[0030] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and the manner of enumerating some optional embodiments of the present invention. It should be noted that any technical feature and any technical solution in this embodiment are one or more of a variety of optional technical features or optional technical solutions. For the sake of brevity of description, this document cannot be exhausted. Taking all the alternative technical features and alternative technical solutions of the present invention, it is not convenient for the implementation of each technical feature to emphasize that it is one of the multiple alternative implementations, so those skilled in the art should know that: A new technical solution can be obtained by replacing any technical means provided by the present invention or combining any two or more technical means or technical features provided by the present invention with each other. Any technical features and any technical solutions in this embodiment do not limit the protection scope of the present invention. The protection scope of the present invention should include any alternative technical solutions that can be imagined by those skilled in the art without creative work and those skilled in the art will The invention provides a new technical solution obtained by combining any two or more technical means or technical features with each other.
[0031] Combine below figure 1 , figure 2 , image 3 , Figure 4 The technical solution provided by the present invention is described in more detail.
[0032] Such as figure 1 , figure 2 , image 3 , Figure 4 As shown, the device for fully automatic loading and unloading and visual inspection provided by the present invention includes an industrial computer 1, an electrical control cabinet 2, a combined assembly line 3, a feeding device 4, a feeding device 5, a first image acquisition device 6, a second Two image collection device 7, first product conveying device 8, second product conveying device 9, and turning device 10.
[0033] Taking into account the convenience of disassembly and assembly of the entire device and the convenience of transportation, in this embodiment, the combined assembly line 3 adopts a modular structure: the combined assembly line 3 consists of a first assembly line 301, a second assembly line 302, a third assembly line 303 and The fourth assembly line 304 is constituted, wherein the product flow outlet end of the first assembly line 301 is connected with the product flow inlet end of the second assembly line 302, and the product flow outlet end of the second assembly line 302 is connected with the product flow inlet end of the third assembly line 303. The product flow outlet end of the third assembly line 303 is connected to the product flow inlet end of the fourth assembly line 304, and the transmission surfaces of the first assembly line 301, the second assembly line 302, the third assembly line 303, and the fourth assembly line 304 are located on the same plane, thus Facilitate the transmission of products.
[0034] In order to complete the product detection, in the embodiment of the present invention, the first image acquisition device 6 is fixed above the first assembly line 301, the second image acquisition device 7 is fixed above the third assembly line 303, and the first product is transported The device 8 is fixed on the second assembly line 302, the second product conveying device 9 is fixed on the fourth assembly line 304, and the turning device 10 is fixed on the third assembly line 303; the feeding device 4 is set at the product flow inlet end of the first assembly line 301 , The discharging device 5 is arranged at the end of the product flow to the outlet of the fourth assembly line 304. It also includes an industrial computer 1 and an electrical control cabinet 2; the electrical control part of the first product conveying device 8, the electrical control part of the second product conveying device 9, and the industrial computer 1 are electrically connected to the electrical control cabinet 2; the first image acquisition device 6 and the second image acquisition device 7 are electrically connected to the industrial computer 1.
[0035] Such as figure 2 , image 3 As shown, in order to facilitate the feeding of products, in this embodiment, the specific structure of the feeding device 4 is as follows: including a first three-axis gantry moving platform 401, a first support frame 402, and a first suction device 403; The suction device 403 is arranged on the first three-axis gantry moving platform 401; the first three-axis gantry moving platform 401 is arranged on the first support frame 402; the first three-axis gantry moving platform 401 is provided with a number of The three-axis gantry moving platform 401 is a driving motor that moves in all directions; the first suction device 403 is provided with a vacuum suction cup. The unloading device 5 includes a second three-axis gantry mobile platform 501, a second support frame 502, and a second suction device 503; the second suction device 503 is arranged on the second three-axis gantry mobile platform 501; the second three-axis gantry mobile platform 501 is installed on the second support frame 502; the second three-axis gantry moving platform 501 is provided with a number of driving motors for driving the second three-axis gantry moving platform 501 to move in all directions; the second suction device 503 is provided Vacuum suction cup. Of course, in the actual production process, it is not excluded to replace the above-mentioned feeding device 4 with a structure such as a manipulator.
[0036] Such as figure 1 , figure 2 , image 3 As shown, after the first image acquisition device 6 performs image acquisition on the first side of the product, the industrial computer 1 processes the data. The first image acquisition device 6 uses an industrial camera. If the first side of the product is detected For unqualified products, it is necessary to process the unqualified products on the first side. In this embodiment, the unqualified products on the first side are processed by the first product conveying device 8 on the second assembly line 302. The specific structure of the first product conveying device 8 is as follows: the first product conveying device 8 includes a first lifting mechanism and a first flow guiding mechanism; the first lifting mechanism is fixed on the frame under the transmission part of the second assembly line 302; The guide mechanism is fixed at the output end of the first lifting mechanism; the first guide mechanism is provided with a plurality of first cylindrical rollers 810 arranged side by side, wherein the distance between every two adjacent first cylindrical rollers 810 is Determined according to the spacing value of the belts distributed on the second pipeline 302; the guide motor on the first guide mechanism drives the plurality of first cylindrical rollers 810 to operate, and the running direction of the plurality of first cylindrical rollers 810 is the same as that of the second pipeline 302 When the first product conveying device 8 guides the products flowing on the second assembly line 302, the first lifting mechanism is controlled to rise, and the multiple first cylindrical rollers 810 on the first guide mechanism The spaced belts on the second assembly line 302 rise up, and the products on the first side of the second assembly line 302 that are unqualified are sorted and diverted. Among them, there is a first cylindrical roller 810 between every two belts; When the first product conveying device 8 does not need to guide the products flowing on the second assembly line 302, the first lifting mechanism does not rise, so that the plurality of first cylindrical rollers 810 on the first guide mechanism are located in the second assembly line Below the belts spaced on 302. The specific structure of the first lifting mechanism can be a combination of a guide rail and a screw rod, or a combination of a hydraulic cylinder.
[0037] Such as figure 1 , figure 2 , image 3 As shown, after the first side of the product is qualified by the first image acquisition device 6, the turning device 10 on the third assembly line 303 reverses the qualified products on the first side of the second assembly line 302 to the third assembly line 303. Among them, in this embodiment, the specific structure of the turning device 10 is as follows: the turning device 10 includes a cylindrical rolling wheel 1010, a turning motor 1020, and a plurality of cylindrical rods 1030; the turning motor 1020 and the cylindrical rolling wheel 1010 are both fixed in the third assembly line The product of 303 flows to the inlet end; the output end of the turning motor 1020 is connected with the rotating shaft of the cylindrical rolling wheel 1010; a plurality of cylindrical rods 1030 are arranged side by side on the cylindrical rolling wheel 1010, and the plurality of cylindrical rods 1030 are rubber cylindrical rods. . When the turning device 10 does not turn the products on the second assembly line 302, the multiple cylindrical rods 1030 arranged side by side on the turning device 10 are cross-fitted with the multiple equally spaced belts on the second assembly line 302, and multiple belts are arranged side by side. The cylindrical rods 1030 are located under a plurality of equally spaced belts, wherein the plurality of cylindrical rods 1030 arranged side by side are slightly lower than the plurality of equally spaced belts. When the turning device 10 turns the products on the second assembly line 302, The turning motor 1020 drives the cylinder rolling wheel 1010 to rotate 175° clockwise, and then returns to the origin.
[0038] Such as figure 1 , figure 2 , image 3 , Figure 4 As shown, after the turning device 10 turns the product onto the third assembly line 303, the second side detection is performed. After the second image acquisition device 7 collects the image of the second side of the product, the industrial computer 1 processes the data, where, The second image acquisition device 7 uses an industrial camera. If the second side of the product is detected as a non-conforming product, it is necessary to process the product that fails the second side detection. In this embodiment, the second side is not qualified. The products pass through the third assembly line 303 and are processed by the second product conveying device 9 on the fourth assembly line 304. The specific structure of the second product conveying device 9 is as follows: the second product conveying device 9 includes a second lifting mechanism and a second guide The second lifting mechanism is fixed on the frame below the transmission part of the fourth assembly line 304; the second guide mechanism is fixed to the output end of the second lifting mechanism; the second guide mechanism is provided with a plurality of side-by-side The second cylindrical roller 910, wherein the spacing value between every two adjacent second cylindrical rollers 910 is determined according to the spacing value of the belts spaced apart on the fourth assembly line 304; the guide motor on the second guide mechanism drives A plurality of second cylindrical rollers 910 operate, and the running direction of the plurality of second cylindrical rollers 910 is perpendicular to the flow direction of the fourth assembly line 304; when the second product conveying device 9 guides the products flowing on the fourth assembly line 304, the first The second lifting mechanism is raised in a controlled manner. A plurality of second cylindrical rollers 910 on the second guide mechanism are raised from between the belts spaced apart on the fourth assembly line 304, and the second surface of the fourth assembly line 304 is unqualified. The products are sorted and guided, and there is a second cylindrical roller 910 between every two belts; when the second product conveying device 9 does not need to guide the products flowing on the third assembly line 303, the second lifting mechanism Without raising, the plurality of second cylindrical rollers 910 on the second guide mechanism are located below the belts distributed at intervals on the fourth assembly line 304. The specific structure of the second lifting mechanism can be a combination of a guide rail and a screw rod, or a combination of a hydraulic cylinder.
[0039] Such as figure 2 , image 3 As shown, in order to facilitate the blanking of products that have passed the inspection on both sides, in this embodiment, the specific structure of the blanking device 5 is as follows: including a second three-axis gantry moving platform 501, a second support frame 502, and a second suction Device 503; the second suction device 503 is set on the second three-axis gantry mobile platform 501; the second three-axis gantry mobile platform 501 is set on the second support frame 502; the second three-axis gantry mobile platform 501 is provided with several A drive motor that drives the second three-axis gantry moving platform 501 to move in various directions; the second suction device 503 is provided with a vacuum suction cup. Of course, in the actual production process, it is not excluded to replace the above-mentioned blanking device 5 with a structure such as a manipulator.
[0040] Such as figure 2 , image 3 As shown, for the convenience and complete collection of surface images of products flowing on the combined assembly line 3: in this embodiment, the first image acquisition device 6 is fixed on the first assembly line 301 by the first bracket 13; the same , The second image acquisition device 7 is fixed on the third assembly line 303 through the second bracket 14. In addition, because the surface of the product is relatively bright, when collecting product surface defects, such as scratches, stains, bubbles, etc., the collected images will appear unclear. The following improvements are made to the present invention as follows: in the first assembly line 301 is provided with a first supplementary light device 11 for intelligently supplementing light for the first image acquisition device 6 when acquiring image information, and on the third pipeline 303 is provided for the second image acquisition device 7 when acquiring image information The second light supplement device 12 for intelligent light supplement.
[0041] In this embodiment, the first light supplement device 11 includes a first light source support 111 and a first light source 112; the first light source 112 is fixed to the first light source support 111 by bolts; the second light supplement device 12 includes a second light source support 121 and the second light source 122; the second light source 122 is fixed on the second light source bracket 121 by bolts.
[0042] Such as figure 1 As shown, in order to facilitate feeding, a loading rack 15 is placed below the product flow inlet end of the first assembly line 301, and the products are placed on the loading rack 15. The loading rack 15 can ensure that the products are stacked neatly and orderly, and then pass on The feeding device 4 is very convenient when feeding. Similarly, in order to facilitate the unloading, the unloading rack 16 is placed under the product flow outlet end of the fourth assembly line 304, so that the unloading device 5 can ensure that the unloaded materials are stacked neatly and orderly during the unloading process, which is convenient for workers. The qualified products are sent to the next process for processing.
[0043] During product testing, in order to facilitate the collection of unqualified products detected, two unqualified product blanking troughs 18 are set on the left side of the combined assembly line 3, one of which is used to collect the first product on the second assembly line 302 The conveying device 8 conveys the unqualified products that fail the first side inspection, and the other is used to collect the second-sided unqualified products conveyed by the second product conveying device 9 on the fourth assembly line 304; in addition, for The recyclable products can also be collected. Two recyclable product blanking troughs 17 are set on the right side of the combined assembly line 3, one of which is used to collect the first product conveying device 8 on the second assembly line 302. One side of the unqualified recyclable products, and the other is used to collect the second side of the unqualified recyclable products conveyed by the second product conveying device 9 on the fourth assembly line 304.
[0044] In the creation of the present invention, in order to make the entire mechanism more compact, the processing engineering easier, and the assembly easier, the present invention needs to use the first product conveying device 8, the second assembly line 302, and the turning device 10 together. The structure is designed in the above form, so that the three are related to each other and cooperate with each other, and they perform their respective functions (the second assembly line 302 conveys products, and the first product conveying device 8 transfers the unqualified products from the second Separated from the assembly line 302, and the turnover device 10 turns the products on the second assembly line 302 by 175° and then transfers them to the third assembly line 303), which promotes the work of the other two institutions, and also achieves a simplified overall structure and a reduced footprint. Ground space, the overall performance is more stable. When the structure of one of the three (the first product conveying device 8, the second assembly line 302, and the turning device 10) is changed, in order to still complete the product transmission, separate the unqualified products and perform the 175° With the function of flipping, the structures of the other two will also be changed from it, destroying the correlation between the three, but becoming independent structures, which cannot achieve the effect of optimizing the overall structure.
[0045] The specific operation process during use is as follows:
[0046] In the first step, manually stack the products to be tested on the loading rack 15 and turn on all the devices. The first three-axis gantry moving platform 401 moves to the top of the loading rack 15, and the first three-axis gantry moving platform 401 A suction device 403 sucks the product on the loading rack 15 through a vacuum suction cup, and then transports it to the first assembly line 301 of the combined assembly line 3;
[0047] In the second step, the product delivered to the first assembly line 301 flows through the detectable position under the first image acquisition device 6. At this time, the first image acquisition device 6 performs real-time image acquisition on the first side of the product, and the acquired image is transmitted On the industrial computer 1, the industrial computer 1 performs grayscale processing on the collected images, and performs the least-binarization processing on the images, detects product defects through visual inspection algorithms, and performs real-time analysis and processing of the inspection results. If the product is unqualified, the product flows into the second assembly line 302, and the industrial computer 1 will send a designated signal to the PLC control system in the electrical control cabinet 2 through the serial port (RS232) communication. At the same time, the first side of the second assembly line 302 will be unqualified. When the product flows directly above the first product conveying device 8, the first photoelectric sensor on the second assembly line 302 is sensing the product. At this time, the first photoelectric sensor will transmit the information to the electrical control cabinet 2 PLC control system. The PLC control system in the electrical control cabinet 2 controls the first lifting mechanism of the first product conveying device 8 to rise, and the first cylindrical roller 810 on the first product conveying device 8 will rise over the second assembly line 302 Belt, the unqualified products on the first side of the second assembly line 302 flow into the first cylindrical roller 810 on the first product conveying device 8. The PLC control system in the electrical control cabinet 2 will give a signal based on the visual measurement result , The motor matched with the first cylindrical roller 810 is controlled to rotate forward or backward, so that the products that fail to pass the first side detection flow into the unqualified product blanking chute 18 or the recyclable product blanking chute 17, where the product flows into The unqualified product blanking chute 18 or flowing into the recyclable product blanking chute 17 is judged according to the degree of defect obtained after the product inspection. If the inspection is qualified, the first lifting mechanism of the first product conveying device 8 does not rise , Products that pass the inspection on the first side flow to the turning device 10 along the second assembly line 302;
[0048] In the third step, the turning device 10 turns the products that pass the first side inspection from the second assembly line 302 to the third assembly line 303, and the turning device 10 turns the products that pass the inspection on the first side 175 degrees clockwise. Products that pass the inspection on one side are turned over by the turning device 10, and then flow on the third assembly line 303, ready for the second face inspection, and flow through the detectable position under the second image acquisition device 7 on the third assembly line 303. The second image The collection device 7 performs real-time image collection on the other side (the second side) of the product that passed the first side inspection, and the collected image is transmitted to the industrial computer 1. The industrial computer 1 performs grayscale processing on the collected image and performs the image processing. Perform least binary processing, detect product defects through visual inspection algorithms, and analyze and process the results in real time. Industrial computer 1 will detect information and send designated signals to the PLC control in electrical control cabinet 2 through serial port (RS232) communication. system;
[0049] In the fourth step, the products inspected on the second side flow from the third assembly line 303 to the fourth assembly line 304. If the second side of the product fails the inspection, the second photoelectric sensor on the fourth assembly line 304 senses the unqualified product. , The second photoelectric sensor will send the signal to the PLC control system in the electrical control cabinet 2, and the PLC control system in the electrical control cabinet 2 will control the second lifting mechanism on the second product conveying device 9 to raise, and the second product is conveyed The second cylindrical roller 910 on the device 9 will rise over the belt on the fourth assembly line 304, and the unqualified product on the second side of the fourth assembly line 304 will flow into the second cylindrical roller 910 on the second product conveying device 9. , The PLC control system in the electrical control cabinet 2 will give a signal according to the visual measurement result to control the motor matched with the second cylindrical roller 910 to rotate forward or reverse, so that the unqualified products on the second side flow into the unqualified products The blanking chute 18 or the recyclable product blanking chute 17, in which the unqualified product on the second side of the test flows into the unqualified product blanking chute 18 or the recyclable product blanking chute 17, according to the product inspection If the second side inspection is also qualified, the second lifting mechanism of the second product conveying device 9 does not rise, and the products that pass the second side inspection flow along the third assembly line 303 through the fourth assembly line 304 After the third photoelectric sensor detects the product, the third photoelectric sensor will send the information to the PLC control system in the electrical control cabinet 2, and the PLC control system in the electrical control cabinet 2 will control the unloading device 5. Unloading, and place the products that pass the inspection on both sides on the unloading rack 16.
[0050] The automatic loading and unloading and visual inspection device of the present invention can change manual loading and unloading to automatic loading and unloading, which reduces the labor intensity of labor and does not cause harm to workers. It is highly efficient, practical, and can be used for a long time. Large-scale production, in addition, the manual detection is changed to online automatic detection, which can accurately detect the quality of the front and back of the product, and reduce the economic loss caused to users due to human misjudgment. The detection efficiency is high, accurate and reliable, and automatic online detection is available for 24 hours. Work continuously, and during the inspection process, after the product is identified and measured, the inspection data can be saved in real time. Users can analyze the product process based on the inspection data, improve product quality, and improve the economic benefits of the factory.
[0051] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. A person of ordinary skill in the art can comment on the above-mentioned embodiments within the scope of the present invention. The embodiment undergoes changes, modifications, replacements and modifications.
