CN216728343U

CN216728343U - Multistation automobile chassis foundry goods defect automatic check out system

Info

Publication number: CN216728343U
Application number: CN202220277216.2U
Authority: CN
Inventors: 程颖; 刘康; 陆家林; 毕德学; 彭佳含
Original assignee: Tianjin University of Science and Technology
Current assignee: Tianjin University of Science and Technology
Priority date: 2022-02-11
Filing date: 2022-02-11
Publication date: 2022-06-14
Anticipated expiration: 2032-02-11

Abstract

The utility model relates to a multi-station automatic detection system for defects of automobile chassis castings, which comprises a transportation unit and a detection unit, wherein the detection unit consists of a plurality of stations, and a workpiece surface detection area is coordinated among the stations to realize detection of all areas of the workpiece surface; every detects station all includes sensor, robotic arm, hand claw, camera, purple light lamp, the sensor is used for detecting whether the work piece arrives the assigned position on the conveyer belt and conveys the instruction of snatching to robotic arm, cylinder and hand claw are installed to the robotic arm head, and robotic arm is used for controlling cylinder and hand claw to arrive the assigned position and rotate, and cylinder control hand claw snatchs and puts back the work piece, the camera detects the major surface of the work piece that the hand claw snatched, the purple light lamp provides detects required ultraviolet ray. The utility model realizes the comprehensive detection of the automobile chassis workpiece by adopting a multi-station mutually matched detection mode.

Description

Multistation automobile chassis foundry goods defect automatic check out system

Technical Field

The utility model belongs to the field of automatic detection, relates to a machine vision detection technology, and particularly relates to an automatic detection system for multi-station automobile chassis workpiece defects.

Background

The automobile chassis has important functions of supporting, connecting various parts, forming and receiving power to move the chassis in an automobile, and how to obtain the chassis without defects and with perfect safety performance is of no concern for every manufacturer and user. However, the automobile chassis workpieces are various in types and sizes, most of the workpieces are complex in shape, the defect types are diversified, and great manpower and material resources are consumed for detecting each workpiece. The main defect types include pores, cracks, shrinkage cavities and the like, the pores are also called as gas holes, and the gas is not discharged when the liquid metal is solidified, so that a round hole with a smooth surface is formed. The formation of cracks is caused by many reasons, the main reason is generally hot cracking or cold cracking, and the shape of the cracks is irregular continuous cracks or smooth curves. Shrinkage cavities generally occur in the process of cooling and shrinking liquid metal, and have irregular shapes and rough hole walls.

At present, the defects of workpieces of the automobile chassis are mostly detected manually, the manual detection generally adopts a flow line mode, and different people are responsible for different workpieces, different defects and even different parts at different positions. The defect detection method has obvious defects, the detection of the defects firstly requires workers to have more experience, and the long-time eye use on the production line can also cause fatigue, dazzling and the like, so that the detection process is low in speed, and the detection result is unstable and inaccurate. Moreover, the automobile chassis workpieces are different in size, and for some heavier workpieces, the workpieces cannot be moved manually, and the detection cost is greatly increased by means of a grabbing tool.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art and provides a multi-station automatic detection system. The defect detection of the complex automobile casting is realized by matching the multi-station visual detection system with the robot control system. The automatic detection system solves the problems that manual detection is low in speed, detection results are unstable, and comprehensive detection cannot be achieved through inaccurate and existing machine detection.

The technical scheme adopted by the utility model for solving the technical problem is as follows:

a multi-station automatic detection system for defects of automobile chassis castings comprises a transportation unit and a detection unit,

the transportation unit transports the automobile chassis workpiece soaked with the fluorescent liquid to the detection unit and transports the detected automobile chassis workpiece out of the detection unit;

the detection unit consists of a plurality of stations, and the plurality of stations coordinate with each other to form a workpiece surface detection area so as to realize the detection of all areas on the surface of the workpiece;

each detection station comprises a sensor, a robot arm, a paw, a camera and a purple light lamp,

the sensor is used for detecting whether the workpieces on the conveyor belt reach the designated positions and transmitting gripping instructions to the robot arm,

the head of the robot arm is provided with an air cylinder and a paw, the robot arm is used for controlling the air cylinder and the paw to reach the designated position and rotate, the air cylinder controls the paw to grab and put back the workpiece,

the camera is arranged on the detection fixing bracket and is used for detecting the main surface of the workpiece grabbed by the gripper,

the ultraviolet lamp is installed on the detection fixing support and used for providing ultraviolet rays required by detection.

Furthermore, a set distance is arranged between two adjacent detection stations. So as to avoid interference in the detection process.

Furthermore, the detection unit and the transportation unit are both arranged below a cover body capable of isolating ultraviolet rays.

Preferably, the transport unit is a conveyor belt.

Preferably, the detection fixing support is a portal frame, and the transportation unit is installed between two vertical columns of the portal frame.

Further preferably, the camera and the ultraviolet lamp are mounted on a beam above the portal frame.

Further preferably, the height of the cross beam of the portal frame is higher than the highest point where the robot arm can move.

The utility model has the advantages and positive effects that:

1. the utility model adopts a machine vision detection mode to detect the defects of the automobile chassis workpiece, is automatic in the whole process, does not need too much manual operation, can detect the defects all day for 24 hours, and has the characteristics of high detection speed, stable detection result and high yield compared with the traditional manual detection.

2. Aiming at the problem of diversification of workpieces of the automobile chassis, the utility model can realize full-automatic detection of various workpieces of the automobile chassis only by changing the paw, and is very flexible and convenient.

3. Aiming at the problems that the appearance of the automobile chassis workpiece is complex and the workpiece cannot be comprehensively detected in the conventional detection mode, the utility model realizes the comprehensive detection of the automobile chassis workpiece by adopting a multi-station mutual matching detection mode.

Drawings

FIG. 1 is an overall view of a detection system;

FIG. 2 is a view of a first inspection station;

FIG. 3 is a view of a second inspection station;

FIG. 4 is a diagram illustrating a workpiece grabbing mode of the first inspection station;

FIG. 5 is a first inspection station inspection view;

FIG. 6 is a flow chart of a first inspection station inspection;

FIG. 7 is a diagram illustrating how a second inspection station picks up a workpiece;

FIG. 8 is a second inspection station inspection view;

FIG. 9 is a flow chart of a second inspection station inspection;

FIG. 10 is a flowchart of the overall detection;

FIG. 11 is a flow chart of machine vision inspection;

FIG. 12 is an example workpiece diagram;

FIG. 13 is a view of a first jaw;

figure 14 is a second gripper diagram.

In the figure: 1 black box, 2 first purple light lamp, 3 first hand claw, 4 first camera, 5 first cylinder, 6 second purple light lamp, 7 second camera, 8 second cylinders, 9 second hand claw, 10 second detection fixed bolster, 11 conveyer belts, 12 motors, 13 second robotic arm, 14 second sensor fixed bolster, 15 second sensor, 16 fixed platforms, 17 first sensor fixed bolster, 18 first sensor, 19 first robotic arm, 20 first detection fixed bolster, 21 work pieces.

Detailed Description

The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the utility model.

The utility model relates to a multi-station automatic detection system for automobile chassis workpiece defects, which mainly utilizes the principle that after an automobile chassis workpiece is soaked in fluorescent liquid, the fluorescent liquid can be remained in a large amount at the defect positions of the workpiece, and under the dark environment, after the workpiece is irradiated by an ultraviolet lamp, the fluorescent liquid remained on the workpiece can emit fluorescence, under the condition, the defects and non-defects are greatly different in the high brightness of the defect positions, and the defects can be easily detected by using a machine vision technology for detection.

The utility model discloses a multi-station automatic detection system for automobile chassis workpiece defects. The overall device is shown in fig. 1.

The conveying unit comprises a conveying belt 11, a motor 12 and a fixing table, wherein the fixing table is located at the lowest part of the system, the motor 12 is installed at the starting end of the conveying belt 11, and the conveying belt 11 is installed in the middle of the fixing table. The motor 12 drives the conveyor belt 11 to rotate, so that the automobile chassis workpiece soaked with the fluorescent liquid is conveyed to the detection unit, and the detected automobile chassis workpiece is conveyed out of the detection unit.

The detection unit is composed of a plurality of stations, and a workpiece surface detection area is coordinated among the stations to realize the detection of all areas on the surface of the workpiece.

Every detects station and all comprises sensor, sensor fixed bolster, robotic arm, cylinder, hand claw, camera, purple light lamp, detection fixed bolster etc. and the sensor is installed in sensor fixed bolster top for whether reach the assigned position and convey the instruction of snatching to robotic arm on detecting conveyer belt 11, and robotic arm installs cylinder and hand claw in the head, and robotic arm is used for controlling cylinder and hand claw and reachs assigned position and rotate, and the cylinder control hand claw snatchs and puts back the work piece. The detection fixing support is arranged on two sides of the robot arm and the conveyor belt 11 and used for fixing the camera and the ultraviolet lamp, and the camera is arranged on the side face in the middle of the detection fixing support and used for detecting the main surface of a workpiece grabbed by the gripper. The ultraviolet lamp is arranged below the middle of the detection fixing bracket and is used for providing ultraviolet rays required by detection.

Control certain distance between all detection stations so that the detection process takes place to interfere, all detection stations cover and detect under a black box 1, provide the required environment of detection on the one hand, avoid external disturbance, promote the stability, the accuracy that detect. On the other hand, ultraviolet rays are harmful to human bodies, and the black box 1 can isolate the emission of the ultraviolet rays and ensure the safety of personnel.

When the automobile chassis workpiece is manufactured, in order to distinguish the workpieces, special characters are carried on each workpiece, and the characters have lots of fluorescent liquid residues during detection, if measures are not taken, the characters are inevitably detected as defects, and the defects are not allowed. The utility model uses the machine vision detection technology to detect and distinguish the defects and characters on the automobile chassis workpiece.

The flow of machine vision defect detection is as follows:

1. after the picture is read in, firstly, median filtering processing is carried out on the image to remove noise. The picture is converted to a grayscale image, which is then thresholded.

2. Dividing the image into different regions, and selecting various defects (cracks, pores, shrinkage cavities) by shape selection

3. Preprocessing the image such as filling, expanding, matting and the like

4. Creating templates with multiple defects

5. And screening out defective parts by utilizing shape-based multi-template matching.

The utility model can realize the detection area of 8-225mm²The crack defect has a crack length of 10-50mm and a width of 1-3 mm.

As shown in fig. 12, the workpiece is detected according to this embodiment, because the workpiece is made of metal by casting, and the friction coefficient of the surface is small, if the workpiece is grabbed by friction force, the workpiece may slide due to insufficient friction force when the workpiece is rotated, which affects the detection result, and may seriously cause the workpiece to fall and damage the workpiece, so the design of the gripper by surface-type matching is preferred, and the designed gripper is preferably fastened and grabbed when grabbing the workpiece.

The first and

second claws

3 and 9 are shown in fig. 13 and 14.

First detection station includes first sensor 18, first sensor fixed bolster 17, first robotic arm 19, first cylinder 5, first claw 3, first camera 4, first purple light lamp 2 and first detection fixed bolster 20, first sensor 18 is installed in first sensor fixed bolster 17 top, first sensor fixed bolster 17 is installed in the anterior both sides of conveyer belt 11, first robotic arm 19 is installed in first sensor fixed bolster 17 rear, first cylinder 5 and first claw 3 are installed to 19 headings of first robotic arm. The first detection fixing support 20 is arranged on two sides of the first robot arm 19 and the conveyor belt 11, the first camera 4 is arranged on the side face in the middle of the first detection fixing support 20, the first ultraviolet lamp 2 is arranged below the middle of the first detection fixing support 20, and the first detection station structure is shown in fig. 2.

The second detection station consists of a second sensor 15, a second sensor fixing support 14, a second robot arm 13, a second air cylinder 8, a second gripper 9, a second camera 7, a second ultraviolet lamp 6 and a second detection fixing support 10. The second sensor 15 is arranged above the second sensor fixing support 14, the second sensor fixing support 14 is arranged on two sides of the middle of the conveyor belt 11, the second robot arm 13 is arranged behind the second sensor fixing support 14, and the head of the second robot arm 13 is provided with the second cylinder 8 and the second claw 9. The second detects fixed bolster 10 and installs in second robotic arm 13 and conveyer belt 11 both sides, and the side in the middle of second detection fixed bolster 10 is installed to second camera 7, and second purple light lamp 6 is installed below the middle of second detection fixed bolster 10, and second detection station structure is as shown in fig. 3.

The specific implementation steps of conveying the workpiece to the first detection station detection unit to detect the defects are as follows:

(1) put conveyer belt 11 with the work piece, the work piece is transported backward by conveyer belt 11, and the sensor is triggered in the transportation, and the sensor sends the signal to motor 12 and first robotic arm 19, and motor 12 control conveyer belt 11 stall, and first robotic arm 19 drives first claw 3 and goes to work piece department, and first cylinder 5 controls first claw 3 closed snatchs the work piece, and first sensor 18 detects the work piece and sends the signal to motor 12 after being snatched, and motor 12 continues the operation. The first gripper 3 picks up the workpiece in the manner shown in figure 4.

(2) First claw 3 snatchs the work piece to the detection zone under first camera 4, and first ultraviolet lamp 2 shines the work piece, and first camera 4 work, first robot arm 19 drive 360 degrees rotations of work piece, as shown in fig. 5

(3) The first camera 4 collects image information of the workpiece in real time for defect detection, and the flow of machine vision detection is shown in fig. 11.

(4) After the rotation is finished, the first ultraviolet lamp 2 and the first camera 4 stop working, the first robot arm 19 sends the workpiece to a transition area between the first station and the second station, when the second sensor 15 is triggered, the second sensor 15 sends a signal to the first robot arm 19, and the first robot arm 19 stops to wait for the second station to grab. The first inspection station inspection process is shown in fig. 6.

The specific implementation steps of conveying the workpiece to the second detection station detection unit for detecting the defects are as follows:

(1) when the second sensor 15 sends a stop signal to the first robot arm 19 and simultaneously sends a grabbing signal to the second robot arm 13, the second robot arm 13 moves to the workpiece in the middle transition area to grab the workpiece in cooperation with the first station, and after the second robot arm 13 reaches the position, the second cylinder 8 controls the second gripper 9 to grab the workpiece, and the grabbing manner is as shown in fig. 7.

(2) The workpiece is grabbed to a detection area right below the second camera 7, the second ultraviolet lamp 6 irradiates the workpiece, the second camera 7 works, and the second robot arm 13 drives the workpiece to rotate 360 degrees, as shown in fig. 8.

(3) The second camera 7 collects image information of the workpiece in real time for defect detection, and the flow of machine vision detection is the same as that of the first detection station, as shown in fig. 11.

(4) And after the rotation is finished, the second ultraviolet lamp 6 and the second camera 7 stop working, the second robot arm 13 puts the workpiece back to the conveyor belt 11, the detection of the second detection station is finished, and the detection flow of the second detection station is shown in fig. 9.

The specific implementation steps for outputting the detection result are as follows:

(1) and integrating and outputting the detection results of the first detection station and the second detection station.

(2) The conveyor 11 sends the workpiece out of the inspection unit, and the defect inspection is completed, and the whole flow is as shown in fig. 10.

The present embodiments are given solely for the purposes of illustration and description and are not intended to limit the scope of the utility model, as many modifications and variations will be apparent to those of ordinary skill in the art. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the utility model.

Claims

1. The utility model provides a multistation automotive chassis foundry goods defect automatic check out system which characterized in that: comprises a transportation unit and a detection unit,

the detection unit consists of a plurality of stations, and each detection station comprises a sensor, a robot arm, a paw, a camera and an ultraviolet lamp;

the sensor is used for detecting whether the workpiece on the transportation unit reaches a designated position and transmitting a grabbing instruction to the robot arm;

the head of the robot arm is provided with an air cylinder and a paw, the robot arm is used for controlling the air cylinder and the paw to reach a specified position and rotate, and the air cylinder controls the paw to grab and put back a workpiece;

the camera is arranged on the detection fixing support and is used for detecting the surface of the workpiece grabbed by the gripper;

2. The detection system of claim 1, wherein: and a set distance is arranged between every two adjacent detection stations.

3. The detection system of claim 1, wherein: the detection unit and the transportation unit are both arranged below a cover body capable of isolating ultraviolet rays.

4. The detection system of claim 1, wherein: the transportation unit is a conveyor belt.

5. The detection system of claim 1, wherein: the detection fixing support is a portal frame, and the transportation unit is installed between two vertical columns of the portal frame.

6. The detection system of claim 5, wherein: the camera and the ultraviolet lamp are installed on a beam above the portal frame.

7. The detection system of claim 5, wherein: the height of the cross beam of the portal frame is higher than the highest point of the movement of the robot arm.