movable baffle assembly, the movable plate assembly with holes is used for assisting in screening out the waste pin shafts, and the pin shaft sorting cavity is used for storing the pin shafts. The device eliminates unqualified pin shafts through an automatic deleting mode and discharges the unqualified pin shafts from the waste piece blanking opening, and qualified pin shafts are arranged to the qualified piece blanking opening and discharged from the qualified piece blanking opening. The chain pin shaft sorting machine takes the 'pin shaft pushing and feeding' of the existing chain assembly machine as a basic mode, namely a pin shaft pushing plate pushes out qualified pin shafts, a plurality of pin shafts are arranged in a row to a qualified piece blanking opening and naturally drop down one by one, and unqualified pin shafts are separated into a plurality of cases and are separated out after being pushed out by a pin shaft pushing assembly and drop down to a waste piece blanking opening.
The above patent document tries to realize mechanical sorting of a large number of pins by using the pin length, but in practice, the pin sorting machine proposed in the above patent document cannot realize mechanical sorting at all because it does not take into account the difference of nominal diameters and lengths of pins of different types, nor does it take into account the irregular cylindrical shape of the pins. Specifically, when the pin shaft sorting machine proposed in the above patent document works, the pin shaft is required to keep a vertical placement posture in the pin shaft sorting cavity under the action of no external force, and the pin shaft is required to keep the vertical posture under the action of unidirectional thrust force of the pin shaft pushing plate, but because the pin shaft comprises a shaft body part and a shaft shoulder part which are non-regular cylinders, the pin shaft pushing plate can only push the pin shaft to move through contacting the shaft shoulder part, under the condition that the received thrust force is uneven, even if the pin shaft which enters the sorting cavity and is thick and short and has smaller length and larger nominal diameter, the pin shaft is still easy to incline, the pin shaft is easy to overturn, at the moment, an operator cannot perceive and know the condition occurring in the sorting machine, the processing difficulty of the machine is high; as for the slender pin shaft with larger length and smaller nominal diameter entering the sorting cavity, the nominal diameter is smaller, and after the slender pin shaft is lowered into the sorting cavity, the stable vertical placement posture cannot be maintained, so that the pin shaft is extremely easy to overturn in the sorting process.
Furthermore, there are differences in one aspect due to understanding to those skilled in the art; on the other hand, as the inventors studied numerous documents and patents while the present application was made, the text is not limited to details and contents of all that are listed, but it is by no means the present application does not have these prior art features, the present application has all the prior art features, and the applicant remains in the background art to which the rights of the related prior art are added.
Disclosure of Invention
Aiming at the problems of poor product quality and low production efficiency of the manual detection mode commonly adopted in the existing pin shaft part detection production, a chain pin shaft sorting machine is proposed in the prior art as in the patent document with the publication number of CN107150102B, the device mainly realizes screening separation of pins with different lengths by matching a pin shaft pushing assembly with a movable baffle assembly, and separates the pins with overlong or too short length, and the pins with qualified length are put into an assembly production line of a chain. The above patent document tries to realize mechanical sorting of a large number of pins by using the pin length, but in practice, the pin sorting machine proposed in the above patent document cannot realize mechanical sorting at all because it does not take into account the difference of nominal diameters and lengths of pins of different types, nor does it take into account the irregular cylindrical shape of the pins. Specifically, when the pin shaft sorting machine proposed in the above patent document works, the pin shaft is required to keep a vertical placement posture in the pin shaft sorting cavity under the action of no external force, and the pin shaft is required to keep the vertical posture under the action of unidirectional thrust force of the pin shaft pushing plate, but because the pin shaft comprises a shaft body part and a shaft shoulder part which are non-regular cylinders, the pin shaft pushing plate can only push the pin shaft to move through contacting the shaft shoulder part, under the condition that the received thrust force is uneven, even if the pin shaft which enters the sorting cavity and is thick and short and has smaller length and larger nominal diameter, the pin shaft is still easy to incline, the pin shaft is easy to overturn, at the moment, an operator cannot perceive and know the condition occurring in the sorting machine, the processing difficulty of the machine is high; as for the slender pin shaft with larger length and smaller nominal diameter entering the sorting cavity, the nominal diameter is smaller, and after the slender pin shaft is lowered into the sorting cavity, the stable vertical placement posture cannot be maintained, so that the pin shaft is extremely easy to overturn in the sorting process.
Aiming at the problems existing in the prior art, the application provides an industrial appearance detection system based on intelligent vision, which utilizes the non-regular cylindrical structural characteristics of a pin shaft, improves the existing feeding mechanism, and provides a material moving mechanism and a visual recognition mechanism which are matched with the feeding mechanism for use, so that the vertical placement posture of the pin shaft in an appearance detection cavity can be always kept, different sizes of the pin shaft under different models can be met, and the omnibearing appearance detection of the pin shaft can be realized under the condition of not resorting to a bionic mechanical arm with high complexity and high manufacturing cost, namely, the application avoids complex equipment and complicated technology by virtue of the peripheral height difference of the pin shaft, and realizes lower cost and more excellent detection effect.
The system comprises at least: the feeding mechanism is arranged above the appearance detection cavity and is used for receiving a plurality of pin shafts to be detected in a mode of conveying the pin shafts one by one; the material moving mechanism is arranged in the appearance detection cavity and is used for carrying at least one pin shaft to be separated from the material feeding mechanism in a mode of adapting to different pin shaft sizes and carrying the pin shaft to be transferred to a region to be detected; and the visual identification mechanism is arranged in the appearance detection cavity and is used for executing appearance detection operation under the condition of keeping the vertical placement posture of the pin shaft in the appearance detection cavity when the pin shaft is detected to be arranged in the to-be-detected area, so as to acquire the size data and the appearance data of the pin shaft, wherein the feeding mechanism, the material moving mechanism and the visual identification mechanism all complete the operation related to the pin shaft by means of the circumferential height difference formed between the shaft body part and the shaft shoulder part of the pin shaft.
According to a preferred embodiment, the feeding mechanism and the material moving mechanism are respectively provided with a feeding riser and a material moving riser, and the material moving mechanism is driven by external force to separate at least one pin shaft from the feeding riser through the material moving riser by utilizing the relative motion relation formed between the material moving mechanism and the material moving mechanism due to the external force driving, and keeps the vertical placement posture of the pin shaft in the appearance detection cavity.
In the prior proposed technical scheme, the pin shaft sorting machine stacks a plurality of pin shafts vertically, after pushing away the last pin shaft, the bottom end of the next pin shaft to be pushed abuts against the upper end face of the pin shaft pushing plate, unexpected abrasion is brought to the bottom end of the next pin shaft to be pushed by the forward and backward movement of the pin shaft pushing plate, and the abrasion is further aggravated under the action of the gravity of the next pin shaft and a plurality of other pin shafts above the next pin shaft. In addition, the above patent documents stack a plurality of pins vertically, after the pin is pushed away from the last pin, the next pin to be pushed is positioned above the pin push plate until the pin push plate is withdrawn from the position right below the pin, the pin directly falls down and impacts on the inner wall of the sorting cavity to bring unexpected use loss to the pin, and a plurality of other pins on the pin fall down and impact on the top of the pin to further aggravate the use loss. On the contrary, the system provided by the application can always keep the vertical placement posture of the pin shaft in the appearance detection cavity, does not influence the operation such as conveying, transferring and detecting of the pin shaft, can fundamentally avoid unexpected abrasion and unexpected use loss of the pin shaft in the prior technical scheme, greatly ensures the product quality of the pin shaft output after the system is processed, simultaneously stably enhances the system operation, and can obviously accelerate the mechanical operation efficiency.
According to a preferred embodiment, the material moving mechanism can simultaneously receive one or more of at least one pin to be detected, at least one pin under detection and at least one pin after detection.
According to a preferred embodiment, the material moving riser is in contact with the pin shaft to be detected supported by the material moving riser, so that a first shielding area is formed on the pin shaft to be detected, the visual recognition mechanism at least comprises an auxiliary column arranged in the area to be detected, and the visual recognition mechanism can regulate and control the expansion and the contraction of the auxiliary column based on the detection signal of the at least one sensor, so that the auxiliary column can be in contact with the pin shaft to be detected and exert external force on the pin shaft to be detected, and the first shielding area is eliminated.
According to a preferred embodiment, the visual recognition mechanism comprises at least a first visual recognition device aligned with the area to be detected, a second shielding area is formed on the side, facing away from the visual recognition device, of the pin shaft to be detected, wherein the visual recognition mechanism can regulate and control the rotation of the auxiliary column based on the detection signal of the at least one sensor, so that the pin shaft to be detected is indirectly driven by means of the auxiliary column and the stair plate for material moving, and the second shielding area is eliminated.
According to a preferred embodiment, an adsorption composite microarray is arranged at one end, which is contacted with the pin shaft, of the auxiliary column, and the auxiliary column and the pin shaft are relatively fixed or isolated from each other through the opening and closing of the adsorption composite microarray.
According to a preferred embodiment, the visual recognition mechanism further comprises at least one second visual recognition device arranged in the appearance detection cavity, wherein the second visual recognition device is used for collecting image data of the upper end face and the lower end face of the pin shaft to be detected, which are beyond the visual field range of the first visual recognition device.
According to a preferred embodiment, the at least one sensor may be a distance measuring sensor or a displacement sensor for acquiring relative position data between the auxiliary column and the pin to be detected.
According to a preferred embodiment, the feed mechanism is configured to take at least one pin with it in a manner adapted to different pin sizes, disengage from the feed mechanism and take it to the area to be detected without impact of the pin on the inner wall of the appearance detection chamber and between the pins.
According to a preferred embodiment, the system further comprises a dispensing mechanism for transferring at least one pin from the transfer mechanism to at least one outlet corresponding to its pin size data and/or appearance data under the influence of an external force.
In the prior proposed technical scheme, the pin shaft sorting machine can divide qualified pins and unqualified pins only according to the corresponding range of the length of the pins, and the output qualified pins still need to be subjected to secondary detection to screen out qualified pins, so that the processing efficiency of the pin shaft detection process is low. Meanwhile, the pin shaft sorting machine proposed in the above patent document can only divide the pin shaft to be detected into a qualified pin shaft and a disqualified pin shaft, and a user is still required to manually check the pin shafts divided into disqualified pin shafts one by one at the problem that the user cannot know the disqualified pin shaft, so that labor cost is consumed and detection efficiency is not facilitated. In this regard, the pin shaft provided by the application can be respectively corresponding to the pin shafts output by different discharge ports of a plurality of different discharge ports based on the detected appearance data and size data, and the size detection result and the appearance detection result of the pin shaft can be obtained without secondary detection, thereby being beneficial to improving the processing efficiency of the pin shaft detection process and reducing the labor cost.
The application also provides an industrial appearance detection method based on intelligent vision, which at least comprises the following steps: receiving a plurality of pin shafts to be detected through a feeding mechanism; the material moving mechanism is used for carrying at least one pin roll in a mode of adapting to different pin roll sizes, and the pin roll is separated from the material feeding mechanism under the condition that no impact is generated between the pin roll and the inner wall of the appearance detection cavity; the material moving mechanism transfers the pin shaft to be detected to the area to be detected; when the pin shaft is detected to be arranged in the area to be detected, the visual recognition mechanism is instructed to execute the appearance detection operation under the condition that the vertical placement posture of the pin shaft in the appearance detection cavity is kept; the method comprises the steps of obtaining dimension data and appearance data of the pin shaft, wherein conveying operation, transferring operation and detecting operation of the pin shaft are completed by means of a circumferential height difference formed between a shaft body part and a shaft shoulder part of the pin shaft.
Drawings
FIG. 1 is a simplified block diagram of an industrial appearance inspection system according to the present application;
FIG. 2 is a simplified schematic diagram of the overall structure of an industrial appearance detection system provided by the present application;
FIG. 3 is a simplified schematic diagram of the relative positional relationship between a second visual recognition device and a transfer mechanism provided by the present application;
FIG. 4 is a simplified top view of the relative positional relationship between the feed mechanism and the dispensing mechanism provided by the present application;
FIG. 5 is a simplified side view schematic of a feed mechanism provided by the present application;
FIG. 6 is a simplified schematic view of a feed riser provided by the present application;
fig. 7 is a simplified structural schematic diagram of the pin (type a and type B) given in the national standard of standards GB/T882-2008.
List of reference numerals
1: feeding mechanism 2: and a material moving mechanism 3: visual recognition mechanism
4: and a material distributing mechanism 5: appearance detection chamber 6: pin shaft
7: riser 8 for feeding: riser 9 for transferring material: auxiliary column
10: the first visual recognition apparatus 11: composite microarray for adsorption 12: second visual recognition device
13: clamping portion 14: discharge port 15: shaft body
16: shaft shoulder 17: first passageway inner wall section 18: inner wall section of second channel
19: third channel inner wall section 20: the conveying mechanism 21: first rotating disk base
22: second turntable base 23: vertical bar 24: bending rod
25: telescoping mechanism 26: controller for controlling a power supply
Detailed Description
The present application will be described in detail with reference to the accompanying drawings.
The application provides an industrial appearance detection system based on intelligent vision, which has low manual operation requirement, can automatically complete the operations of pin shaft conveying, transferring, detecting and the like, and can classify and collect the detected pin shafts.
As shown in fig. 2, the overall structure of the industrial appearance detecting system provided by the application is simplified, and the system is provided with an appearance detecting cavity 5 and a feeding mechanism 1. The feeding mechanism 1 is arranged above the appearance detection cavity 5, and conveys the pin shaft 6 to the appearance detection cavity 5 from top to bottom for appearance detection and mechanical sorting. As shown in fig. 2 and 5, the feeding mechanism 1 may be divided into a first channel inner wall section 17, a second channel inner wall section 18, and a third channel inner wall section 19 in this order. The feeding mechanism 1 is provided with a conveying mechanism 20 in an inner wall thereof. The conveyor belt of the conveyor 20 is laid continuously along the second channel inner wall section 18 and the third channel inner wall section 19 for conveying the pins 6.
The length of the first channel inner wall section 17 is shorter than the length of the pin 6 at the shortest dimension. So that one end of the pin 6 placed on the first channel inner wall section 17 abuts against the conveyor belt on the second channel inner wall section 18. The conveyor belt is started to drive the pin shaft 6 to move towards the appearance detection cavity 5. In this process, the pins 6 can be moved forward by the conveyor belt, unnecessary pressure is not generated between the front and rear pins 6, and unexpected wear of the pins 6 is greatly reduced.
In order to transfer the pins 6 from the feeding mechanism 1 to the appearance detection chamber 5 and to avoid unintended use losses in the process, which are caused by the pins 6 falling down against the inner wall as in prior art solutions, a number of feeding risers 7 are arranged on the conveyor belt. The plurality of feeding step plates 7 are arranged in sequence along the longitudinal direction of the conveyor belt. The feed riser 7 has an open end for receiving the body portion of the pin 6.
In the application, a plurality of pin shafts 6 are thrown into the feeding mechanism 1 in a mode that the throwing directions are consistent. The throwing direction means that the shaft shoulder 16 of the pin 6 is always located at a higher level than the free end of the shaft body 15. The first and second channel inner wall sections 18 are downward inclined planes, that is, when the pin 6 is put in, the end of the shaft shoulder 16 contacts with the first channel inner wall section 17, and the free end of the shaft body 15 contacts with the second channel inner wall section 18. Thus, when the pin 6 to be detected is placed on the feeding mechanism 1, the conveying mechanism 20 is started, and the feeding step plate 7 moves upward along the conveying belt so that the pin 6 enters from the open end of the feeding step plate 7 until the pin 6 abuts against the feeding step plate 7. The transmission mechanism is started and simultaneously moves downwards with the step plate 7 and the pin shaft 6 for feeding.
Preferably, the pin shaft 6 may be put in manually, and the placement points are drawn on the inner wall of the first channel in advance, so that an operator only needs to place the pin shafts 6 one by one in a manner that the shaft shoulder 16 is aligned with the placement points. Preferably, the release of the pin 6 may also be a mechanically automated operation with controllable operating times.
The third channel inner wall section 19 extends vertically relative to the ground, whereby the pin 6 entering the inner wall section is turned from an inclined to an upright position. At this time, the feed step 7 is abutted against the lower end face of the shoulder 16, and the holding pin 6 is not separated from the feed step 7.
The transfer mechanism 2 can be separated from the feed step plate 7 with the pin 6. The feed riser 7 without pin 6 rotates with the conveyor belt and returns again to the first channel inner wall section 17 for supporting a new pin 6 to be detected.
Preferably, a collecting means is provided at the vertical bottom end of the third channel inner wall section 19. Therefore, if one pin 6 cannot be effectively transferred by the material transferring mechanism 2 in the operation of throwing the pin 6, that is, the pin 6 which is failed to be thrown still moves along with the conveyor belt until falling down at the turning position between the second channel inner wall section 19 and the third channel inner wall section 19, the pin 6 is collected by the collecting mechanism for being thrown again. The collection mechanism may be a conveyor belt. The collecting mechanism can be designed to extend to the outside of the appearance detecting cavity 5 so as to be observed by an operator, the operator can clearly determine the internal operation condition, and therefore, the system parameters and the like can be timely adjusted, and serious influence caused by failure in timely knowing the transfer failure of the pin shaft 6 in the prior art scheme is avoided in the process.
As shown in fig. 6, the feeding step plate 7 has a plate-like structure, which is fixed to the conveyor belt in a standing posture, and one end of the plate body facing away from the conveyor belt has an open notch, the inner edge of which extends toward the side of the conveyor belt, and the inner edge of which forms a shape of the shaft body 15 on the plate body that can accommodate the pin shafts 6 of different types. The shape may be a multi-level increasing bracket like a gourd profile. The notch gradually increases from the arc-shaped curvature of the opening, and when the pin shaft 6 is put in, the pin shaft 6 can be clamped to the position of the notch of the feeding riser 7, which is matched with the diameter of the notch, based on the inclined first and second channel inner wall sections 18.
Preferably, the end of the feed riser 7 where the notch is located may be provided with a bending bar 24. The rod bodies of the bending rods 24 are parallel to the plate bodies of the step plates 7 for feeding. The bending rod 24 is disposed in a hollow cavity formed in the feed step plate 7. The bending point of the bending rod 24 is rotatably connected in the hollow interior of the feed step plate 7. The first support rod of the bending rod 24 is arranged on the side of the notch, and the second support rod extends out of the feeding riser 7. When the pin shaft 6 is aligned with the notch for throwing, the pin shaft 6 contacts the first support rod, the gravity of the pin shaft forms an external force action on the first support rod, the first support rod rotates towards the inside of the notch, and the second support rod synchronously rotates inwards to be abutted to the shaft body 15.
Preferably, bending bar 24 may be a mechanically controlled operation. A first sensor is arranged on the first rod body of the bending rod 24, and can sense that the pin shaft 6 is put into the notch. After the pin shaft 6 is perceived to be put into the notch, the bending rod 24 is driven to actively rotate towards the inside of the notch, and a second sensor is arranged on the second rod body and can perceive whether the second sensor is in contact with the pin shaft 6. The sensor may be an acceleration sensor, a pressure sensor, or the like. With the second sensor, the second rod body can always maintain its contact relationship with the shaft body 15. So that the pins 6 will not separate from the feed riser 7 during the transport of the pins 6.
The material moving mechanism 2 comprises a first turntable base 21 which is controllably and rotatably connected in the inner wall of the appearance detecting cavity 5. The transfer mechanism 2 can be separated from the feeding step plate 7 along the notch of the feeding step plate 7 with the pin shaft 6. The pin shaft 6 conveying mechanism is arranged above the material moving mechanism 2 in such a manner that the opening direction of the notch of the material feeding step plate 7 is tangential to the first rotor base 21.
The material transferring mechanism 2 comprises a material transferring step plate 8, the first turntable base 21 rotates, and the material transferring step plate 8 contacts with the pin shaft 6 and exerts thrust action on the pin shaft 6 under the continuous rotation of the first turntable base 21. And when the second sensor acquires sensing data exceeding a preset pressure threshold value, the second rod body is instructed to reversely rotate to loosen the pin shaft 6. The pin 6 is thereby transferred from the feed mechanism 1 to the transfer step 8.
Preferably, the feeding step plate 7 has the same structure as the transferring step plate 8.
The system further includes a visual recognition mechanism 3, the visual recognition mechanism 3 including a first visual recognition device 10 and two second visual recognition devices 12, as shown in fig. 4, the first visual recognition device 10 and the second visual recognition device 12 being disposed at two different positions around the circumference of the first turntable base 21, respectively. As shown in fig. 3, two second visual recognition devices 12 are disposed opposite to each other on the inner wall of the appearance detecting cavity 5, respectively, for collecting image data of the upper and lower end surfaces of the pin 6 to be detected.
The visual recognition mechanism 3 further comprises an auxiliary column 9 located closer to the first rotor base 21 than the first visual recognition device 10. The auxiliary column 9 can be driven by external force to extend and retract up and down and rotate. The material-moving step plate 8 is rotatably moved to a position directly above the position of the auxiliary column 9 by the first turntable base 21 so that the center of the auxiliary column 9 corresponds to the axis center of the pin shaft 6. The auxiliary column 9 can extend up and down to be abutted on the bottom end surface of the pin shaft 6 and is fixed relative to the bottom end surface of the pin shaft 6, so that the pin shaft 6 can be driven to move up and down and/or rotate.
The material moving riser 8 is arranged on a vertical rod 23, and the vertical rod 23 is fixedly arranged at the edge position of the first turntable base 21. The vertical rod 23 is also provided with a telescopic mechanism 25, and the telescopic mechanism 25 can drive the material moving riser 8 to move towards the direction away from or close to the vertical rod 23. Since the second visual recognition device 12 collects image data of the lower end face of the pin shaft 6, the position data of the center position of the lower end face of the pin shaft 6 in the appearance detection cavity 5 can be analytically obtained. Based on the predetermined relative positional relationship between the second visual recognition device 12 and the auxiliary column 9, and the relative positional relationship between the shaft center of the auxiliary column 9 and the disk, the relative positional relationship between the center position of the lower end face of the pin shaft 6 to be currently detected and the shaft center of the auxiliary column 9 can be calculated. The rotation angle of the first turntable base 21 and the telescopic length of the telescopic mechanism 25 on the vertical rod 23 can be determined based on the calculation result. Thereby making the auxiliary column 9 center correspond to the shaft center of the pin shaft 6.
The auxiliary column 9 is based on the opening and closing of the composite microarray arranged on the top end surface of the auxiliary column to realize the relative fixation or the isolation between the auxiliary column and the pin shaft 6. The upper end of the pin shaft 6 is clamped in the notch of the material moving step plate 8, so that the auxiliary column 9 can stably rotate with the pin shaft 6. The first visual recognition device 10 is aligned to the corresponding region to be detected above the auxiliary column 9, so that full circumferential image acquisition can be performed on the pin 6 under the condition that the pin 6 rotates. Full circumferential image acquisition may refer to complete acquisition of the sides in the circumferential direction of the pin shaft 6.
The composite microarray can be a gecko bionic mushroom-shaped array structure, the auxiliary column 9 is provided with a through hole, a vacuum suction nozzle is embedded in the through hole, and the vacuum suction nozzle is connected with a negative pressure supply mechanism. The high-strength adhesive force of the gecko bionic mushroom-shaped array structure is utilized, so that the composite microarray can obtain large adhesive force to the bottom end surface of the pin shaft 6 under the condition of small vacuum degree. The gecko bionic mushroom-shaped array structure can reduce the vacuum degree of negative pressure. The negative pressure is applied, and meanwhile, normal prestress is generated on the gecko bionic mushroom-shaped array structure, so that the adhesive force of the gecko bionic mushroom-shaped array structure is increased.
The material-moving step plate 8 shields a part of the shaft body 15, and the shielding part forms a first shielding region. A second shielding area is formed on one side of the pin shaft 6 to be detected, which is far away from the visual identification equipment. By driving the auxiliary column 9 to move up and down and rotate with the pin shaft 6, the first shielding region and the second shielding region can be eliminated. The first visual recognition device 10 achieves full circumferential acquisition of the pin 6 based on at least two time-shared image acquisition operations. Time sharing may refer to different times.
The feed mechanism 4 comprises a second turntable base 22 and at least one clamping part 13. The first turntable base 21 is arranged side by side with the first turntable base 21. The clamping portion 13 has an arc-shaped plate-like structure. The clamping portion 13 may be fixed to the edge of the second turntable base 22 by a vertical rod 23. The inner wall of the clamping part 13 is provided with a plurality of airbag strips which are vertically arranged and are mutually arranged side by side. The air bag strip is connected with a negative pressure supply mechanism. The negative pressure supply mechanism can be inflated or aspirated. At least one sensor for sensing whether the pin shaft 6 is placed in the clamping part 13 can be arranged on the plate body of the clamping part 13.
Based on the size data of the pin shaft 6 to be transferred on the material transferring mechanism 2, the valve of the air charging end corresponding to at least one air bag strip on the clamping part 13 is regulated and controlled to be opened, and when the sensor senses that the pin shaft 6 is placed in the clamping part 13, the sensor drives the negative pressure supply mechanism to operate, and the air bag strip is inflated to encircle the pin shaft 6 in the clamping part 13.
The transfer operation of the transfer mechanism 2 is accomplished by means of a relative movement speed difference between the first turntable base 21 and the conveyor belt on the feeding mechanism 1. Likewise, the transfer operation of the dispensing mechanism 4 is accomplished by means of a relative movement speed differential between the first and second turret base 22.
The first and second turntable bases 22 rotate in opposite directions.
Preferably, each of the transfer steppers 8 corresponds to an identification code. An identification code ordering table is available along the circumference of the first turntable base 21.
Preferably, the identification code may be provided on the side of the first pallet base 21 at a position corresponding to each of the transfer step plates 8. An auxiliary base opposite to the first turntable base 21 is arranged below the auxiliary column 9, and a first identifier is arranged on the auxiliary base. The identifier may be a third visual identification device for identifying the identification code.
Preferably, the identification code may be provided on a stem on the side of the first turret base 21 facing the second visual recognition device 12 on a stem 23. Preferably, the identification code may be provided on the end of the feeding step 7 facing the side of the second visual recognition device 12. The identification code corresponding to the second visual recognition device 12 can thus be derived simultaneously by analyzing the image data acquired by this device.
Preferably, a second identifier is provided on the side of the second turntable base 22 at a position corresponding to each clamping portion 13 for identifying the identification code.
The visual recognition means 3 can acquire the size data and the appearance data of the pin 6, and bind the analysis result, the size data and the appearance data, which are obtained by analyzing the data, with the identification code acquired by the first identifier. The appearance data referred to in the present application may refer to image data of the pin body of the pin and/or image data of the pin cap thereof. The image data may be mainly image data for a side wall surface of the pin body or the pin cap in the circumferential direction. By processing and analyzing the image data, it is possible to determine whether or not there is at least one of appearance problems such as foreign matter protrusion, surface dishing, deformation, burrs, and the like on the side wall surface. The appearance data referred to in the present application may also refer to all-round appearance data.
The clamping part 13 can regulate and control the clamping space based on the size data of the pin shaft 6 to be transferred, which is acquired by the visual identification mechanism 3, so as to realize the stable transfer of the pin shafts 6 with different sizes. When the identification code located in the previous position of the identification code is acquired by at least one second identifier, the identification code corresponding to the pin 6 to be transferred next can be determined based on the identification code sorting table, and the clamping part 13 corresponding to the pin 6 to be transferred next can be determined. Based on this, the operation of the corresponding holding portion 13 can be regulated in advance based on the analysis result, the size data, and the omnibearing appearance data of the pin 6 to be transferred next. Preferably, when the diameter size of the pin 6 to be transferred is small, the grip portion 13 corresponding thereto is set to inflate the airbag strip thereof closer to the center position. Conversely, the corresponding clamp portion 13 is set to inflate the airbag strip nearer to both ends thereof.
The system further comprises at least one discharge port 14, wherein different discharge ports 14 correspond to the pin shafts 6 under different classifications. The system also comprises a distributing mechanism 4 for transferring at least one pin 6 from the material moving mechanism 2 to a corresponding material outlet 14 under the driving of an external force. The discharge ports 14 are sequentially disposed at positions near the outer edge of the second turntable base 22 in the circumferential direction of the second turntable base 22. The positional relationship between the plurality of discharge ports 14 is determined so that positional information about them can be entered in advance.
The clamping part 13 determines the position information of a matched discharging hole 14 based on the analysis result corresponding to the pin shaft 6 clamped by the clamping part and the pre-recorded position information of the discharging hole 14, transfers the pin shaft 6 clamped by the clamping part to the upper part of the discharging hole 14, and releases the pin shaft 6 clamped by the clamping part, thereby completing the sorting and the collection of the pin shaft 6.
Preferably, the plurality of discharge openings 14 may correspond to pins 6 of a size and appearance that are acceptable, pins 6 of a size and appearance that are unacceptable, and pins 6 of a size and appearance that are unacceptable, respectively. The pin shafts 6 output by different discharge ports 14 can acquire the size detection result and the appearance detection result without secondary detection, which is beneficial to improving the processing efficiency of the pin shaft 6 detection process.
The system further comprises a controller 26, wherein the controller 26 is respectively connected with the feeding mechanism 1, the material moving mechanism 2, the visual identification mechanism 3 and the discharge port 14, and the controller 26 is used for regulating and controlling operations respectively corresponding to the feeding mechanism 1, the material moving mechanism 2, the visual identification mechanism 3 and the discharge port 14. The feeding mechanism 1, the material moving mechanism 2, the visual recognition mechanism 3 and the material outlet 14 can be respectively provided with a central processing unit, and each central processing unit is respectively connected with the controller 26 in a wireless or wired mode.
It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the application is defined by the claims and their equivalents. The description of the application encompasses multiple inventive concepts, such as "preferably," "according to a preferred embodiment," or "optionally," all means that the corresponding paragraph discloses a separate concept, and that the applicant reserves the right to filed a divisional application according to each inventive concept.
Claims (10)
1. A system for industrial appearance detection, characterized by having an appearance detection cavity (5) and a feeding mechanism (1) arranged above the appearance detection cavity (5), wherein the feeding mechanism (2) comprises a first turntable base (21) controllably and rotatably connected in the inner wall of the appearance detection cavity (5);
the feeding mechanism (1) and the material moving mechanism (2) are respectively provided with a feeding riser (7) and a material moving riser (8), the material moving mechanism (2) is driven by external force to separate at least one pin shaft (6) from the feeding riser (7) through the material moving riser (8) by utilizing the relative motion relationship formed between the material moving mechanism and the material moving mechanism (2) due to the external force driving, and the standing posture of the pin shaft (6) in the appearance detection cavity (5) is kept;
the inner wall of the feeding mechanism (1) is provided with an inclined conveyor belt, the feeding step plate (7) is of a plate-shaped structure, is fixed on the conveyor belt in a vertical placement posture, one end of the plate body, which is far away from the conveyor belt, is provided with an open notch, the inner edge of the notch extends towards the side where the conveyor belt is located, and the inner edge of the notch forms a shape of a shaft body part (15) which can adapt to pins (6) of different types on the plate body;
a bending rod (24) is arranged at the end part of the notch of the feeding step plate (7), the bending point of the bending rod (24) is rotationally connected in the hollow inner cavity of the feeding step plate (7), a first supporting rod of the bending rod (24) is arranged at the side of the notch, and a second supporting rod extends out of the feeding step plate (7);
the material moving step plate (8) and the material feeding step plate (7) have the same structure;
the material moving riser (8) is arranged on a vertical rod (23), and the vertical rod (23) is fixedly arranged at the edge position of the first turntable base (21);
the material distributing mechanism (4) comprises a second turntable base (22) and at least one clamping part (13), wherein,
the second turntable base (22) and the first turntable base (21) are arranged side by side;
the clamping part (13) can regulate and control the clamping space of the pin shaft (6) to be transferred based on the size data of the pin shaft (6) to be transferred, which is acquired by the visual identification mechanism (3), so as to realize the stable transfer of the pin shaft (6) with different sizes to different discharge ports (14).
2. The system according to claim 1, characterized in that the clamping part (13) is of an arc-shaped plate-like structure, the clamping part (13) can be fixed on the edge of the second turntable base (22) through a vertical rod (23), and a plurality of airbag strips which are vertically arranged and are arranged side by side are arranged on the inner wall of the clamping part (13).
3. System according to claim 2, characterized in that the airbag strip is connected to a negative pressure supply, and that the plate body of the clamping part (13) can be provided with at least one sensor for sensing whether the pin (6) is placed in the clamping part (13).
4. A system according to claim 3, characterized in that the transfer operation of the feed mechanism (4) is accomplished by means of a difference in the relative speed of movement between the first turntable base (21) and the second turntable base (22), the first turntable base (21) and the second turntable base (22) being rotated in opposite directions.
5. The system according to claim 4, characterized in that the visual recognition means (3) comprise two second visual recognition devices (12), the two second visual recognition devices (12) being arranged opposite each other on the inner wall of the appearance detection chamber (5), respectively, and an identification code being able to be arranged on a rod body on the side of the second visual recognition device (12) on the vertical rod (23) on the first turntable base (21), and a second identifier being arranged on the side of the second turntable base (22) at a position corresponding to each of the clamping parts (13) for identifying the identification code.
6. A method for industrial appearance detection, using a system according to any of claims 3 to 5, characterized in that it comprises at least the following steps:
the method utilizes external force to drive, and transfers at least one pin shaft (6) from the material moving mechanism (2) to at least one discharge hole (14) corresponding to the size data and/or the appearance data of the pin shaft (6);
according to the method, the clamping space of the pin shaft (6) to be transferred is regulated and controlled by the clamping part (13) based on the size data of the pin shaft (6) to be transferred, which is acquired by the visual identification mechanism (3), so that the pin shafts (6) with different sizes can be stably transferred.
7. The method according to claim 6, wherein the opening of the inflation end valve corresponding to at least one airbag strip on the clamping part (13) is regulated based on the size data of the pin shaft (6) to be transferred on the material transferring mechanism (2), and when the sensor senses that the pin shaft (6) is placed in the clamping part (13), the sensor drives the negative pressure supply mechanism to operate, and the airbag strip inflates to encircle the pin shaft (6) in the clamping part (13).
8. Method according to claim 7, characterized in that when the diameter of the pin (6) to be transferred is small, the grip (13) corresponding thereto is set to inflate the airbag strip in its near-centre position;
when the diameter of the pin shaft (6) to be transferred is large, the clamping parts (13) corresponding to the pin shaft are set to inflate the airbag strips near the two end parts.
9. The method according to claim 6, wherein the discharge ports (14) are sequentially disposed at positions near the outer edge of the second turntable base (22) in the circumferential direction of the second turntable base (22), and the positional relationship between the plurality of discharge ports (14) is determined so that positional information about the discharge ports (14) can be entered in advance.
10. Method according to claim 9, characterized in that the clamping part (13) determines a matching position information of the discharge opening (14) based on the analysis result corresponding to the pin (6) clamped by the clamping part and the pre-entered position information of the discharge opening (14), transfers the pin (6) clamped by the clamping part to the position above the discharge opening (14) and releases the pin (6) clamped by the clamping part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210512825.6A CN114951039B (en) | 2021-06-03 | 2021-06-03 | System for be used for industry outward appearance to detect |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110623148.0A CN113203736B (en) | 2021-06-03 | 2021-06-03 | Industrial appearance detection method based on intelligent vision |
| CN202210512825.6A CN114951039B (en) | 2021-06-03 | 2021-06-03 | System for be used for industry outward appearance to detect |
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| CN202110623148.0A Division CN113203736B (en) | 2021-06-03 | 2021-06-03 | Industrial appearance detection method based on intelligent vision |
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| CN202210512825.6A Active CN114951039B (en) | 2021-06-03 | 2021-06-03 | System for be used for industry outward appearance to detect |
| CN202210512824.1A Pending CN115046995A (en) | 2021-06-03 | 2021-06-03 | Visual identification mechanism for industrial appearance detection |
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| CN114951039A (en) | 2022-08-30 |
| CN113203736A (en) | 2021-08-03 |
| CN113203736B (en) | 2022-06-07 |
| CN115046995A (en) | 2022-09-13 |
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