Silicon carbide unit strip automatic smoke leakage detection equipment and method based on visual identification

Abstract

The invention provides a silicon carbide unit strip automatic smoke leakage detection device and method based on visual identification, the device comprises a feeding conveyor belt, a four-station rotating platform, a manipulator, a smoke generation mechanism, a pressing mechanism, a visual identification system and a discharging conveyor belt, the four-station rotating platform is provided with four stations in the circumferential direction, and the four stations are a feeding station, a pressing station and a detection station; and a feeding manipulator, a pressing mechanism, a visual identification system and a discharging manipulator are respectively arranged at the corresponding stations. By means of the detection effects of automatic visual recognition, accurate positioning, efficient operation and high stability, the automatic requirement of silicon carbide unit strip smoke leakage detection can be met.

Description

Technical Field

[0001] The present invention mainly relates to the technical field related to the detection of silicon carbide honeycomb ceramic carriers, and specifically to an automatic smoke leakage detection device and method for silicon carbide unit strips based on visual recognition. Background Art

[0002] Silicon carbide honeycomb ceramic carriers cannot be formed in large sizes due to the high thermal expansion coefficient of the material itself. Therefore, they need to be extruded into silicon carbide unit strips of about 40×40×X (length×width×height, unit: mm), and then bonded by splicing to form a complete silicon carbide honeycomb ceramic carrier. Silicon carbide unit strips are high-performance ceramic materials made of silicon carbide as the main component and made by special processes. They have a honeycomb structure. Silicon carbide honeycomb ceramics can provide high specific surface area and pore distribution, and are an ideal carrier platform for active ingredients such as catalysts and adsorbents. It is widely used in the fields of automobile exhaust aftertreatment, industrial waste gas purification, and high-performance catalyst support to achieve efficient pollutant conversion and air purification.

[0003] The silicon carbide honeycomb ceramic carrier is a wall-flow honeycomb carrier, which is characterized by its pore design. The two ends of adjacent parallel pores are alternately closed or opened, and the forced airflow must pass through the capillary pores of the pore wall to achieve the capture of particulate matter, with an efficiency of up to 95%. During the production process of the unit strips of the silicon carbide honeycomb ceramic carrier, the pore wall may be damaged or defective, or there may be leakage or insufficient blocking during the drilling and plugging process, which will cause the airflow to leak from the defective position, thereby affecting the emission of particulate matter in the exhaust gas and causing air pollution. Therefore, it is necessary to detect the smoke leakage effect of the silicon carbide unit strips before splicing to determine whether there are defects inside the unit strips. In the current smoke leakage detection process, the unit strips need to be manually inserted into the sealing port of the pearl cotton, and a humidifier is connected under the sealing port. There is a laser horizontal plane 2mm above the upper end face of the unit strip. The water mist generated by the humidifier is used to detect whether the unit strip is leaking smoke. Leaking smoke will show a more obvious bright spot on the laser horizontal plane. This step is not only time-consuming and labor-intensive, but also restricts the stability of production efficiency and product quality. The surface of silicon carbide unit bar is rough and hard, and the sealing pearl cotton seal wears quickly. If the wear cannot be discovered in time, it may affect the test results. In addition, the test process has high requirements, and manual operation is difficult to be completely consistent, which is prone to missed inspections and false inspections, affecting the pass rate and economic benefits, and increasing labor costs and the costs of production management and quality control. In addition, long-term observation of the laser horizontal plane will affect the human eye's vision.

[0004] In summary, the process of smoke leakage detection of silicon carbide unit strips is not only limited by efficiency bottlenecks, but also has many problems such as imprecise technical operations and difficult to stably control product quality. Therefore, it is very important to develop an automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition. Summary of the invention

[0005] In order to solve the shortcomings of the current technology, the present invention combines the existing technology and, from the perspective of practical application, provides an automatic smoke leakage detection device and method for silicon carbide unit strips based on visual recognition. The present invention can meet the automation needs of silicon carbide unit strip smoke leakage detection by virtue of automatic visual recognition, precise positioning, efficient operation and strong stability of detection effects.

[0006] The technical solution of the present invention is as follows:

[0007] According to one aspect of the present invention, there is provided a silicon carbide unit strip automatic smoke leakage detection device based on visual recognition, characterized in that it comprises:

[0008] Loading conveyor belt, used for horizontally conveying silicon carbide unit bars;

[0009] The four-station rotating platform has four stations arranged in the circumference: a loading station, a pressing station, and a testing station. The four-station rotating platform includes a turntable, which is driven by a driving motor and can run between the four stations in sequence. A sealing base is arranged on the turntable, and the sealing base has a cavity that vertically passes through the four-station rotating platform;

[0010] A feeding manipulator is provided at the feeding station, and is used to grab the silicon carbide unit bar on the feeding conveyor belt, flip the silicon carbide unit bar to a vertical state, and then insert it into the cavity of the sealing base;

[0011] A pressing mechanism is arranged at the pressing station and is used to press the silicon carbide unit bar downward to insert it into the set position of the sealing base;

[0012] A smoke generating mechanism is arranged at the detection station, and the smoke generating mechanism includes a sealing cover, and the sealing cover is used to wrap and seal the silicon carbide unit strip located below the turntable from the bottom, and the sealing cover is connected to the humidifier;

[0013] A visual recognition system is provided at the inspection station, and includes a camera and a laser generator. The laser generator is used to form a laser horizontal plane on the upper end surface of the silicon carbide unit bar. The camera is used to take a picture of the upper end surface of the silicon carbide unit bar, and judge whether the silicon carbide unit bar is qualified based on the picture result.

[0014] The unloading robot is arranged at the unloading station, and is used to grab the silicon carbide unit strip on the sealing base, flip it to a horizontal state, and then send it to the unloading conveyor belt;

[0015] The unloading conveyor belt includes an OK unloading conveyor belt and an NG unloading conveyor belt. The unloading robot places qualified silicon carbide unit bars on the OK unloading conveyor belt and places unqualified silicon carbide unit bars on the NG unloading conveyor belt based on the detection results.

[0016] Furthermore, it also includes an equipment frame, a workbench is arranged inside the equipment frame, a visual recognition system, a smoke generating mechanism, a downward pressure mechanism, a loading robot, and a unloading robot are all installed above the workbench, a humidifier is arranged below the workbench, and a light-shielding shield is arranged around the equipment frame.

[0017] Furthermore, an airbag sealing ring is provided in the cavity of the sealing base, and the airbag sealing ring is used to seal the upper part of the outer ring of the silicon carbide unit strip.

[0018] Furthermore, four groups of sealing bases are arranged on the four-station rotating platform, and the four groups of sealing bases are arranged at intervals of 90° in sequence, and four stations in the circumferential direction of the four-station rotating platform are arranged at intervals of 90° in sequence.

[0019] Furthermore, a pneumatic slip ring is arranged on the upper part of the four-station rotating platform, and the airbag sealing rings of the four groups of sealing bases are connected to the pneumatic slip rings through air pipes, and the pneumatic slip rings are connected to the solenoid valves for controlling the inflation and deflation of the airbag sealing rings.

[0020] Furthermore, the smoke generating mechanism is arranged below the four-station rotating platform, and the smoke generating mechanism also includes a slide rail and a sealing cylinder. The sealing cover is installed on the slide rail, and the sealing cover is connected to the sealing cylinder through a floating joint below. An opening is arranged on the upper part of the sealing cover for wrapping and sealing the lower part of the silicon carbide unit bar when moving upward, and one side of the sealing cover is connected to the humidifier through a hose.

[0021] Furthermore, the loading robot and the unloading robot both include a robot base and a robot body, a rotating cylinder and a thumb cylinder are arranged on the robot body, and the pressing mechanism is driven by the cylinder.

[0022] Furthermore, the camera and the laser generator are both mounted on a dovetail groove slide, with the camera on top and the laser generator on the bottom, and the positions of the camera and the laser generator are adjusted by the dovetail groove slide.

[0023] According to another aspect of the present invention, there is provided a method for automatic smoke leakage detection of silicon carbide unit bars based on visual recognition, comprising the following steps:

[0024] S1, the feeding conveyor belt transports the silicon carbide units horizontally backward one by one to the grasping position of the feeding robot;

[0025] S2, the loading robot grabs the silicon carbide unit bar and turns it to a vertical state, and vertically inserts the silicon carbide unit bar into the sealed base cavity of the four-station rotating platform;

[0026] S3, the four-station rotating platform rotates to the pressing station, and the upper end surface of the silicon carbide unit strip is flattened by the pressing mechanism and pressed down to a set position in the sealing base, and the airbag sealing ring in the sealing base is inflated to seal the upper part of the silicon carbide unit strip;

[0027] S4, the four-station rotating platform rotates to the inspection station, the smoke generating mechanism at the bottom is activated, so that the sealing cover wraps the silicon carbide unit strip from the bottom, the humidifier is started to generate water mist, the laser generator is started to form a laser plane on the upper surface of the silicon carbide unit strip, the upper end surface of the silicon carbide unit strip is photographed by a camera, and the photographed photos are analyzed and processed to determine whether the silicon carbide unit strip is qualified;

[0028] S5. The four-station rotary platform rotates to the unloading station. The control system controls the action of the unloading robot based on the detection results of the silicon carbide unit bars. The unloading robot pulls out the qualified silicon carbide unit bars from the sealing base, flips them to a horizontal state, and sends them to the OK unloading conveyor belt, and sends the unqualified ones to the NG unloading conveyor belt.

[0029] Furthermore, the laser horizontal plane formed by the laser generator is located 2 mm above the upper end surface of the silicon carbide unit bar. The visual recognition system analyzes the taken photos and determines whether the silicon carbide unit bar is qualified based on the bright spot information in the photos.

[0030] Beneficial effects of the present invention:

[0031] 1. The overall operation of the present invention realizes the switching of workstations through the cooperation of a conveyor belt, a manipulator and a rotating platform, and can realize fully automated processing of silicon carbide unit strips from shifting, pressing down, sealing to testing. Compared with traditional methods, it can greatly reduce the intensity of human labor, ensure the consistency of unit strip detection, and avoid the problem of long-term observation of the laser horizontal plane that will affect human vision.

[0032] 2. The present invention uses a visual recognition-based method to realize automatic detection of unit bars, and can realize automatic sorting of qualified products and unqualified products according to the detection results of the unit bars. The overall equipment adopts a ring layout, occupies a small space, and each workstation is reasonably matched, which can realize continuous detection of unit bars.

[0033] 3. The sealing structure of the present invention before the unit strip detection is reasonably designed. The upper airbag structure has good sealing stability and sealing performance, and is not easily affected by the unit strip to cause a poor seal. The lower part adopts a liftable sealing cover, and the control method is simple and practical, which can ensure the overall sealing effect before the unit strip detection.

[0034] 4. The present invention can realize the smoke leakage detection of the unit strips of the automatic assembly line, which can bring many significant advantages, not only limited to improving work efficiency and reducing worker fatigue. The automated assembly line can ensure that the processing process of each product follows the same standards and procedures, thereby ensuring the consistency and quality stability of the products. This is especially important for products with large-scale production and high quality requirements, because manual operation may cause product quality fluctuations due to individual differences or fatigue and other factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Attached Figure 1 It is a schematic diagram of the external structure of the detection device of the present invention.

[0036] Attached Figure 2 for Figure 1 Schematic diagram of the interior after removing the sheet metal and sunshade shield.

[0037] Attached Figure 3 It is a schematic diagram of the control cabinet structure of the detection equipment of the present invention.

[0038] Attached Figure 4 It is a schematic diagram of the structure of the working table of the detection equipment of the present invention.

[0039] Attached Figure 5 It is a structural schematic diagram of the feeding robot of the present invention.

[0040] Attached Figure 6 It is a schematic diagram of the structure of the visual recognition system of the present invention.

[0041] Attached Figure 7 The structure diagram of the four-station rotating platform of the present invention is shown in FIG. Figure 1 .

[0042] Attached Figure 8 The structure diagram of the four-station rotating platform of the present invention is shown in FIG. Figure 2 .

[0043] Attached Fig. 9 It is a schematic diagram of the smoke generating mechanism structure of the present invention.

[0044] Attached Fig.10 It is a schematic diagram of the sealing base structure of the present invention.

[0045] Numbers shown in the accompanying drawings:

[0046] 1. Equipment frame; 2. Three-color light; 3. Loading conveyor belt; 4. Unloading conveyor belt; 5. Loading manipulator; 6. Visual recognition system; 7. Pressing mechanism; 8. Four-station rotating platform; 9. Smoke generating mechanism; 11. Shading shield; 12. Workbench; 13. Control cabinet; 14. Electric control box; 15. Industrial control box; 16. Display screen; 17. Operation button; 18. Sensor; 19. Humidifier; 51. Manipulator control box; 52. Manipulator body; 53. Manipulator gripper; 54. Manipulator base; 61. Camera; 62, dovetail groove slide; 63, height adjustment knob; 64, laser generator; 81, turntable; 82, sealing base; 821, airbag sealing ring; 822, airbag sealing ring base; 83, pneumatic slip ring; 84, turntable fixing bracket; 85, servo motor; 86, pneumatic slip ring fixing bracket; 87, inflatable air pipe; 88, hollow rotating platform; 91, smoke generating mechanism fixing bracket; 92, sealing cover slide rail; 93, sealing cover; 94, floating joint; 95, sealing cylinder; 96, humidifier connection port. DETAILED DESCRIPTION

[0047] The present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the scope limited by the application.

[0048] The embodiment of the present invention provides an automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition, which mainly includes an equipment frame 1, a feeding conveyor belt 3, a feeding conveyor belt 4, a feeding manipulator 5, a feeding manipulator, a visual recognition system 6, a pressing mechanism 7, a four-station rotating platform 8, a smoke generating mechanism 9, a control cabinet 13, etc.

[0049] Among them, the equipment frame 1 is composed of aluminum profiles, which is used to provide a solid support and structural foundation to ensure its stability and safety. The upper part of the equipment frame 1 is a light-shielding cover 11 and a workbench 12. The visual recognition system 6, the downward pressure mechanism 7, the four-station rotating platform 8, and the smoke generating mechanism 9 are all installed on the workbench 12; the humidifier 19 is located at the lower part of the workbench 12 and is connected to the smoke generating mechanism 9 through a hose. A three-color lamp 2 is installed on the outer side of the top of the equipment frame 1.

[0050] The loading conveyor belt 3 and the unloading conveyor belt 4 are respectively arranged on both sides of the equipment frame 1 for loading and unloading.

[0051] The loading robot 5 is arranged at the loading station, and mainly includes a robot base 54, a robot body 52 and a robot clamp 53. The loading robot 5 can realize multi-degree-of-freedom movement, and the silicon carbide unit strips are grasped and moved by the robot clamp 53. In this embodiment, the robot clamp 53 is mainly composed of a rotating cylinder and a finger cylinder, and the unit strips are clamped and flipped by two cylinders. Specifically, the unit strips are in a horizontal conveying state on the loading conveyor belt 3, and are grabbed by the finger cylinder of the loading robot 5, and are flipped 90° by the rotating cylinder to become a vertical state, and then can be conveniently inserted into the sealing base 82. The unloading robot has the same structure as the loading robot, one is used for loading and the other is used for unloading.

[0052] The pressing mechanism 7 is arranged at the pressing station, and the pressing mechanism includes a lifting cylinder, which can press the silicon carbide unit bar downward from the top through the cylinder. On the one hand, it can keep the upper end surface of the silicon carbide unit bar flat, and on the other hand, it can press the silicon carbide unit bar down to a suitable position to facilitate the subsequent visual recognition system 6 to detect the unit bar.

[0053] The four-station rotating platform 8 is arranged in the middle position. The four-station rotating platform 8 is circular in shape as a whole, and a station is arranged every 90°, namely: a loading station, a pressing station, a detection station, and a unloading station. The four-station rotating platform 8 is composed of a turntable 81, a sealing base 82, a pneumatic slip ring 83, a turntable fixing bracket 84, a pneumatic slip ring fixing bracket 86, and an inflatable air pipe 87. The four-station rotating platform 8 is driven by a servo motor 85 through a hollow rotating platform 88 to rotate the turntable 81. Each time the turntable 81 rotates 90°, it can pass through the loading station, the pressing station, the detection station, and the unloading station in turn, and realize continuous detection of the unit strips through a cyclic action. The four-station rotating platform 8 is driven by a servo motor 85 and a hollow rotating platform 88, which can ensure the repeated positioning accuracy and production rhythm of the rotating platform.

[0054] In this embodiment, a sealing base 82 is provided every 90° on the upper part of the four-station rotating platform 8, that is, as the four-station rotating platform 8 rotates once, each station can be moved, thereby realizing continuous detection of the unit strip. The sealing base 82 has a square cavity in the middle, and an airbag sealing ring 821 is provided in the cavity. After being inflated, the airbag sealing ring 821 can tightly seal the periphery of the unit strip to achieve sealing. Because the four-station rotating platform 8 is a rotating structure, and the airbag sealing ring 821 needs to be connected to the external compressed air through an air pipe, in this embodiment, a pneumatic slip ring 83 is provided, and the four outlets of the pneumatic slip ring 83 are respectively connected to the airbag sealing ring 821 through the inflation air pipe 87. A solenoid valve is also provided to control the on-off of the air path through the solenoid valve, thereby controlling the sealing state of the airbag sealing ring 821 in each sealing base 82. During operation, after the loading robot 5 inserts the unit bar into the sealing base 82 on the four-station rotating platform 8, the four-station rotating platform 8 rotates 90° each time with the unit bar, and goes to the pressing mechanism 7 and the visual recognition system 6 in turn, and then the unloading robot pulls up the unit bar in the sealing base 82 and puts it on the unloading conveyor belt 4.

[0055] The visual recognition system 6 is set at the inspection station. The visual recognition system 6 consists of a camera 61, a laser generator 64 and a dovetail groove slide 62. The camera 61 and the laser generator 64 are installed on the dovetail groove slide 62, with the camera 61 on the upper side and the laser generator 64 on the lower side. The height of the camera 61 and the laser generator 64 is adjusted by the slide knob to ensure that the laser horizontal plane is about 2 mm higher than the upper end surface of the unit bar, and to ensure that the upper end surface of the unit bar is within the focal length and field of view of the camera 61.

[0056] The smoke generating mechanism 9 is composed of a smoke generating mechanism fixing frame, a sealing cover 93, a slide rail 92, a sealing cylinder 95, a floating joint 94, and a humidifier connection port 96. After the unit bar is inserted into the sealing base 82, the sealing strip is extended downward to the four-station rotating platform 8 through the pressing mechanism 7. The smoke generating mechanism 9 is located below the detection station of the four-station rotating platform 8. The sealing cover 93 of the smoke generating mechanism 9 can be lifted and lowered along the slide rail 92 and can be raised with the sealing cylinder 95. After being raised, the sealing cover 93 can wrap the lower part of the unit bar to ensure sealing. Specifically, the sealing cover 93 is vertically pressed against the turntable 81. After the silicone pad on the sealing cover 93 is fitted with the turntable 81, the bottom of the unit bar is wrapped as a whole in the sealing cover 93 to ensure that water mist can only pass through the pores of the unit bar. Fig.10 As shown, the airbag sealing ring 821 is located at the top of the airbag ring sealing base 82, which is convenient for disassembling and replacing the airbag sealing ring 821. After the airbag sealing ring 821 starts to inflate and seal, the upper part of the unit bar is sealed circumferentially to ensure that water mist can only pass through the pores of the unit bar.

[0057] During the detection process, the humidifier 19 starts to work and produces water mist. Because the unit bar has only an upper outlet, the water mist can only pass upward from the pores of the unit bar. The water mist is blown in from the bottom to the top through the lower end of the silicon carbide unit bar. Assuming that there is no blockage leakage or damage to the partition wall, the water mist is redistributed through the partition wall. The water droplet particle size in the water mist is small and the distribution is relatively uniform. After passing through the unit bar, the water mist forms a light curtain with uniform brightness when passing through the laser. When there is a blockage leakage or damage to the partition wall, the water mist in this area leaks, the water mist concentration is high, the water droplet particle size is large, and the refraction phenomenon is stronger, making the area more refracted by the laser, resulting in a higher brightness of the area when observed by the naked eye, so a single conspicuous bright spot will appear. Therefore, the bright spot can be identified and detected by cooperating with the laser generator 64 of the visual recognition system 6 and the camera, so as to determine whether the silicon carbide unit bar is a qualified product.

[0058] The unloading conveyor belt 4 includes an OK unloading conveyor belt and an NG unloading conveyor belt. The OK unloading conveyor belt is mainly used to convey the unit strips that have passed the inspection to the next station, and the NG unloading conveyor belt is mainly used to convey the unit strips that have failed the inspection to the next station.

[0059] The safety system of this equipment mainly includes the protective sheet metal of the equipment, the shading shield 11 and the travel switch on the equipment door. If the door is opened when the equipment is running, the travel switch will trigger the emergency stop of the equipment. The emergency stop switch button under the display screen 16 ensures the protection of the operator during the operation of the equipment. The shading shield 11 uses dark shading glass to protect the laser plane and ensure that the outside of the equipment is not contaminated by the laser.

[0060] The control cabinet 13 is located next to the equipment frame 1 and is connected to the equipment through control cables and power cables. An industrial control box 15 is provided at the bottom of the control cabinet 13 and an electric control box 14 is provided at the top. A host controller is installed in the industrial control box 15. The software system is configured inside the host controller and is displayed and operated and controlled through a display screen 16. The electrical control system consists of the electric control box and the electrical components inside the box; an air cooling system is installed on the back side of the host box. The operating console is located at the front end of the control cabinet 13, including an operating system, and a display screen 16 is provided on the outside. Operation buttons 17 are provided below the display screen 16.

[0061] The detection method and process of the above detection device provided in this embodiment are as follows:

[0062] When the equipment is in the ready state, place the unit strip to be tested on the loading conveyor belt 3, ensuring that the unit strip is perpendicular to the direction of travel of the conveyor belt. After the unit strip travels to the end of the loading conveyor belt 3, it will be aligned through the baffle.

[0063] After the feeding sensor detects that the unit bar is in place, the feeding robot 5 grabs the unit bar and inserts the unit bar into the sealing base 82 on the four-station rotating platform 8. After the sensor on the four-station rotating platform 8 detects that the unit bar is inserted in place, the servo motor 85 drives the turntable 81 to rotate 90° through the hollow rotating platform 88;

[0064] After the unit bar reaches the pressing mechanism 7, the pressing cylinder descends to align the upper end surface of the unit bar to ensure that the upper end surface of the unit bar is about 2mm lower than the laser horizontal plane. The airbag sealing ring 821 on the sealing base 82 is connected to the solenoid valve through the pneumatic slip ring 83. After being pressed down to the right position, the airbag sealing ring 821 starts to inflate and seal. The servo motor 85 drives the turntable 81 to rotate 90° through the hollow rotating platform 88.

[0065] After the unit bar reaches the visual recognition system 6, the sealing cover 93 of the smoke generating mechanism 9 rises with the sealing cylinder 95, and the sealing cover 93 wraps the lower part of the unit bar to ensure sealing. The humidifier 19 starts to work and produces water mist. Due to the sealing effect of the sealing cover 93, the water mist can only pass through the pores of the unit bar. If the pores or outer walls of the unit bar are damaged, water mist will leak from the upper end surface of the unit bar, which can show a more obvious bright spot on the laser horizontal plane.

[0066] The laser generator 64 is turned on, and the camera 61 starts automatic visual recognition. The camera 61 in the visual recognition system 6 takes a picture of the upper end surface of the unit bar and compares it with the picture in the database, and determines whether there is a smoke leakage bright spot through an algorithm. If there is a smoke leakage bright spot, it is judged as unqualified, and if there is no smoke leakage bright spot, it is qualified.

[0067] The servo motor 85 drives the turntable 81 to rotate 90° through the hollow rotating platform 88. The unloading robot grabs the unit strips. According to the results of visual recognition, the qualified unit strips are placed on the OK unloading conveyor belt, and the unqualified unit strips are placed on the NG unloading conveyor belt. The above completes an action cycle, and the above operation steps can be repeated.

[0068] The embodiments of the present invention not only greatly improve the efficiency and quality of automatic smoke leakage detection of silicon carbide unit strips by integrating advanced visual recognition technology, intelligent control and automated operation, but also ensure the safety and reliability of the entire operation process. It is an important technological innovation in the field of modern industrial manufacturing.

Claims

1. The automatic smoke leakage detection equipment for silicon carbide unit strips based on visual recognition is characterized by: include: Loading conveyor belt, used for horizontally conveying silicon carbide unit strips; The four-station rotating platform has four stations arranged in the circumference: a loading station, a pressing station, and a testing station. The four-station rotating platform includes a turntable, which is driven by a driving motor and can run between the four stations in sequence. A sealing base is arranged on the turntable, and the sealing base has a cavity that vertically passes through the four-station rotating platform; A feeding manipulator is provided at the feeding station, and is used to grab the silicon carbide unit bar on the feeding conveyor belt, flip the silicon carbide unit bar to a vertical state, and then insert it into the cavity of the sealing base; A pressing mechanism, arranged at the pressing station, is used to press the silicon carbide unit bar downward to insert it into the set position of the sealing base; A smoke generating mechanism is arranged at the detection station, and the smoke generating mechanism includes a sealing cover, and the sealing cover is used to wrap and seal the silicon carbide unit strip located below the turntable from the bottom, and the sealing cover is connected to the humidifier; A visual recognition system is provided at the inspection station, and includes a camera and a laser generator. The laser generator is used to form a laser horizontal plane on the upper end surface of the silicon carbide unit bar. The camera is used to take a picture of the upper end surface of the silicon carbide unit bar, and judge whether the silicon carbide unit bar is qualified based on the picture result. The unloading robot is arranged at the unloading station, and is used to grab the silicon carbide unit strip on the sealing base, flip it to a horizontal state, and then send it to the unloading conveyor belt; The unloading conveyor belt includes an OK unloading conveyor belt and an NG unloading conveyor belt. The unloading robot places qualified silicon carbide unit bars on the OK unloading conveyor belt and places unqualified silicon carbide unit bars on the NG unloading conveyor belt based on the detection results.

2. The automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition according to claim 1 is characterized in that: It also includes an equipment frame, in which a workbench is arranged. A visual recognition system, a smoke generating mechanism, a downward pressing mechanism, a loading robot and an unloading robot are all installed above the workbench. A humidifier is arranged below the workbench, and a light-shielding shield is arranged around the equipment frame.

3. The automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition according to claim 1 is characterized in that: An airbag sealing ring is provided in the cavity of the sealing base, and the airbag sealing ring is used to seal the upper part of the outer ring of the silicon carbide unit strip.

4. The automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition according to claim 3 is characterized in that: Four groups of sealing bases are arranged on the four-station rotating platform, and the four groups of sealing bases are arranged at intervals of 90° in sequence. Four stations in the circumferential direction of the four-station rotating platform are arranged at intervals of 90° in sequence.

5. The automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition according to claim 4 is characterized in that: A pneumatic slip ring is arranged on the upper part of the four-station rotating platform, and the airbag sealing rings of the four groups of sealing bases are all connected to the pneumatic slip rings through air pipes, and the pneumatic slip rings are connected to the electromagnetic valves for controlling the inflation and deflation of the airbag sealing rings.

6. The automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition according to claim 1 is characterized in that: The smoke generating mechanism is arranged below the four-station rotating platform, and the smoke generating mechanism also includes a slide rail and a sealing cylinder. The sealing cover is installed on the slide rail. The bottom of the sealing cover is connected to the sealing cylinder through a floating joint. An opening is arranged on the top of the sealing cover for wrapping and sealing the bottom of the silicon carbide unit bar when moving upward. One side of the sealing cover is connected to the humidifier through a hose.

7. The automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition according to claim 1 is characterized in that: The loading manipulator and the unloading manipulator both include a manipulator base and a manipulator body. A rotating cylinder and a thumb cylinder are arranged on the manipulator body, and the pressing mechanism is driven by the cylinder.

8. The automatic smoke leakage detection device for silicon carbide unit strips based on visual recognition according to claim 1 is characterized in that: The camera and the laser generator are both installed on a dovetail groove slide, with the camera on the top and the laser generator on the bottom, and the positions of the camera and the laser generator are adjusted by the dovetail groove slide.

9. The method for automatic smoke leakage detection of silicon carbide unit strips based on visual recognition is characterized in that: The steps include: S1, the feeding conveyor belt transports the silicon carbide units horizontally backward one by one to the grasping position of the feeding robot; S2, the loading robot grabs the silicon carbide unit bar and turns it to a vertical state, and vertically inserts the silicon carbide unit bar into the sealed base cavity of the four-station rotating platform; S3, the four-station rotating platform rotates to the pressing station, and the upper end surface of the silicon carbide unit strip is flattened by the pressing mechanism and pressed down to a set position in the sealing base, and the airbag sealing ring in the sealing base is inflated to seal the upper part of the silicon carbide unit strip; S4, the four-station rotating platform rotates to the inspection station, the smoke generating mechanism at the bottom is activated, so that the sealing cover wraps the silicon carbide unit strip from the bottom, the humidifier is started to generate water mist, the laser generator is started to form a laser plane on the upper surface of the silicon carbide unit strip, the upper end surface of the silicon carbide unit strip is photographed by a camera, and the photographed photos are analyzed and processed to determine whether the silicon carbide unit strip is qualified; S5. The four-station rotary platform rotates to the unloading station. The control system controls the action of the unloading robot based on the detection results of the silicon carbide unit bars. The unloading robot pulls out the qualified silicon carbide unit bars from the sealing base, flips them to a horizontal state, and sends them to the OK unloading conveyor belt, and sends the unqualified ones to the NG unloading conveyor belt.

10. The method for automatic smoke leakage detection of silicon carbide unit strips based on visual recognition according to claim 9, characterized in that: The laser horizontal plane formed by the laser generator is located 2 mm above the upper end surface of the silicon carbide unit bar. The visual recognition system analyzes the taken photos and determines whether the silicon carbide unit bar is qualified based on the bright spot information in the photos.

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