CN212597240U - Automatic detection device for appearance of core block - Google Patents

Abstract

The utility model aims at providing a module outward appearance automatic checkout device, it includes unloader and detection device. The beneficial effects of the utility model reside in that: the core block can be aligned with the front end face through the push rod, the manipulator can vacuum-adsorb the core block to each station, and after large-scale tests, the phenomenon of damage of the coreless block occurs; by accurately controlling the position of the manipulator, when the end face of the core block is shot, the core block can stay in the range of depth of field, and the shot picture is clear; the end face is shot in a suspension mode, the obtained picture is uniform in illumination, and shielding does not exist, so that subsequent algorithm analysis is facilitated; the manipulator is directly conveyed to the cylindrical surface detection station, and the phenomenon of pellet damage does not occur in the large-batch test; go up the unloading platform and can directly steadily get the material from the material cabinet, and the bar code and the two-dimensional code of charging tray can be read to charging tray transfer device, and the management is transported in order to the material.

Description

Automatic detection device for appearance of core block

Technical Field

The utility model belongs to the automatic checkout field, concretely relates to module outward appearance automatic checkout device.

Background

In the prior art (application No. CN201510226004.6 (failed)), the appearance of the cylindrical pellet can be checked by taking a photograph, which is configured as follows: the method comprises loading the pellet with a toothed disc having a thickness close to the height of the pellet, photographing the end face of the pellet, rotating the pellet with two rollers while photographing the cylindrical surface, and pushing the pellet forward with a paddle. The prior art has the following defects:

a) when the core block enters the detection end face of the gear disc, the core block can collide with the baffles on the two sides due to the existence of length tolerance, so that the core block is damaged;

b) the length tolerance range of the core block to be detected is large, the core block is in a motion state in actual detection, and the core block moves back and forth, so that the end face is out of the depth of field range of the camera, and the shooting is not clear;

c) the core block to be detected with shorter length is positioned in the gear disc, and the shooting is influenced under the condition that a light source is shielded;

d) when the cylindrical surface of the core block is detected, certain abrasion risk exists in the process of forward propelling.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a core piece outward appearance automatic checkout device has solved the problem that prior art exists.

The technical scheme of the utility model as follows: an automatic detection device for appearance of a core block comprises a feeding and discharging device and a detection device.

The loading and unloading device comprises a loading device and an unloading device.

The detection device comprises two manipulators, and the manipulator 16 is provided with a sucker for sucking the core blocks from the material tray.

The end face detection station on the feeding side comprises at least two detection devices including but not limited to a camera, a laser profile meter and the like, and is used for acquiring data of the end face of the core block.

The cylindrical surface detection station is positioned between the two material trays and is provided with a plurality of rollers for driving the core blocks to rotate.

After the manipulator places the core block on the cylindrical surface detection station, the data acquisition device positioned on one side moves to the position above the cylindrical surface detection station to acquire the cylindrical surface data of the core block, and the form of the data acquisition device includes but is not limited to linear array and area array cameras, contourgraph and the like.

The waste material box is arranged on the discharging side.

The mechanical arm sucker comprises an air passage and a telescopic device for protecting the core block when the core block is pressed downwards, the mechanical arm sucker firstly presses the core block lightly when the core block is sucked, the whole sucker is lifted upwards, and a spring clamped between the sucker support and the sucker can be compressed to reduce the force applied to the core block, so that the core block is protected from being damaged.

The beneficial effects of the utility model reside in that: the core block can be aligned with the front end face through the push rod, the manipulator can vacuum-adsorb the core block to each station, and after large-scale tests, the phenomenon of damage of the coreless block occurs; by accurately controlling the position of the manipulator, when the end face of the core block is shot, the core block can stay in the range of depth of field, and the shot picture is clear; the end face is shot in a suspension mode, the obtained picture is uniform in illumination, and shielding does not exist, so that subsequent algorithm analysis is facilitated; the manipulator is directly conveyed to the cylindrical surface detection station, and the phenomenon of pellet damage does not occur in the large-batch test; go up the unloading platform and can directly steadily get the material from the material cabinet, and the bar code and the two-dimensional code of charging tray can be read to charging tray transfer device, and the management is transported in order to the material.

Drawings

Fig. 1 is a schematic structural view of an automatic detection device for a core block appearance according to the present invention;

FIG. 2 is a schematic view of a loading and unloading structure;

FIG. 3 is a schematic view of a pellet alignment mechanism;

FIG. 4 is a schematic view of a vertical processing procedure;

FIG. 5 is a schematic view of a robot chuck;

FIG. 6 is a schematic view of an end face inspection station;

FIG. 7 is a schematic view of a cylinder detection station.

In the figure: 1 push rod, 2 core blocks, 3 core blocks, 4 push rods, 5 cameras, 6 material trays, 7 mechanical arm suckers, 8 air passages, 9 springs, 10 sucker supports, 11 light sources, 12 end face cameras, 13 data acquisition equipment, 14 two light sources, 15 two rollers, 16 mechanical arms, 17 data acquisition devices, 18 cylindrical surface detection stations, 19 end face detection stations, 20 waste material boxes, 21 feeding devices and 22 blanking devices,

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the utility model provides a module outward appearance automatic checkout device structurally includes unloader and detection device.

Wherein, the loading and unloading device comprises a loading device 21 and a unloading device 22. The detection means comprise two robots 16 with suction cups 16 for sucking the pellets from the tray 6. The end face detection station 19 on the feeding side comprises not less than two detection devices including but not limited to a camera, a laser profiler and the like, and is used for data acquisition of the end face of the pellet. The cylindrical surface detection station 18 is positioned between the two material trays 6 and is provided with a plurality of rollers for driving the core blocks to rotate. After the robot 16 places the pellet on the cylindrical surface inspection station 18, the data acquisition device 17 on one side moves above the cylindrical surface inspection station 18 to acquire the cylindrical surface data of the pellet. The form of the data acquisition device 17 includes, but is not limited to, a linear array, an area array camera, a profiler, and the like. A waste bin 20 is provided on the blanking side. After the pellet is detected at the cylindrical surface detection station 18, whether the pellet is qualified or not is judged by an algorithm according to the collected data of the cylindrical surface of the end surface, the unqualified pellet is put into the waste material box 20 by a manipulator, and the residual qualified pellet is put into the material tray 6.

As shown in FIG. 2, after the feeding device structure material cabinet enters the feeding and discharging structure, the feeding device structure material cabinet is supported and fixed by the cylinder. The lifting platform takes the material tray out of the material comparison cabinet and conveys the material tray to the detection device.

After the tray 6 is in place, the pellets 2 in the tray 6 are aligned using the arrangement shown in figure 3. The specific implementation mode is as follows: after the material tray 6 is in place, the ejector rod 4 moves forwards, and the push rod 1 pushes the core blocks 2 on the material tray. When the core block 2 contacts the mandril 4, the sensor on the push rod 1 judges that the core block 2 contacts the mandril 4, and the action of the push rod 1 stops. At this time, when the camera 5 photographs the lower pellet 3, the ejector 4 moves backward and the pusher 1 moves forward as shown in fig. 4-ab to push out the pellet 3 with an incorrect posture and drop it into the waste material box below. Subsequently, as shown in part c of figure 4, the ejector 4 is moved forward and the push rod 1 pushes the core block 2 to the position of the ejector 4. The robot sucker 7 falls down, sucks the core block 2, and then moves upwards.

The robot suction cup 7, as shown in figure 5, comprises an air duct 8 and a retractable device to protect the pellets 2 when they are pressed down. When sucking the core block 2, the mechanical arm sucker 7 firstly lightly presses the core block 2, at the moment, the whole sucker 7 is lifted upwards, and the spring 9 clamped between the sucker bracket 10 and the sucker 7 is compressed to reduce the force applied to the core block 2, so that the core block 2 is protected from being damaged.

As shown in fig. 6, the pellets 2, when carried by the robot to the end face detection station, are suspended in the middle of the end face camera 12. The light source 11 is switched on and the end face camera 12 takes an image of the end face of the core block 2.

As shown in fig. 7, when the core blocks 2 are carried by the robot to the cylindrical inspection station 18, the two rollers 15 are driven by a motor or the like to start rotating the core blocks 2. At the same time, the data acquisition device 17 on one side will move over the cylindrical surface detection station 18 to acquire the cylindrical surface data of the pellets. The form of the data acquisition device 13 includes, but is not limited to, a linear array, an area array camera, a profiler, and the like. Two light sources 14 are provided to facilitate the operation of the data acquisition device 13.

The utility model discloses a push rod and baffle align the preceding terminal surface of pellet, and the pellet is carried to each station to the mode of manipulator vacuum adsorption and is supplied the camera to shoot. The mechanical arm is used for placing the core block in front of the camera to shoot the end face in a suspension mode, and positioning is accurate. The end face is shot in a hanging mode, so that the end face is completely exposed and the illumination is complete. Directly carry to the cylinder through the manipulator and detect the station, avoid using the push rod.

Claims (1)

1. The utility model provides a module outward appearance automatic checkout device which characterized in that: the device comprises a feeding and discharging device and a detection device;

the loading and unloading device comprises a loading device (21) and an unloading device (22);

the detection device comprises two mechanical hands (16), and the mechanical hands (16) are provided with suckers for sucking the core blocks from the material tray (6);

the end face detection station (19) on the feeding side comprises at least two detection devices including but not limited to a camera, a laser profile meter and the like, and is used for acquiring data of the end face of the pellet;

the cylindrical surface detection station (18) is positioned between the two material trays (6) and is provided with a plurality of rollers for driving the core blocks to rotate;

after the manipulator (16) places the core block on the cylindrical surface detection station (18), the data acquisition device (17) positioned on one side moves to the position above the cylindrical surface detection station (18) to acquire the cylindrical surface data of the core block, and the form of the data acquisition device (17) includes but is not limited to linear array and area array cameras and contourgraph;

a waste material box (20) is arranged on the blanking side;

the mechanical arm sucker (7) comprises an air passage (8) and a telescopic device for protecting the core block (2) during downward pressing, when the mechanical arm sucker (7) sucks the core block (2), the core block (2) is firstly pressed lightly, the whole sucker (7) is lifted upwards, and a spring (9) clamped between a sucker support (10) and the sucker (7) can be compressed to reduce the force applied to the core block (2), so that the core block (2) is protected from being damaged.

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