WO2018103130A1 - Online quality inspection method for molded products - Google Patents

Online quality inspection method for molded products Download PDF

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Publication number
WO2018103130A1
WO2018103130A1 PCT/CN2016/110295 CN2016110295W WO2018103130A1 WO 2018103130 A1 WO2018103130 A1 WO 2018103130A1 CN 2016110295 W CN2016110295 W CN 2016110295W WO 2018103130 A1 WO2018103130 A1 WO 2018103130A1
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standard
parts
rubber
robot
current
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PCT/CN2016/110295
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French (fr)
Chinese (zh)
Inventor
纪志成
吴定会
许世鹏
高聪
朱圆圆
沈艳霞
赵芝璞
潘庭龙
戴月明
刘稳
郑洋
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江南大学
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Priority to CN201611135667.8A priority Critical patent/CN106584800B/en
Priority to CN201611135667.8 priority
Application filed by 江南大学 filed Critical 江南大学
Publication of WO2018103130A1 publication Critical patent/WO2018103130A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • B07C5/342Sorting according to other particular properties according to optical properties, e.g. colour
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/76Measuring, controlling or regulating

Abstract

Provided is an online quality inspection method of molded products: first, plastic parts (9) molded by an injection molding machine (1) are sent to a vibrating plate (2) through a conveyor belt; the vibrating plate (2) sends the plastic parts (9) one by one according to a certain frequency to the conveyor belt where manipulators (3) are located; the manipulator (3) grabs each of the plastic parts (9) into a detection black box (5) which detects appearance and color of the plastic parts (9) through a fill light (6) and an image collection device (7); and then plug detection with a standard accessory (10) is performed; a matching degree detection is conducted through changes of current signals caused by different damping; and then the collected information is sent to a control module (8); the qualified plastic parts (9) are placed back to the conveyor belt by the manipulator (3), and the unqualified plastic parts (9) are placed in a plastic part recycling box. This method is used to automatically monitor and classify plastic molded products with statues such as lack of plastic, unwanted plastic, and burrs or the like, and can send the data to a control system in time for statistics and quickly complete the system virtual warehousing.

Description

一种成型产品在线质量检测方法Online quality inspection method for molded products 技术领域Technical field
本发明涉及一种塑料成型产品在线质量检测方法,属于塑料加工工业技术领域。The invention relates to an online quality detecting method for plastic molding products, and belongs to the technical field of plastic processing industry.
背景技术Background technique
目前大多数塑料胶件加工制造行业的质量检测还停留在人工检测阶段,对颜色的检测是通过人眼观察胶件颜色,然后和标准比色卡进行对比,从而判断颜色是否合格。对外形的检测主要是通过游标卡尺对胶件进行测量,然后与标准件尺寸进行对比,看胶件尺寸是否在允许误差内,从而判断外形是否合格。对接插件匹配度的检测是通过手工去和标准件进行接插测试,凭借经验来判断接插件是否合格。对于胶件局部出现缺胶、多胶、披锋等问题,则更要通过肉眼鉴别。以上检测方法都存在以下几个问题:检测是否合格基本靠质检员的主观判断和经验来完成,没有具体的数字量化对比,存在较大的误差,产品的质量也因此得不到保证。并且,在数量巨大的情况下,目前的人工检测方法只能进行抽样检测,无法做到每一个胶件都进行检测,也不能够实时传递检测信息。再者,人工检测长时间工作容易出现视觉疲劳、工作懈怠等人为因素,会造成质量检测的误差进一步扩大。At present, the quality inspection of most plastic parts processing and manufacturing industries is still in the manual inspection stage. The color detection is performed by observing the color of the rubber parts by the human eye, and then comparing with the standard color chart to judge whether the color is qualified. The detection of the shape is mainly measured by the vernier caliper, and then compared with the standard part size to see if the size of the rubber part is within the allowable error, thereby judging whether the shape is qualified. The matching of the mating connector is tested by hand and the standard parts, and the experience is used to judge whether the connector is qualified. For the local problems such as lack of glue, multi-adhesive, and flaking, the plastic part should be identified by the naked eye. The above detection methods all have the following problems: Whether the test is qualified depends on the subjective judgment and experience of the quality inspector. There is no specific numerical comparison and comparison, there is a large error, and the quality of the product is not guaranteed. Moreover, in the case of a large number of cases, the current manual detection method can only perform sampling detection, and it is impossible to detect each of the plastic parts, and the detection information cannot be transmitted in real time. Furthermore, artificial detection of prolonged work is prone to visual fatigue, work slack and other human factors, which will further increase the error of quality inspection.
发明内容Summary of the invention
本发明的目的是克服现有技术中存在的不足,提供一种成型产品在线质量检测方法,此方法可以在现有的工控系统基础上进行改进,引入智能化分析,自动的完成质量检测以及虚拟入库。The object of the present invention is to overcome the deficiencies in the prior art and provide an online quality detecting method for a molded product, which can be improved on the basis of the existing industrial control system, introduces intelligent analysis, automatically completes quality detection and virtual Storage.
按照本发明提供的技术方案,所述的成型产品在线质量检测方法包括以下步骤:According to the technical solution provided by the present invention, the online quality detecting method for the molded product comprises the following steps:
步骤1、将注塑机根据模具生产出的塑料胶件,通过传送带送至振动盘中,通过控制振动盘将胶件按照设定频率逐个送往机械手所处的传送带,调试好的机械手从传送带的设定位置夹取待检测胶件;Step 1. The plastic parts produced by the injection molding machine according to the mold are sent to the vibrating plate through the conveyor belt, and the rubber parts are sent to the conveyor belt where the robot is located according to the set frequency by controlling the vibrating plate, and the debugged robot is transported from the conveyor belt. Setting the position to clamp the rubber to be tested;
步骤2、机械手逐个抓取胶件至检测黑箱中设定的图像采集区域,并按设定角度摆放胶件,通过补光灯和图像采集装置对胶件进行外形和颜色信息的采集;Step 2: The robot grabs the rubber parts one by one to detect the image collection area set in the black box, and places the rubber parts according to the set angle, and collects the shape and color information of the rubber parts by the fill light and the image collecting device;
步骤3、机械手将待检测胶件水平翻转180°,再次采集胶件外形、颜色信息;Step 3: The robot flips the rubber component to be tested horizontally by 180°, and collects the shape and color information of the rubber component again;
步骤4、将采集到的外形、颜色信息与数据库中标准件的相关信息进行对比,如果合格,则进行下一道检验工序,如果不合格,机械手将不合格胶件放置到胶件回收框中,并转步骤2;Step 4: Compare the collected shape and color information with the relevant information of the standard parts in the database. If it is qualified, proceed to the next inspection process. If it is not qualified, the robot will place the unqualified rubber parts into the plastic parts recycling box. And go to step 2;
步骤5、对于外形和颜色检验合格的胶件,机械手将控制该胶件和标准件进行接插件匹配度检测,利用接插过程中阻尼变化引起的电流大小变化来判断 接插件匹配度是否合格;如果检测合格,则判断此胶件为良品,并将检测信息传送至控制模块,机械手将胶件放置到良品框中;如果检测不合格,则判断此胶件为不良品,机械手将其放置到胶件回收框中,并转步骤2。Step 5. For the rubber parts with good shape and color inspection, the robot will control the rubber component and the standard component to check the connector matching degree, and judge the current magnitude change caused by the damping change during the insertion process. If the test is qualified, if the test is qualified, the glue is judged to be good, and the test information is transmitted to the control module. The robot puts the rubber into the good product box; if the test fails, it judges that the rubber is not Good, the robot puts it in the plastic parts recycling box and goes to step 2.
具体的,所述图像采集装置拍下胶件翻转前和翻转后的照片,然后进行图像识别,提取出待检测胶件的外形和颜色特征,并传送至控制模块与数据库中标准件的外形和颜色特征进行对比,如果误差在良品规定的范围内,则判定待检测胶件的外形和颜色检验合格。Specifically, the image capturing device takes a photo before and after the flipping of the rubber piece, and then performs image recognition, extracts the shape and color characteristics of the rubber component to be inspected, and transmits the shape and color of the standard component to the control module and the database. The color features are compared. If the error is within the range specified by the good product, it is determined that the shape and color of the component to be inspected are qualified.
具体的,所述接插件匹配度检测的方法为:在标准件上安装高精度压力传感器,输出信号为电流,当待测胶件与标准件进行接插测试时,两者之间的阻尼会引起压力传感器输出电流的变化,计算实测电流与标准件之间接插时记录的标准电流的差值,判断该差值是否在允许的范围内来判断是否合格。Specifically, the method for detecting the connector matching degree is: installing a high-precision pressure sensor on the standard component, and outputting the signal as a current. When the rubber component to be tested is tested with the standard component, the damping between the two will be The change of the output current of the pressure sensor is caused, the difference between the measured current and the standard current recorded when the standard component is inserted is calculated, and it is judged whether the difference is within the allowable range to judge whether it is qualified.
具体的,可在标准件不同位置上安装多个高精度压力传感器,测试时分别产生的电流之和为实测电流Ic,而标准件之间接插时多个高精度压力传感器产生的电流之和为标准电流Ib,计算实测电流和标准电流的差值来判断误差电流是否在允许的范围内,如下式所示:Specifically, a plurality of high-precision pressure sensors can be installed at different positions of the standard parts, and the sum of the currents generated during the test is the measured current I c , and the sum of the currents generated by the plurality of high-precision pressure sensors when the standard parts are interposed For the standard current I b , calculate the difference between the measured current and the standard current to determine whether the error current is within the allowable range, as shown in the following equation:
(Ib-δ)<Ic<(Ib+δ)(I b -δ)<I c <(I b +δ)
其中δ为一给定的正数,它的值根据不同胶件的接插件规格要求来确定;如果实测电流Ic处于这个误差范围内,则判定匹配度检测合格。Where δ is a given positive number, and its value is determined according to the connector specifications of different rubber parts; if the measured current I c is within this error range, it is determined that the matching degree is qualified.
具体的,所述补光灯采用LED阵列光源。Specifically, the fill light adopts an LED array light source.
本发明的优点是:针对塑料成型产品的出现缺胶、多胶、披锋等情况,自动监视并分类流出机台生产的良品和不良品,并且能够将数据及时送入控制系统进行统计,快速完成系统虚拟入库。The invention has the advantages of automatically monitoring and classifying the good and bad products produced by the outflow machine for the occurrence of plastic molding products, such as lack of glue, multiple glues, and draping, and can timely send data into the control system for statistics and rapid. Complete system virtual storage.
附图说明DRAWINGS
图1是本发明的流程图。Figure 1 is a flow chart of the present invention.
图2是一种在线质量检测装置的结构示意图。2 is a schematic structural view of an online quality detecting device.
具体实施方式detailed description
下面结合附图和实施例对本发明作进一步说明。The invention will now be further described with reference to the accompanying drawings and embodiments.
如图1所示,本发明所述的一种成型产品在线质量检测方法总体流程如下:As shown in FIG. 1 , the overall process of an online quality detecting method for a molded product according to the present invention is as follows:
步骤1、将注塑机根据模具生产出的塑料胶件,通过传送带送至振动盘中,通过控制振动盘将胶件按照设定频率逐个送往机械手所处的传送带,调试好的机械手从传送带的设定位置夹取待检测胶件;Step 1. The plastic parts produced by the injection molding machine according to the mold are sent to the vibrating plate through the conveyor belt, and the rubber parts are sent to the conveyor belt where the robot is located according to the set frequency by controlling the vibrating plate, and the debugged robot is transported from the conveyor belt. Setting the position to clamp the rubber to be tested;
步骤2、机械手逐个抓取胶件至检测黑箱中设定的图像采集区域,并按设定角度摆放胶件,通过补光灯和图像采集装置对胶件进行外形和颜色信息的采集;Step 2: The robot grabs the rubber parts one by one to detect the image collection area set in the black box, and places the rubber parts according to the set angle, and collects the shape and color information of the rubber parts by the fill light and the image collecting device;
步骤3、机械手将待检测胶件水平翻转180°,再次采集胶件外形、颜色信 息;Step 3: The robot flips the rubber piece to be tested horizontally by 180°, and collects the shape and color letter of the rubber piece again. interest;
步骤4、将采集到的外形、颜色信息与数据库中标准件的相关信息进行对比,如果合格,则进行下一道检验工序,如果不合格,机械手将不合格胶件放置到胶件回收框中,并转步骤2;Step 4: Compare the collected shape and color information with the relevant information of the standard parts in the database. If it is qualified, proceed to the next inspection process. If it is not qualified, the robot will place the unqualified rubber parts into the plastic parts recycling box. And go to step 2;
步骤5、对于外形和颜色检验合格的胶件,机械手将控制该胶件和标准件进行接插件匹配度检测,利用接插过程中阻尼变化引起的电流大小变化来判断接插件匹配度是否合格;如果检测合格,则判断此胶件为良品,并将检测信息传送至控制模块,机械手将胶件放置到良品框中;如果检测不合格,则判断此胶件为不良品,机械手将其放置到胶件回收框中,并转步骤2。Step 5: For the rubber parts with the appearance and color inspection, the robot will control the rubber component and the standard component to perform the connector matching degree detection, and determine whether the connector matching degree is qualified by using the current magnitude change caused by the damping change during the insertion process; If the test is qualified, it is judged that the rubber piece is a good product, and the test information is transmitted to the control module, and the robot puts the glue piece into the good product frame; if the test fails, the glue piece is judged to be a defective product, and the robot puts it to the Glue the parts in the recycling box and go to step 2.
本发明可以在现有的工控系统上进行改进,在传送带、机械手的控制系统基础上增加图像采集、图像识别装置以及胶件图像数据库以及胶件参数数据库。The invention can be improved on the existing industrial control system, and the image acquisition, the image recognition device, the glue image database and the glue parameter database are added on the basis of the control system of the conveyor belt and the robot.
本发明需要建立胶件多角度图像数据库,可以由MES(制造企业生产过程执行管理系统)提供。还需要使用胶件图像识别软件,进行实物和标准图像的对比,做出产品缺胶、多胶等分析;以及数据采集软件,将良品和不良品信息送入MES数据库。The invention needs to establish a multi-angle image database of rubber parts, which can be provided by MES (manufacturing enterprise production process execution management system). It is also necessary to use the glue image recognition software to compare the physical object with the standard image, to make the product lack of glue, multi-glue and other analysis; and the data acquisition software to send the good and bad product information into the MES database.
如图2所示,搭建了一个成型产品在线质量检测装置,包括:注塑机1、振动盘2、机械手A(抓取待测胶件9)3、机械手B(抓取标准件10)4、位于检测黑箱5中的LED阵列光源6(补光灯)、图像采集装置7,右侧表示控制模块8整体,可以包括FPGA、CPU、DSP、MES服务器等,根据现场检测需要而设计。装置实现的主要功能有:塑料胶件外形检测、产品颜色检测、接插件匹配度检测。As shown in Figure 2, a molded product online quality testing device is built, including: injection molding machine 1, vibrating plate 2, robot A (grabbing the rubber to be tested 9) 3, robot B (grabbing standard 10) 4, The LED array light source 6 (fill light) in the detection black box 5, the image acquisition device 7, and the control module 8 on the right side, may include an FPGA, a CPU, a DSP, an MES server, etc., and are designed according to the needs of field detection. The main functions realized by the device are: shape inspection of plastic parts, product color detection, and connector matching degree detection.
机械手工作流程:Robotic workflow:
1、胶件抓取。通过各个电机相互配合,机械手A 3可以从与振动盘2相连的传送带上夹取待检测胶件9。1, the glue is grabbed. By the cooperation of the respective motors, the robot A 3 can grip the rubber member 9 to be detected from the conveyor belt connected to the vibration disk 2.
2、胶件放置在图像采集处。夹取胶件9后,机械手A 3将胶件9送至图像采集区域。2. The glue is placed in the image collection area. After the glue member 9 is gripped, the robot A 3 sends the glue member 9 to the image acquisition area.
3、翻转胶件。图像采集过程中,通过机械手A 3将胶件9翻转,实现对胶件形状和颜色信息的全方位采集。3, flip the plastic parts. During the image acquisition process, the rubber member 9 is turned over by the robot A 3 to realize the omnidirectional collection of the shape and color information of the rubber piece.
4、推送至接插件处,检测匹配度。控制机械手A 3和机械手B 4进行胶件匹配度测试,根据待检测胶件9与标准件10接插过程中不同阻尼引起的电流变化来判断是否合格。4. Push to the connector to check the matching degree. The control robot A 3 and the robot B 4 perform the rubber component matching degree test, and judge whether the current is qualified according to the current change caused by the different damping during the insertion process of the rubber component 9 to be tested and the standard component 10.
5、合格品放回至传送带,不合格品放回胶件回收筐。5. Return the qualified product to the conveyor belt, and return the non-conforming product to the rubber recycling basket.
图像采集装置拍下胶件翻转前和翻转后的照片,然后进行图像识别,提取出待检测胶件的外形和颜色特征,并传送至控制模块与数据库中标准件的外形和颜色特征进行对比,如果误差在良品规定的范围内,则判定待检测胶件的外形和颜色检验合格。The image capture device takes a picture before and after the flipping of the rubber piece, and then performs image recognition, extracts the shape and color characteristics of the rubber piece to be tested, and transmits it to the control module to compare with the shape and color characteristics of the standard parts in the database. If the error is within the range specified by the good product, it is determined that the shape and color of the component to be tested are qualified.
其中胶件的摆放位置和角度是有规定的,在图像采集区域上设有限位件或者支撑件,使得胶件必须按照规定位置和角度摆放,这样图像采集装置拍下的 胶件照片为特定视图面,极大的便于图像处理软件处理识别,提高识别效率。The position and angle of the rubber parts are specified, and a limiting member or a supporting member is arranged on the image collecting area, so that the rubber parts must be placed according to the specified position and angle, so that the image collecting device takes the picture. The photo of the rubber piece is a specific view surface, which greatly facilitates the image processing software to process and recognize and improve the recognition efficiency.
所述接插件匹配度检测的方法具体为:在标准件上安装高精度压力传感器,输出信号为电流,当待测胶件与标准件接插测试时,两者之间的阻尼会引起压力传感器输出电流的变化,计算实测电流与标准件之间接插时的标准电流的差值,判断该差值是否在允许的范围内来判断是否合格。The method for detecting the connector matching degree is specifically: installing a high-precision pressure sensor on the standard component, and the output signal is a current. When the rubber component to be tested is connected to the standard component, the damping between the two causes the pressure sensor. The change of the output current, calculate the difference between the measured current and the standard current when the standard component is plugged, and determine whether the difference is within the allowable range to judge whether it is qualified.
实施例中,在标准件不同位置上安装多个高精度压力传感器,测试时分别产生的电流之和为实测电流Ic,而标准件之间接插时多个高精度压力传感器产生的电流之和为标准电流Ib,计算实测电流和标准电流的差值来判断误差电流是否在允许的范围内。比如在标准件上设置4个压力传感器,四个传感器实测电流为Ic1,Ic2,Ic3和Ic4,四个传感器标准电流为Ib1,Ib2,Ib3和Ib4In the embodiment, a plurality of high-precision pressure sensors are installed at different positions of the standard parts, and the sum of the currents generated during the test is the measured current I c , and the sum of the currents generated by the plurality of high-precision pressure sensors when the standard parts are plugged together For the standard current I b , the difference between the measured current and the standard current is calculated to determine whether the error current is within the allowable range. For example, four pressure sensors are arranged on the standard components, and the measured currents of the four sensors are I c1 , I c2 , I c3 and I c4 , and the standard currents of the four sensors are I b1 , I b2 , I b3 and I b4 .
则实测电流Ic=Ic1+Ic2+Ic3+Ic4 Then measured current I c =I c1 +I c2 +I c3 +I c4
标准电流Ib=Ib1+Ib2+Ib3+Ib4 Standard current I b =I b1 +I b2 +I b3 +I b4
通过计算实测电流和标准电流的差值来判断误差电流是否在允许的范围内,如下式所示:Determine whether the error current is within the allowable range by calculating the difference between the measured current and the standard current, as shown in the following equation:
(Ib-δ)<Ic<(Ib+δ)(I b -δ)<I c <(I b +δ)
其中δ为一给定的小正数,它的值根据不同胶件的接插件规格要求来确定,从而界定了一个电流的标准范围。如果实测电流Ic处于这个标准范围内,则说明匹配度检测合格。机械手在移动过程中,实测电流大于标准范围,说明产品外形过大或内径过小,实测电流小于标准范围,说明产品外形过小或内径过大。Where δ is a given small positive number, its value is determined according to the connector specifications of different plastic parts, thus defining a standard range of current. If the measured current I c is within this standard range, the matching test is qualified. During the movement of the manipulator, the measured current is greater than the standard range, indicating that the product shape is too large or the inner diameter is too small, and the measured current is less than the standard range, indicating that the product shape is too small or the inner diameter is too large.
本发明的机械手驱动模块可以采用现有的电机驱动器和控制器,也可以将控制器功能整合进我们新增在控制模块中的处理器,省略原先的控制器。The robot driver module of the present invention can use existing motor drivers and controllers, and can also integrate controller functions into the processor we added in the control module, omitting the original controller.
MES服务器模块可以提供标准图片库功能,同时接受其他处理器处理的产品外形检测状态、产品颜色检测状态;还可以提供机器动作口令、接收接插件匹配度检测结果。这样动态检测机台生产的良品和不良品,且将数据及时送入系统进行统计,快速完成系统虚拟入库。The MES server module can provide the standard picture library function, and accept the shape detection status and product color detection status of other products processed by other processors; it can also provide the machine action password and the receiving connector matching degree detection result. In this way, the good products and defective products produced by the machine are dynamically detected, and the data is sent to the system for statistics in time to quickly complete the virtual storage of the system.
可以看到,本发明能够充分利用企业现有的软硬件设施,加入小成本的图像采集和图像处理分析装置,很好的控制了升级改造的成本。标准件的制作也并不复杂,非常适合中小型企业使用。 It can be seen that the present invention can fully utilize the existing software and hardware facilities of the enterprise, and add a small-cost image acquisition and image processing analysis device, which can well control the cost of upgrading and transformation. The production of standard parts is not complicated and is very suitable for small and medium-sized enterprises.

Claims (5)

  1. 一种成型产品在线质量检测方法,其特征是,包括以下步骤:A method for online quality inspection of a molded product, characterized in that it comprises the following steps:
    步骤1、将注塑机根据模具生产出的塑料胶件,通过传送带送至振动盘中,通过控制振动盘将胶件按照设定频率逐个送往机械手所处的传送带,调试好的机械手从传送带的设定位置夹取待检测胶件;Step 1. The plastic parts produced by the injection molding machine according to the mold are sent to the vibrating plate through the conveyor belt, and the rubber parts are sent to the conveyor belt where the robot is located according to the set frequency by controlling the vibrating plate, and the debugged robot is transported from the conveyor belt. Setting the position to clamp the rubber to be tested;
    步骤2、机械手逐个抓取胶件至检测黑箱中设定的图像采集区域,并按设定角度摆放胶件,通过补光灯和图像采集装置对胶件进行外形和颜色信息的采集;Step 2: The robot grabs the rubber parts one by one to detect the image collection area set in the black box, and places the rubber parts according to the set angle, and collects the shape and color information of the rubber parts by the fill light and the image collecting device;
    步骤3、机械手将待检测胶件水平翻转180°,再次采集胶件外形、颜色信息;Step 3: The robot flips the rubber component to be tested horizontally by 180°, and collects the shape and color information of the rubber component again;
    步骤4、将采集到的外形、颜色信息与数据库中标准件的相关信息进行对比,如果合格,则进行下一道检验工序,如果不合格,机械手将不合格胶件放置到胶件回收框中,并转步骤2;Step 4: Compare the collected shape and color information with the relevant information of the standard parts in the database. If it is qualified, proceed to the next inspection process. If it is not qualified, the robot will place the unqualified rubber parts into the plastic parts recycling box. And go to step 2;
    步骤5、对于外形和颜色检验合格的胶件,机械手将控制该胶件和标准件进行接插件匹配度检测,利用接插过程中阻尼变化引起的电流大小变化来判断接插件匹配度是否合格;如果检测合格,则判断此胶件为良品,并将检测信息传送至控制模块,机械手将胶件放置到良品框中;如果检测不合格,则判断此胶件为不良品,机械手将其放置到胶件回收框中,并转步骤2。Step 5: For the rubber parts with the appearance and color inspection, the robot will control the rubber component and the standard component to perform the connector matching degree detection, and determine whether the connector matching degree is qualified by using the current magnitude change caused by the damping change during the insertion process; If the test is qualified, it is judged that the rubber piece is a good product, and the test information is transmitted to the control module, and the robot puts the glue piece into the good product frame; if the test fails, the glue piece is judged to be a defective product, and the robot puts it to the Glue the parts in the recycling box and go to step 2.
  2. 如权利要求1所述的成型产品在线质量检测方法,其特征是,所述图像采集装置拍下胶件翻转前和翻转后的照片,然后进行图像识别,提取出待检测胶件的外形和颜色特征,并传送至控制模块与数据库中标准件的外形和颜色特征进行对比,如果误差在良品规定的范围内,则判定待检测胶件的外形和颜色检验合格。The online quality detecting method for a molded product according to claim 1, wherein the image capturing device takes a photo before and after the flipping of the adhesive member, and then performs image recognition to extract the shape and color of the rubber component to be tested. The feature is transmitted to the control module to compare with the shape and color characteristics of the standard parts in the database. If the error is within the range specified by the good product, it is determined that the shape and color of the component to be tested are qualified.
  3. 如权利要求1所述的成型产品在线质量检测方法,其特征是,所述接插件匹配度检测的方法为:在标准件上安装高精度压力传感器,输出信号为电流,当待测胶件与标准件进行接插测试时,两者之间的阻尼会引起压力传感器输出电流的变化,计算实测电流与标准件之间接插时记录的标准电流的差值,判断该差值是否在允许的范围内来判断是否合格。The online quality detecting method for a molded product according to claim 1, wherein the method for detecting the matching degree of the connector is: installing a high-precision pressure sensor on the standard component, and outputting a signal as a current, when the rubber component to be tested is When the standard part is tested for plugging, the damping between the two will cause the change of the output current of the pressure sensor, calculate the difference between the measured current and the standard current recorded during the connection between the standard parts, and determine whether the difference is within the allowable range. Internally judged whether it is qualified.
  4. 如权利要求1,3所述的成型产品在线质量检测方法,其特征是,在标准件不同位置上安装多个高精度压力传感器,测试时分别产生的电流之和为实测电流Ic,而标准件之间接插时多个高精度压力传感器产生的电流之和为标准电流Ib,计算实测电流和标准电流的差值来判断误差电流是否在允许的范围内,如下式所示:The method for detecting on-line quality of a molded product according to claim 1, wherein a plurality of high-precision pressure sensors are mounted at different positions of the standard member, and the sum of the currents generated during the test is the measured current I c , and the standard The sum of the currents generated by the multiple high-precision pressure sensors during the insertion is the standard current I b , and the difference between the measured current and the standard current is calculated to determine whether the error current is within the allowable range, as shown in the following equation:
    (Ib-δ)<Ic<(Ib+δ)(I b -δ)<I c <(I b +δ)
    其中δ为一给定的正数,它的值根据不同胶件的接插件规格要求来确定;如果实测电流Ic处于这个误差范围内,则判定匹配度检测合格。Where δ is a given positive number, and its value is determined according to the connector specifications of different rubber parts; if the measured current I c is within this error range, it is determined that the matching degree is qualified.
  5. 如权利要求1所述的成型产品在线质量检测方法,其特征是,所述补光灯采用LED阵列光源。 The method according to claim 1, wherein the fill light adopts an LED array light source.
PCT/CN2016/110295 2016-12-09 2017-02-15 Online quality inspection method for molded products WO2018103130A1 (en)

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