CN212664237U - Coil image identification and detection system - Google Patents

Abstract

The utility model discloses a coil image identification and detection system, which comprises a workbench, two groups of material grabbing components, two groups of material containing components and an image acquisition component; the material grabbing component comprises a claw body and a three-dimensional moving platform (9); the claw body is arranged at the three-dimensional moving platform; the three-dimensional moving platform is positioned above the workbench; the two groups of material containing assemblies are respectively positioned below the two groups of material grabbing assemblies; the material containing assembly comprises a material platform to be detected, a qualified material platform and an unqualified material platform; the image acquisition assembly comprises a pallet linear moving sliding table, a coil pallet, a top surface camera, two bottom surface cameras and two side surface cameras; the pallet linear moving sliding table is positioned between the two groups of material containing assemblies, and the sliding direction is the direction to and fro between the two groups of material containing assemblies; the two side cameras are respectively positioned at two sides of the linear moving sliding table of the supporting table; the top camera is arranged above the space between the two side cameras. The utility model has the advantages of realize mechanized testing process, with low costs, efficient.

Description

Coil image identification and detection system

Technical Field

The utility model relates to a coil check out test set field especially relates to a coil image identification detecting system.

Background

After the winding process is completed on the workpiece to form a finished coil, quality detection is required, the winding condition of the finished coil is observed, unqualified products are removed, and qualified products are sold.

At present, the quality of the finished coil is detected manually in the whole process, mainly comprising taking, observing by human eyes and classifying, a large amount of manpower and time are consumed, the cost is high, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

Therefore, a coil image identification and detection system is needed to be provided to solve the problems that the whole process of coil detection in the prior art depends on manpower, the cost is high, and the efficiency is low.

In order to achieve the above object, the inventor provides a coil image identification and detection system, which comprises a workbench, two groups of material grabbing assemblies, two groups of material containing assemblies and an image acquisition assembly;

the two groups of material grabbing components are arranged at the workbench; the material grabbing component comprises a claw body and a three-dimensional moving platform; the claw body is arranged at the three-dimensional moving platform and used for taking the coil; the three-dimensional moving platform is positioned above the workbench and used for driving the claw body to vertically move so as to take and place the coil and to carry the coil in a planar movement manner;

the two groups of material containing assemblies are arranged at the workbench and are respectively positioned below the two groups of material grabbing assemblies; the material containing assembly comprises a material platform to be detected, a qualified material platform and an unqualified material platform;

the image acquisition assembly comprises a pallet linear moving sliding table, a coil pallet, a top surface camera, two bottom surface cameras and two side surface cameras; the two bottom cameras are respectively arranged adjacent to the two material containing assemblies, and the lens of each bottom camera is arranged upwards; the pallet linear moving sliding table is positioned between the two groups of material containing assemblies, and the sliding direction is the direction to and fro between the two groups of material containing assemblies; the two side cameras are respectively positioned at two sides of the sliding direction of the linear moving sliding table of the tray table, and the lenses of the two side cameras are arranged oppositely; the top camera is arranged above the space between the two side cameras, and the top camera is arranged downwards; the coil saddle is arranged at the linear moving sliding table of the saddle.

As a preferred structure of the utility model, the material containing assembly further comprises a first rotating mechanism; the two ends of the material platform to be detected are respectively provided with a material plate to be detected; the material platform to be detected is arranged at the position of the workbench through a first rotary mechanism, and the first rotary mechanism is used for driving the material platform to be detected to rotate so as to replace the fed material plate to be detected.

As a preferred structure of the utility model, the material containing assembly further comprises a material table illuminating assembly; the material of the material table to be detected and the material of the material tray to be detected are light-transmitting materials; the material table illuminating assembly is arranged below one end of the material table to be detected so as to illuminate the material table to be detected and the material plate to be detected.

As a preferred structure of the utility model, the material containing assembly further comprises a second swing mechanism; qualified material trays are respectively placed at two ends of the qualified material platform; the qualified material platform is arranged at the workbench through a second swing mechanism, and the second swing mechanism is used for driving the qualified material platform to rotate so as to replace a qualified material tray used for containing materials.

As a preferred structure of the utility model, the claw body is an air claw, and the air claw comprises an air cavity and four air pipes; four air pipes are vertically connected below the air cavity, communicated with the air cavity and provided with air nozzles which are parallel and level to suck four included angles of the coil respectively.

As a preferred structure of the utility model, the material grabbing component further comprises a rotary driving mechanism; the rotary driving mechanism is in transmission connection with the claw body and used for driving the claw body to rotate so as to enable the four air pipes to be respectively aligned to four included angles of the coil.

As a preferred structure of the utility model, the claw body is arranged at the three-dimensional moving platform through the claw frame; the claw body can be vertically and rotatably arranged at the claw frame; the rotary driving mechanism comprises a rotary motor, and the rotary motor is arranged at the claw frame and is in transmission connection with the claw body.

As the utility model discloses a preferred structure, the coil saddle is provided with two, and two coil saddles all set up in saddle rectilinear movement slip table department, and two coil saddles are adjacent with two sets of flourishing material subassemblies respectively, and alternate movement is to between two side cameras under the drive of saddle rectilinear movement slip table.

As an optimized structure of the utility model, the camera lens department of bottom surface camera, top surface camera all is provided with camera lighting components.

As a preferred structure of the present invention, the image capturing assembly further includes two material stage cameras and a controller; the two material table cameras are respectively positioned on the two material tables to be detected, and the lens of the material table camera faces the material tables to be detected so as to obtain images of coils flatly placed on the material tables to be detected; the controller is connected with the material platform camera and the material grabbing component and used for controlling the three-dimensional moving platform to drive the claw body to move to a certain coil on which the material platform to be detected is placed horizontally according to the image acquired by the material platform camera and grab the coil below the claw body.

The coil image recognition and detection system is characterized in that coils placed on a material table to be detected below are taken by the claw bodies of the two groups of material grabbing components in sequence, the claw bodies are driven by the three-dimensional moving platform to move to the position above the bottom surface camera, after the bottom surface camera takes pictures, whether the coils are qualified or not is observed by the pictures, if the coils are qualified, the pallet moves the sliding table linearly towards the direction close to the claw body which takes the coils firstly, the pallet is driven to move away from the two side cameras, meanwhile, the claw body which takes the coils firstly is driven by the three-dimensional moving platform to move until the claw body moves the coils to the position above the coil pallet, and the claw body loosens the coils; the pallet linear moving sliding table drives the pallet to move between the two side cameras, when the top surface camera and the two side cameras take pictures, the pallet linear moving sliding table moves towards the direction close to the claw body of the coil taken firstly again, the pallet is driven to move away from the two side cameras, the claw body of the coil taken firstly takes the coil off the coil on the coil pallet, then the pallet linear moving sliding table moves towards the direction close to the claw body of the coil taken later, and in the process, the working process of the claw body of the coil taken later is consistent with the working process of the coil taken earlier. After the coil is taken down from the coil support table, the coil is placed on the qualified material table or the unqualified material table according to whether the coil is qualified or not, and then a new coil to be detected is taken again to circulate the process, so that the streamlined detection action is completed mechanically, and the efficiency is high.

Drawings

Fig. 1 is a structural diagram of a coil image recognition and detection system according to an embodiment of the present invention;

fig. 2 is a structural diagram of a material holding assembly and an image acquisition assembly according to an embodiment of the present invention;

fig. 3 is a structural diagram of the material holding assembly and the partial image obtaining assembly according to an embodiment of the present invention;

fig. 4 is a structural diagram of a partial image obtaining assembly according to an embodiment of the present invention;

fig. 5 is an installation diagram of a top surface camera and a material table camera according to an embodiment of the present invention;

fig. 6 is a structural diagram of a material grabbing assembly according to an embodiment of the present invention;

fig. 7 is a diagram illustrating a connection structure of the claw body and the rotary driving mechanism according to an embodiment of the present invention;

fig. 8 is a connection structure diagram of the claw body and the vertical sliding table according to an embodiment of the present invention.

Description of reference numerals:

1. a work table;

2. a material table to be detected;

3. a first swing mechanism;

4. a material table illumination assembly;

5. a qualified material platform;

6. a second swing mechanism;

7. an unqualified material table;

8. a claw body; 800. an air cavity; 801. an air tube;

9. a three-dimensional mobile platform; 900. a transverse sliding table; 901. a longitudinal sliding table; 902. a vertical sliding table;

10. a mobile platform support;

11. a claw frame;

12. a rotating electric machine;

13. a coil support;

14. the saddle linearly moves the sliding table;

15. a floor camera;

16. a topside camera;

17. a side camera;

18. a camera illumination assembly;

19. a material platform camera.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1, the present invention provides a coil image recognition and detection system for completing some series of coil detection actions, so as to realize an efficient detection process and reduce labor cost.

In a specific embodiment, the coil image recognition and detection system comprises a workbench 1, two groups of material grabbing assemblies, two groups of material containing assemblies and an image acquisition assembly; the workbench 1 is used for placing a material containing assembly, a material grabbing assembly and an image acquisition assembly; the material containing assembly is used for containing materials in a classified mode, namely used for placing coils to be detected, qualified coils and unqualified coils in a classified mode, wherein the coils to be detected are coils which are not detected and need to wait for detection, the qualified coils are coils which are orderly wound by the wires and are not separated from the wires, and the unqualified coils are not used; the material grabbing component is used for taking the coil and transferring the coil to a corresponding position, namely conveying the coil; the image acquisition assembly is used for acquiring top surface images and bottom surface images of the coil and images of two sides of the wound wire.

Referring to fig. 2 and 3, two material holding assemblies are disposed at the working platform 1 and located under the two material grabbing assemblies respectively for the two material grabbing assemblies to use, including supplying coils to be detected and holding qualified or unqualified coils. The material containing assembly comprises a material platform 2 to be detected, a qualified material platform 5 and an unqualified material platform 7, wherein the material platform 2 to be detected is used for placing a coil to be detected, the qualified material platform 5 is used for placing a qualified coil which meets the standard after detection, and the unqualified material platform 7 is used for placing an unqualified coil which does not meet the standard after detection.

The two groups of material grabbing assemblies are arranged at the workbench 1 and used for respectively taking coils of the two groups of material containing assemblies; referring to fig. 1, the material grabbing assembly includes a claw body 8 and a three-dimensional moving platform 9; the claw body 8 is arranged at the three-dimensional moving platform 9 and used for taking coils; the three-dimensional moving platform 9 is erected above the workbench 1 and used for driving the claw body 8 to vertically move so as to take and place the coil, and to move in a plane (specifically, a horizontal plane) so as to convey the coil.

Referring to fig. 6 and 8, the three-dimensional moving platform 9 includes a horizontal sliding table 900, a vertical sliding table 901, and a vertical sliding table 902; the transverse sliding table 900 is used for driving the claw body 8 to transversely move; the longitudinal sliding table 901 is used for driving the claw body 8 to move longitudinally; the vertical sliding table 902 is used for driving the claw body 8 to move vertically. Under the common driving of the transverse sliding table 900 and the longitudinal sliding table 901, the claw body 8 can move to any position in the horizontal plane, that is, can move in the horizontal plane. The transverse slipway 900, the longitudinal slipway 901 and the vertical slipway 902 all comprise a base, a slide rail, a slide block and a linear driving mechanism; the slide rail sets up in base department, and the slider can set up in slide rail department along the slide rail with sliding, and linear drive mechanism is connected with the slider transmission to order about the slider along slide rail rectilinear movement, specifically, linear drive mechanism can be cylinder, hydro-cylinder or linear electric motor, and wherein linear electric motor can be the lead screw motor.

The mutual connection mode of the transverse sliding table 900, the longitudinal sliding table 901 and the vertical sliding table 902 can be various, transverse movement, longitudinal movement and vertical movement can be achieved, the transverse movement, the longitudinal movement and the vertical movement are not affected by each other, if the base of the transverse sliding table 900 is connected to the sliding block of the longitudinal sliding table 901, the base of the vertical sliding table 902 is connected to the sliding block of the transverse sliding table 900. In a preferred embodiment, two transverse sliding tables 900 may be provided, the two transverse sliding tables 900 are arranged in parallel, the longitudinal sliding table 901 is arranged across the two transverse sliding tables 900, and two ends of a base of the longitudinal sliding table 901 are respectively connected with the sliding blocks of the two transverse sliding tables 900, so that the arrangement is more stable.

Referring to fig. 1, in order to mount the three-dimensional moving platform 9 on the workbench 1, so that a space for arranging the material holding component and the image capturing component exists between the workbench 1 and the three-dimensional moving platform 9, in a further embodiment, a moving platform support 10 is further included, and the three-dimensional moving platforms 9 of the two sets of material grabbing components are both disposed at the moving platform support 10, so as to be mounted on the workbench 1, and provide a sufficient space for the claw body 8 to ascend and descend.

The claw body for taking the coil can be a mechanical claw body with two claws, can also be a mechanical claw body with three claws, and can also be a mechanical claw body with four claws.

Therefore, referring to fig. 7 and 8, in a preferred embodiment, the claw body 8 is a pneumatic claw, and the pneumatic claw includes an air cavity 800 and four air pipes 801; the four air pipes 801 are made of hard materials such as hard plastics or metal, the four air pipes 801 are vertically connected below the air cavity 800, the four air pipes 801 are communicated with the air cavity 800, and air nozzles of the four air pipes 801 are arranged in parallel and level and used for respectively sucking four included angles of the coil; the air chamber 800 is connected with an air pump through a hose, when the air nozzles of the four air pipes 801 respectively contact with four included angles of the coil, the air pump starts to pump air, at the moment, the air in the air pipes 801 is pumped away, the coil is tightly sucked by the air nozzles, and at the moment, the coil can be moved. When the coil needs to be loosened, the air pump stops pumping air, the air in the air pipe 801 is recovered, the air nozzle does not tightly suck the coil any more, and the coil naturally falls under the action of gravity. In addition, the precondition that the coil is taken by using the gas claw is that the coil to be detected is flatly placed on the material platform 2 to be detected.

The coil is taken in the mode that four contained angles of coil are held through the gas claw, not only can avoid the damage to the coil, can also learn how many angles of rotation can be rotatory the coil to required position through calculating.

If the coils to be detected are not arranged on the material table 2 to be detected, and the coils are taken in a mode that the air claws suck four included angles of the coils, the air claws need to be rotated according to different coils to be detected, so that the four air pipes 801 are respectively aligned with the four included angles of the coils, and therefore, in a further embodiment, the material grabbing component further comprises a rotation driving mechanism; the rotation driving mechanism is in transmission connection with the claw body 8 and is used for driving the claw body 8 to rotate, so that the four air pipes 801 are respectively aligned to four included angles of the coil.

In one embodiment, the claw body 8 is arranged at the three-dimensional moving platform 9 through a claw frame 11; the claw body 8 can be vertically and rotatably arranged at the claw frame 11, specifically, the air cavity 800 of the claw body 8 can be a tube made of hard material, the air cavity 800 can be rotatably arranged at the claw frame 11 through a bearing, the rotary driving mechanism comprises a rotary motor 12, the rotary motor 12 is arranged at the claw frame 11 and is in transmission connection with the claw body 8, specifically, gears are sleeved at the output ends of the air cavity 800 and the rotary motor 12, the body of the rotary motor 12 is arranged at the claw frame 11, the output end of the rotary motor 12 is arranged in parallel with the air cavity 800, the gear of the rotary motor 12 is meshed with the gear of the air cavity 800, after the rotary motor 12 is started, the output end of the rotary motor 12 drives the gear to rotate, the gear of the rotary motor 12 drives the gear of the air cavity 800 and the air cavity 800 to rotate, so that the claw body 8 can be adjusted, or the gear can be replaced by a belt pulley, the pulley of the rotary motor 12 and the pulley of the air chamber 800 are collectively housed in an endless belt, and transmission of the rotary motion is realized by the belt and the pulley.

Referring to fig. 2 and 5, in a further embodiment, the image acquisition assembly further includes two stage cameras 19 and a controller; the two material table cameras 19 are respectively positioned on the two material tables 2 to be detected, and the lens of the material table camera 19 faces the material tables 2 to be detected, so as to obtain the image of the coil which is horizontally placed on the material tables 2 to be detected; the controller is connected with the material platform camera 19 and the material grabbing component and is used for controlling the three-dimensional moving platform 9 to drive the claw body 8 to move to a certain coil on which the material platform 2 to be detected is horizontally placed according to the image acquired by the material platform camera 19 and grab the coil below the claw body 8.

If the coils to be detected are not arranged on the material platform 2 to be detected, the coils are taken in a mode that the four included angles of the coils are sucked by the air claws, and the controller is provided with a rotary driving mechanism, the controller is also required to be connected with the rotary driving mechanism and the air pump, after the three-dimensional moving platform 9 is controlled to drive the claw body 8 to move to a certain coil which is horizontally placed on the material platform 2 to be detected, the rotary driving mechanism is also required to be controlled to drive the claw body 8 to rotate to four air pipes 801 to be respectively aligned with the four included angles of the coils according to the coil in a picture shot by the material platform camera 19, and the air pump is started again to grab the coils.

After taking a coil to be detected, acquiring a top surface image, a bottom surface image and images of two sides of a wound wire of the coil through an image acquisition assembly to check whether the coil is qualified, please refer to fig. 1 to 4, in a specific embodiment, the image acquisition assembly includes a pallet linear movement sliding table 14, a coil pallet 13, a top surface camera 16, two bottom surface cameras 15 and two side surface cameras 17; the coil support 13 is used for supporting the coil when the top surface image of the coil and the images of the two sides of the wound wire are required to be acquired; the two bottom cameras 15 are respectively used for acquiring bottom images of coils taken by the claw bodies 8 of the two groups of material grabbing components; the top surface camera 16 is used for acquiring a top surface image of the coil; the two side cameras 17 are used for respectively acquiring images of two sides of the coil wound with the wire; the pallet linear moving sliding table 14 is used for driving the coil pallet 13 to move.

When the coil to be detected needs to be placed on the coil support table 13 when the claw body 8 which takes the coil first needs to be placed on the coil support table 13, the coil support table 13 needs to be driven to move away from the top surface camera 16 towards the direction close to the claw body 8 which takes the coil first, so that the movement of the claw body 8 which takes the coil first is prevented from being influenced by the top surface camera 16; when the to-be-detected coil needs to be placed on the coil support table 13 by the claw body 8 of the coil to be taken later, the coil support table 13 needs to be driven to move away from the top surface camera 16 towards the direction close to the claw body 8 of the coil to be taken later, so that the movement of the claw body 8 of the coil to be taken later is prevented from being influenced by the top surface camera 16. After the coil is placed on the coil support platform 13, the coil support platform 13 needs to be driven to move to a position below the top camera 16, the coil support platform 13 is located between the two side cameras 17, and at this time, images of the top surface and images of two sides of the coil wound with the wire can be shot so as to provide images for judging whether the coil is qualified or not.

The pallet linear moving sliding table 14 is positioned between the two groups of material containing assemblies, the sliding direction is the direction to and from the two groups of material containing assemblies, and the pallet linear moving sliding table 14 comprises a base, a sliding rail, a sliding block and a linear driving mechanism; the base is arranged at the workbench 1, the slide rail is arranged at the base, the slide block can be arranged at the slide rail in a sliding manner along the slide rail, the linear driving mechanism is in transmission connection with the slide block so as to drive the slide block to move linearly along the slide rail, specifically, the linear driving mechanism can be an air cylinder, an oil cylinder or a linear motor, wherein the linear motor can be a screw rod motor; the coil support 13 is arranged at the slide block.

In a further embodiment, an inductive switch is disposed on a side edge of the pallet linear moving slide 14, and a slide controller is further disposed, the slide controller is connected to the inductive switch and the pallet linear moving slide 14, specifically, an inductive switch is disposed on a bottom of the top camera 16 and an inductive switch is disposed on a position other than the bottom of the top camera 16, respectively, when the coil pallet 13 is driven by the pallet linear moving slide 14, the slide controller controls the pallet linear moving slide 14 to stop, and after the top camera 16 and the side camera 17 take pictures (the stop time length can be preset), the slide controller controls the pallet linear moving slide 14 to reversely drive until the inductive switch on the position other than the bottom of the top camera 16 senses the coil pallet 13, the slide controller controls the pallet linear moving slide 14 to stop, after the coil is taken down or put on the claw body 8 (the time length of stopping can also be preset), the forward driving of the linear moving sliding table 14 of the pallet is controlled, and the coil can be normally conveyed through the circulation.

Referring to fig. 2 and 5, two bottom cameras 15 are respectively arranged adjacent to the two material containing assemblies, and lenses of the bottom cameras 15 are arranged upward, when the bottom images of the coils need to be obtained, only the claw bodies 8 with the coils need to be taken and moved onto the bottom cameras 15, and after whether the coils are qualified or not is observed, the subsequent steps are carried out, if the coils are qualified, the coils are placed on the coil supporting platforms 13, and if the coils are not qualified, the coils are placed on the unqualified material platforms 7.

The two side cameras 17 are respectively positioned at two sides of the sliding direction of the linear moving sliding table 14 of the support table, and lenses of the two side cameras 17 are arranged oppositely; the top camera 16 is arranged above between the two side cameras 17, and the top camera 16 is arranged downwards; the coil support table 13 is arranged at the support table linear moving sliding table 14 and driven to move by the linear moving sliding table.

In order to ensure the clarity of the taken pictures, in a further embodiment, the camera lighting assemblies 18 are arranged at the lens of the bottom camera 15 and the lens of the top camera 16. In addition, since the material wound around the coil is fine, in order to facilitate observation of the coil in the photographed picture, magnifying lenses may be disposed at the lens positions of the bottom surface camera 15, the top surface camera 16, and the top surface camera 16.

Because the position of the material platform 2 to be detected, where the coil can be placed, is limited, in order to ensure uninterrupted detection, in a further embodiment, the material containing assembly further comprises a first rotating mechanism 3; the two ends of the material platform 2 to be detected are respectively provided with a material plate to be detected; the material platform 2 to be detected is arranged at the working platform 1 through the first rotary mechanism 3, and the first rotary mechanism 3 is used for driving the material platform 2 to be detected to rotate so as to replace the fed material plate to be detected. For convenience of explanation, two ends of the material platform 2 to be detected are named as the left end of the material platform 2 to be detected and the right end of the material platform 2 to be detected respectively, in the process of detecting the coil in the material plate to be detected at the left end of the material platform 2 to be detected, a layer of coil which is horizontally arranged can be fully placed in the material plate to be detected at the right end of the material platform 2 to be detected, after the coil in the material plate to be detected at the left end of the material plate to be detected is detected, the first rotary mechanism 3 drives the material platform 2 to be detected to rotate, so that the positions of the left end of the material plate to be detected and the position of the right end of the material platform 2 to be detected are exchanged, and the coil to be detected can be.

In order to facilitate taking of the coil to be detected, in a further embodiment, the material containing assembly further comprises a material table illuminating assembly 4 which can be an LED lamp panel; the material of the material table 2 to be detected and the material disc to be detected are light-transmitting materials, such as transparent plastics or transparent glass; the material table illuminating assembly 4 is arranged below one end of the material table 2 to be detected so as to illuminate the material table 2 to be detected and the material plate to be detected.

Likewise, in order to increase the efficiency, in a further embodiment, the filling assembly further comprises a second swing mechanism 6; qualified material trays are respectively placed at two ends of the qualified material table 5; the qualified material platform 5 is arranged at the workbench 1 through a second swing mechanism 6, and the second swing mechanism 6 is used for driving the qualified material platform 5 to rotate so as to replace a qualified material tray for containing materials. For convenience of explanation, two ends of the qualified material platform 5 are named as the left end of the qualified material platform 5 and the right end of the qualified material platform 5 respectively, after the qualified coil is filled in the qualified material disc at the right end of the qualified material platform 5, the second rotating mechanism 6 drives the qualified material platform 5 to rotate so as to exchange the positions of the left end of the qualified material disc and the right end of the qualified material platform 5, then the qualified coil is filled in the qualified material disc at the left end of the qualified material platform 5, at the moment, the qualified material disc at the right end of the qualified material platform 5 can be taken down and an empty qualified material disc is replaced, and the qualified coil can be discharged uninterruptedly through the circulation so as to improve the efficiency.

The qualified coil tray is characterized in that a plurality of small containing cavities are arranged inside the qualified coil tray, and each small containing cavity is used for containing one qualified coil, so that the qualified coils can be contained while detection is completed.

The whole working process of the coil image recognition detection system comprises the steps that coils which are arranged on a material platform 2 to be detected below are taken by the claw bodies 8 of the two groups of material grabbing components successively, the claw bodies 8 are driven to move to the position above the bottom surface camera 15 through the three-dimensional moving platform 9, after the bottom surface camera 15 takes pictures, whether the coils are qualified or not is observed through the pictures, if the coils are qualified, the pallet linearly moves the sliding table 14 to the direction close to the claw bodies 8 taking the coils firstly, the pallet is driven to move away from the two side surface cameras 17, meanwhile, the claw bodies 8 taking the coils firstly are driven to move through the three-dimensional moving platform 9 continuously until the claw bodies 8 move the coils to the position above the coil pallet 13, and the claw bodies 8 loosen the coils; the pallet linear moving sliding table 14 drives the pallet to move between the two side cameras 17, when the top surface camera 16 and the two side cameras 17 take pictures, the pallet linear moving sliding table 14 moves towards the direction close to the claw body 8 of the coil taken firstly again to drive the pallet to move away from the two side cameras 17, the claw body 8 of the coil taken firstly takes the coil off from the coil pallet 13, then the pallet linear moving sliding table 14 moves towards the direction close to the claw body 8 of the coil taken secondly, and in the process, the working process of the claw body 8 of the coil taken secondly is consistent with the working process of the coil taken firstly. After the coil is taken off from the coil support table 13, the claw body 8 which takes the coil in sequence places the coil on the qualified material table 5 or the unqualified material table 7 according to whether the coil is qualified or not, and then takes a new coil to be detected again to circulate the process, so that the streamlined detection action is completed through machinery, and the efficiency is high.

In order to further improve the efficiency and reduce the waiting time of the two groups of gripping members for the coil support platforms 13, in a preferred embodiment, the number of the coil support platforms 13 is two, and the two coil support platforms 13 are respectively used for supporting the coils taken by the two groups of gripping members. Two coil saddle 13 all set up in saddle rectilinear movement slip table 14 department, and two coil saddle 13 are adjacent with two sets of flourishing material subassemblies respectively, and two coil saddle 13 set gradually along the slip direction place straight line of saddle rectilinear movement slip table 14 promptly, and two coil saddle 13 are driven under saddle rectilinear movement slip table 14 and are removed in turn to between two side cameras 17. When one of the coil support platforms 13 supports a coil and is located between the two side cameras 17 (that is, the coil on one of the coil support platforms 13 is at the stage of shooting the top surface image and the side surface image), the other coil support platform 13 is located outside the space between the two side cameras 17, and the claw body 8 of the material grabbing component adjacent to the other coil support platform can place the coil to be detected on the coil support platform 13 or take down the coil which is shot the top surface image and the side surface image on the coil support platform 13.

It should be noted that, although the above embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concept of the present invention, the changes and modifications of the embodiments described herein, or the equivalent structure or equivalent process changes made by the contents of the specification and the drawings of the present invention, directly or indirectly apply the above technical solutions to other related technical fields, all included in the scope of the present invention.

Claims (10)

1. A coil image identification and detection system is characterized by comprising a workbench, two groups of material grabbing components, two groups of material containing components and an image acquisition component;

the two groups of material grabbing components are arranged at the workbench; the material grabbing component comprises a claw body and a three-dimensional moving platform; the claw body is arranged at the three-dimensional moving platform and used for taking the coil; the three-dimensional moving platform is positioned above the workbench and used for driving the claw body to vertically move so as to take and place the coil and to carry the coil in a planar movement manner;

the two groups of material containing assemblies are arranged at the workbench and are respectively positioned below the two groups of material grabbing assemblies; the material containing assembly comprises a material platform to be detected, a qualified material platform and an unqualified material platform;

the image acquisition assembly comprises a pallet linear moving sliding table, a coil pallet, a top surface camera, two bottom surface cameras and two side surface cameras; the two bottom cameras are respectively arranged adjacent to the two material containing assemblies, and the lens of each bottom camera is arranged upwards; the pallet linear moving sliding table is positioned between the two groups of material containing assemblies, and the sliding direction is the direction to and fro between the two groups of material containing assemblies; the two side cameras are respectively positioned at two sides of the sliding direction of the linear moving sliding table of the tray table, and the lenses of the two side cameras are arranged oppositely; the top camera is arranged above the space between the two side cameras, and the top camera is arranged downwards; the coil saddle is arranged at the linear moving sliding table of the saddle.

2. The coil image recognition detection system of claim 1, wherein the fill assembly further comprises a first rotary mechanism; the two ends of the material platform to be detected are respectively provided with a material plate to be detected; the material platform to be detected is arranged at the position of the workbench through a first rotary mechanism, and the first rotary mechanism is used for driving the material platform to be detected to rotate so as to replace the fed material plate to be detected.

3. The coil image recognition detection system of claim 2, wherein the holding assembly further comprises a material table illumination assembly; the material of the material table to be detected and the material of the material tray to be detected are light-transmitting materials; the material table illuminating assembly is arranged below one end of the material table to be detected so as to illuminate the material table to be detected and the material plate to be detected.

4. The coil image recognition detection system of claim 1, wherein the fill assembly further comprises a second swing mechanism; qualified material trays are respectively placed at two ends of the qualified material platform; the qualified material platform is arranged at the workbench through a second swing mechanism, and the second swing mechanism is used for driving the qualified material platform to rotate so as to replace a qualified material tray used for containing materials.

5. The coil image recognition detecting system of claim 1, wherein the claw body is a pneumatic claw, and the pneumatic claw comprises an air cavity and four air pipes; four air pipes are vertically connected below the air cavity, communicated with the air cavity and provided with air nozzles which are parallel and level to suck four included angles of the coil respectively.

6. The coil image recognition detection system of claim 5, wherein the gripper assembly further comprises a rotary drive mechanism; the rotary driving mechanism is in transmission connection with the claw body and used for driving the claw body to rotate so as to enable the four air pipes to be respectively aligned to four included angles of the coil.

7. The coil image recognition detection system according to claim 6, wherein the claw body is disposed at the three-dimensional moving platform by a claw frame; the claw body can be vertically and rotatably arranged at the claw frame; the rotary driving mechanism comprises a rotary motor, and the rotary motor is arranged at the claw frame and is in transmission connection with the claw body.

8. The coil image recognition and detection system according to claim 1, wherein two coil support platforms are provided, two coil support platforms are provided at the support platform linear moving sliding table, and the two coil support platforms are respectively adjacent to the two groups of material containing assemblies and are driven by the support platform linear moving sliding table to alternately move between the two side cameras.

9. The coil image recognition detection system of claim 1, wherein the bottom camera and the top camera are provided with camera illumination components at their lenses.

10. The coil image recognition and detection system of claim 1, wherein the image acquisition assembly further comprises two stage cameras and a controller; the two material table cameras are respectively positioned on the two material tables to be detected, and the lens of the material table camera faces the material tables to be detected so as to obtain images of coils flatly placed on the material tables to be detected; the controller is connected with the material platform camera and the material grabbing component and used for controlling the three-dimensional moving platform to drive the claw body to move to a certain coil on which the material platform to be detected is placed horizontally according to the image acquired by the material platform camera and grab the coil below the claw body.

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