Conveying and positioning device for sagger visual inspection

Abstract

The present invention provides a conveying and positioning device for visual inspection of saggers, comprising: a conveying unit, which is used to convey the saggers along a preset conveying direction, and a detection area is formed on the conveying path of the saggers; a lifting unit, which is arranged below the conveying unit corresponding to the detection area and can penetrate the conveying unit for lifting and lowering, and is used to lift the saggers to be separated from the conveying unit and reach a detection station so that the detection unit in the sagger visual inspection equipment can perform visual inspection on the saggers to determine whether the quality of the saggers is qualified; after the inspection is completed, the lifting unit descends to transfer the saggers to the conveying unit for further transportation; through the above process, automatic transportation before and after the sagger quality inspection is completed, the transportation efficiency is high, the saggers are quickly and accurately transported to the detection station, and the overall production efficiency of the sagger visual inspection equipment is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automated production lines, and in particular relates to a conveying and positioning device for visual inspection of saggers. Background Art

[0002] Sagger is a kind of kiln tool made of refractory material, which is used to hold powder materials and put them into the kiln for firing. Then the powder materials are taken out of the kiln together with the sagger. After the powder materials in the sagger are broken into pieces, the powder materials are poured out of the sagger, and the empty sagger is cleaned and loaded and fired again. In the whole kiln firing production line, the sagger is a recyclable loading container. Due to the high temperature during the firing process, the sagger is frequently subjected to sudden cooling and heating, and the material itself may have an impact on the sagger, resulting in a short service life of the sagger, and it is prone to cracks, defects, peeling and slag, large pieces of material residue, etc., and this kind of sagger can no longer be used for loading and firing.

[0003] At present, the quality of saggers is mostly checked manually on a regular basis, or the inspection of saggers in roller hearth furnaces mainly relies on manual observation of the appearance of saggers. The ambient temperature around the roller hearth furnace is high and it runs 24 hours a day. Simply relying on manual inspection of the saggers in a high temperature environment for a long time is prone to misjudgment and missed judgment, and is costly and inefficient, and is prone to the production of defective products and waste of materials. Moreover, if unqualified saggers are fired in the kiln, it will cause great harm. Summary of the invention

[0004] The present invention is made to solve the above problems, and aims to provide a conveying and positioning device for sagger visual inspection, which can be used in visual inspection equipment and can automatically, efficiently and accurately convey saggers to inspection stations for visual inspection processing.

[0005] The present invention provides a conveying and positioning device for visual inspection of saggers, which is applied in visual inspection equipment for saggers and is used to convey and position the saggers to be inspected to an inspection station for visual quality inspection. The device is characterized in that it comprises: a conveying unit, which is used to convey the saggers along a preset conveying direction, and a detection area is formed on the conveying path thereof;

[0006] A lifting unit is arranged below the conveying unit corresponding to the detection area and can be lifted and lowered through the conveying unit to lift the sagger to be separated from the conveying unit and reach the detection station for visual detection processing.

[0007] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have such a feature, wherein the conveying unit includes a plurality of first conveying rollers and a plurality of second conveying rollers,

[0008] The plurality of second conveying rollers are arranged in pairs and facing each other, and the plurality of first conveying rollers are arranged on both sides of the plurality of second conveying rollers, so that the detection area is formed between the plurality of first conveying rollers and the plurality of second conveying rollers.

[0009] The lifting unit is arranged directly below the detection area and can extend through the detection area to lift the corresponding sagger.

[0010] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have such a feature, wherein the lifting unit includes a base, a lifting mechanism arranged on the base, and a lifting plate fixed on the top surface of the lifting mechanism facing the conveying unit.

[0011] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have such a feature that the lifting unit further includes a rotating mechanism for driving the lifted sagger to rotate.

[0012] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have such a feature, wherein the rotating mechanism is arranged between the base and the lifting mechanism, thereby driving the lifting mechanism and the lifting plate to rotate synchronously.

[0013] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have such a feature that the horizontal position of the lifting plate in an initial state is not higher than the horizontal position of the conveying unit.

[0014] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have such a feature that the lifting plate is a double-layer structure, and the structural layer in contact with the sagger is made of elastic material.

[0015] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have the following feature: the length of the second conveying roller is less than half the length of the first conveying roller, so that the lifting plate has a predetermined area to contact the sagger.

[0016] In the conveying and positioning device for visual inspection of saggers provided by the present invention, it can also have such a feature, wherein the rotating mechanism is a rotating cylinder, the lifting mechanism is a telescopic cylinder fixed on the rotating shaft of the rotating cylinder, and the lifting plate is fixedly connected to the piston rod of the telescopic cylinder.

[0017] The conveying and positioning device for visual inspection of saggers provided by the present invention may also have such a feature, wherein the conveying unit further includes a plurality of guide wheels arranged on both sides along the conveying direction, and the conveying process of the sagger is guided by the plurality of guide wheels.

[0018] Functions and Effects of the Invention

[0019] According to the conveying and positioning device for visual inspection of saggers involved in the present invention, the sagger is conveyed along a preset conveying direction by a conveying unit. When conveyed to the inspection area, the jacking unit extends through the inspection area to lift the sagger to separate from the conveying unit until it reaches a preset height position corresponding to the inspection station, so that the inspection unit in the sagger visual inspection equipment can perform visual inspection on the sagger to determine whether the quality of the sagger is qualified. After the inspection is completed, the jacking unit descends to transfer the sagger to the conveying unit for further transportation. The above process completes the automated transportation before and after the sagger quality inspection, with high conveying efficiency. The sagger is quickly and accurately transported to the inspection station, which is beneficial to improving the overall production efficiency of the sagger visual inspection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view of a sagger visual inspection device in an embodiment of the present invention.

[0021] Figure 2 1 is a side view of a sagger visual inspection device in an embodiment of the present invention.

[0022] Figure 3 1. It is a top view of a sagger visual inspection device in an embodiment of the present invention.

[0023] Figure 4 It is a front view of a conveying and positioning device for visual inspection of saggers in an embodiment of the present invention.

[0024] Figure 5 1 is a side view of a conveying and positioning device for visual inspection of saggers in an embodiment of the present invention.

[0025] Figure 6 1. It is a top view of a conveying and positioning device for visual inspection of saggers in an embodiment of the present invention.

[0026] Figure 7 It is a structural rear view of the side collecting part in an embodiment of the present invention.

[0027] Figure 8 It is a structural side view of the side collecting part in an embodiment of the present invention.

[0028] Fig. 9 Schematic diagram of the positional relationship between the transfer unit, the first conveying unit and the second conveying unit in an embodiment of the present invention.

[0029] Fig.10 Schematic diagram of the structure of the transfer unit in the embodiment of the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0031] <Example>

[0032] like Figures 1 to 10 As shown, the present embodiment discloses a sagger visual inspection device 100, which is a special equipment for crack detection and removal of saggers 200 used mainly for special materials. The quality of the sagger 200 is inspected before use, mainly for crack detection, defect detection, peeling and slag detection, and large block residue detection, so as to remove the saggers 200 with unqualified quality. The whole inspection and removal process is fast, efficient, and precisely controlled. In particular, when the AB bowl is inspected, the bowl filling operation can also be performed. Based on this, after the sagger visual inspection device 100 is applied to the automated production line, for example, a supporting bowl loading machine, a shaker, a bowl stacking machine, a conveyor, etc. form an entire automated production line, which can greatly improve the efficiency of automated production and avoid the reduction of the overall production efficiency due to the quality problems of the sagger 200 itself.

[0033] Specifically, the following functions are completed in the sagger visual inspection device 100: 1. The sagger 200 is automatically transported throughout the entire process; 2. Visual inspection is completed at a predetermined position on the conveying path, and the entire inspection process is a 360-degree comprehensive inspection; 3. The sagger 200 detected as unqualified is removed from the automated conveying line and automatically transported to a designated area or device.

[0034] Corresponding to the specific functions of the sagger visual inspection equipment 100, the conveying and positioning device for sagger visual inspection is used as a special device for conveying and positioning, and is applied in the sagger visual inspection equipment 100 to convey and position the sagger 200 to be inspected to the inspection station for visual quality inspection processing.

[0035] like Figures 1 to 3 As shown, the sagger visual inspection device 100 includes: a frame body 10 , a conveying and positioning device for sagger visual inspection, a second conveying unit 30 , a detection unit 50 and a transfer unit 60 .

[0036] The frame body 10 is a three-dimensional frame structure, serving as a supporting body of the sagger visual inspection device 100 , and is used for fixing and installing all mechanisms and components involved in the sagger conveying, inspection, and rejection functions.

[0037] The conveying and positioning device for visual inspection of saggers includes a first conveying unit 20 and a lifting unit 40 .

[0038] like Figure 2 and 3 As shown, the first conveying unit 20 and the second conveying unit 30 are arranged side by side and spaced apart at the same horizontal position of the frame body 10, so as to maintain parallel conveying directions between the two. That is, the first conveying unit 20 and the second conveying unit 30 can convey in the same direction or in opposite directions, depending on the specific requirements of the application scenario of the sagger visual inspection equipment 100.

[0039] like Figure 3 and 6 As shown, the first conveying unit 20 is used to convey the saggers 200 along a preset first conveying direction, and an inspection area 20a is formed on its conveying path. The saggers 200 here refer to the saggers 200 waiting for quality inspection.

[0040] like Figures 4 to 6 As shown, the first conveying unit 20 includes a plurality of first conveying rollers 21 , a plurality of second conveying rollers 22 , a plurality of guide wheels 23 , a first material blocking mechanism 24 and a first driving mechanism 25 .

[0041] exist Figure 3 and 6 Only eight first conveying rollers 21 and four second conveying rollers 22 are shown. The structures and functions of the plurality of first conveying rollers 21 are exactly the same, and only the setting positions are different; similarly, the structures and functions of the plurality of second conveying rollers 22 are also exactly the same, and only the setting positions are different. Specifically, the plurality of second conveying rollers 22 are arranged in pairs and opposite to each other, the plurality of first conveying rollers 21 are arranged on both sides of the plurality of second conveying rollers 22, and the edges of the first conveying rollers 21 and the second conveying rollers 22 are kept flush, so as to facilitate the smooth conveyance of the sagger 200.

[0042] In addition, if Figure 6 As shown, the length of the second conveying roller 22 is set to be smaller than the length of the first conveying roller 21, so that an inspection area 20a is formed between the plurality of first conveying rollers 21 and the plurality of second conveying rollers 22, so as to facilitate visual inspection of the sagger 200 in the vertical space corresponding to the inspection area 20a, specifically, the sagger 200 is lifted by the lifting unit 40 located below the inspection area 20a to be separated from the first conveying unit 20 for inspection.

[0043] Further, in order to enhance the stability of the lifting unit 40 supporting the sagger 200 after lifting, it is necessary to ensure that there is a sufficient contact area between the lifting mechanism and the sagger 200. Therefore, the detection area 20a needs to be large enough to ensure that the lifting unit 40 has a sufficient contact area and can smoothly extend or descend from the detection area 20a. Preferably, the length of the second conveying roller 22 is set to be less than half the length of the first conveying roller 21, so as to maximize the size of the detection area 20a, increase the contact area between the lifting unit 40 and the bottom of the sagger 200, and thus carry the sagger 200. Here, the length of the second conveying roller 22 is set to be less than half the length of the first conveying roller 21, that is, the second conveying roller 22 adopts a broken roller design relative to the first conveying roller 21, so that a sufficient size of the detection area 20a can be formed between the first conveying roller 21 and the second conveying roller 22, so that the size of the detection area 20a matches the bottom size of the sagger 200.

[0044] like Figure 6 As shown, the first conveying roller 21 includes a first roller shaft 211 and two first ceramic wheels 212. Both ends of the first roller shaft 211 are rotatably fixed on two longitudinal fixing plates of the frame body 10, and the two first ceramic wheels 212 are sleeved on the first roller shaft 211 at a predetermined interval and rotate synchronously with the first roller shaft 211. In addition, the interval between the two first ceramic wheels 212 is set to be smaller than the corresponding size of the bottom of the sagger 200, so that the sagger 200 is in direct contact with the two first ceramic wheels 212 during the conveying process, so as to avoid the first roller shaft 211 made of rigid material causing wear or damage to the sagger 200.

[0045] The second conveying roller 22 includes a second roller shaft 221 and a second ceramic wheel 222. The second roller shaft 221 is rotatably fixed to the two longitudinal fixing plates of the frame body 10 through a bearing seat, the second ceramic wheel 222 is fixed on the second roller shaft 221 and is flush with the position of the corresponding first ceramic wheel 212 along the first conveying direction, and the second ceramic wheel 222 also rotates synchronously with the second roller shaft 221, so as to convey the sagger 200. When the sagger 200 is conveyed to the second conveying roller 22, the bottom of the sagger 200 also contacts the second ceramic wheel 222, so as to avoid the second roller shaft 221 made of rigid material from causing wear or damage to the sagger 200.

[0046] All the first conveying rollers 21 and the second conveying rollers 22 are Figure 5 and 6 The sagger 200 is driven by the first driving mechanism 25 to rotate synchronously, thereby realizing the transportation of the sagger 200.

[0047] like Figures 4 to 6As shown, a plurality of guide wheels 23 are evenly arranged on both sides along the first conveying direction for guiding the sagger 200 during the conveying process.

[0048] like Figure 4 and 6 As shown, the first material blocking mechanism 24 is arranged near the detection area 20a, and is used to block the conveyed sagger 200 to stop the conveying and position it at the corresponding position of the detection area 20a. Specifically, the first material blocking mechanism 24 includes a material blocking cylinder 241 and a baffle 242.

[0049] The material blocking cylinder 241 is fixed on the first fixed plate of the frame body 10, and is used to provide power to drive the baffle 242 to move in extension and extension. The baffle 242 is fixedly connected to the piston rod of the material blocking cylinder 241, and the extension and retraction of the piston rod drive the baffle 242 to move up and down. When the baffle 242 rises to a horizontal position higher than the first ceramic wheel 212, the conveyed sagger 200 stops being conveyed due to the obstruction of the baffle 242 and stays at the position of the detection area 20a, so that it is convenient for the lifting unit 40 to lift the sagger 200.

[0050] like Figure 2 and 3 As shown, the second conveying unit 30 is used to convey the unqualified saggers 200 detected along a preset second conveying direction, and is also used to convey the qualified saggers 200 as supplementary saggers.

[0051] like Figure 2 and 3 As shown, the second conveying unit 30 includes a plurality of third conveying rollers 31 and a third driving mechanism 32 .

[0052] Figure 3 10 third conveying rollers 31 are specifically shown in the figure. The structures and functions of the plurality of third conveying rollers 31 are completely the same, and only the setting positions are different, that is, they are sequentially arranged along the preset second conveying direction and kept aligned. In this embodiment, the structure and function of the third conveying rollers 31 are set to be the same as those of the first conveying rollers 21. Of course, in the present invention, the structure of the third conveying rollers 31 can also be set to be different from that of the first conveying rollers 21, as long as the conveying function of the sagger 200 is achieved.

[0053] like Figure 3As shown, the third conveying roller 31 includes a third roller shaft 311 and two third ceramic wheels 312. The two ends of the third roller shaft 311 are rotatably fixed on the other two longitudinal fixing plates of the frame body 10, and the two third ceramic wheels 312 are sleeved on the third roller shaft 311 at a predetermined interval and rotate synchronously with the third roller shaft 311. In addition, the interval between the two third ceramic wheels 312 is set to be smaller than the corresponding size of the bottom of the sagger 200, so that the sagger 200 is in direct contact with the two third ceramic wheels 312 during the conveying process, so as to avoid the third roller shaft 311 made of rigid material from causing wear or damage to the sagger 200.

[0054] All the third conveying rollers 31 are Figure 2 and 3 The saggers 200 are driven by the third driving mechanism 32 shown in the figure to rotate synchronously, thereby realizing the transportation of the rejected saggers 200 or the supplementary saggers.

[0055] like Figure 1 and 2 As shown in FIGS. 4 and 5, the lifting unit 40 is located below the first conveying unit 20 and can be lifted and lowered through the first conveying unit 20, and is used to lift the sagger 200 to be separated from the first conveying unit 20, until the sagger 200 is lifted to a position corresponding to the detection unit 50, that is, the sagger 200 is lifted to the detection station, so as to detect the quality of the sagger 200 through visual image collection and processing. Based on the specific structure of the first conveying unit 20, it can be known that the lifting unit 40 should be set at a position directly below the detection area 20a.

[0056] Specifically, Figure 5 As shown, the lifting unit 40 includes a base 41 , a lifting mechanism 42 and a lifting plate 43 .

[0057] The base 41 is fixed to a predetermined position of the frame body 10 by four pillars, the lifting mechanism 42 is vertically fixed to the base 41, and the lifting plate 43 is connected to the lifting and moving end of the lifting mechanism 42. Here, the lifting mechanism 42 specifically adopts a cylinder with a guide rod, so that the lifting plate 43 can be fixed to the extended end of the piston rod of the cylinder with a guide rod. The lifting plate 43 is gradually raised and extended from the detection area 20a by the extension of the piston rod of the cylinder with a guide rod, so as to contact and further carry the sagger 200. After the piston rod is extended to the preset position, it stops extending so that the sagger 200 is at a predetermined height position above the first conveying unit 20, and the sagger 200 is kept in a state of being separated from the first conveying unit 20 and corresponding to the detection unit 50.

[0058] In this embodiment, the lifting plate 43 is a two-layer disc-shaped structure, and its surface in contact with the sagger 200 is a disc-shaped silicone pad design, which can avoid foreign matter generated by friction between the rigid lifting plate 43 and the sagger 200, increase friction, reduce impact force, and increase adsorption force.

[0059] like Figure 1 and 2 As shown, the detection unit 50 is located in the upper area of ​​the first conveying unit 20 and is arranged to correspond to the position of the lifted sagger 200. It is used to perform visual detection processing on the sagger 200 lifted by the lifting unit 40, specifically including collecting visual images and processing the images, so as to determine whether the quality of the sagger 200 is qualified.

[0060] Specifically, the detection unit 50 includes a bottom surface acquisition unit 51, at least one side surface acquisition unit 52, and an image processing unit not shown in the figure.

[0061] The bottom surface collecting unit 51 is fixed on the top plate of the frame body 10 and is disposed from the top surface opening of the sagger 200 toward the bottom surface of the sagger 200 for collecting the bottom surface image of the sagger 200 .

[0062] like Figure 2 and 3 As shown, there are four side acquisition units 51, and their structures and functions are exactly the same, and only the locations are different. Specifically, they are respectively arranged toward the side of the lifted sagger 200, and are used to acquire images of the corresponding areas on the side of the sagger 200. Specifically, Figure 3 In the figure, from a top view, four side acquisition parts 51 are arranged around the detection area 20a, just at the four vertex positions, and are respectively responsible for the visual image acquisition of the corresponding side areas.

[0063] The image processing unit is connected to the bottom surface acquisition unit 51 and all the side surface acquisition units 52, and is used to store and process the collected visual images, so as to determine whether there are quality problems such as cracks, defects, peeling, and large pieces of residue in the corresponding area of ​​the sagger 200. Here, the specific setting position and processing method of the image processing unit are not limited. The image processing unit can be set in the host PC, and the image processing can be performed in real time by the host PC. The bottom surface acquisition unit 51 and all the side surface acquisition units 52 are connected to the host PC in communication.

[0064] like Figure 3As shown, after the lifting unit 40 lifts the sagger 200, although the positions of the sagger 200 and the detection unit 50 correspond, in the process of visual image acquisition, in order to realize 360-degree accurate detection of the sagger 200 without blind spots, it is necessary to set the lifted sagger 200 to be rotatable, so that the corresponding acquisition part 51 can accurately capture images of another area of ​​the rotated sagger 200, thereby realizing comprehensive detection; of course, the side acquisition part 52 in the detection unit 50 can also be set to be movable and move around the circumference of the sagger 200, so as to capture images of different areas, thereby realizing comprehensive detection.

[0065] Based on this, as a specific implementation method for achieving comprehensive detection, the lifted sagger 200 is set to be rotatable. Figure 4 and 5 As shown, a rotating mechanism 44 is added to the lifting unit 40, the rotating mechanism 44 is fixed on the base 41, and the lifting mechanism 42 is fixed on the rotating shaft of the rotating mechanism 44. The rotating mechanism 44 drives its rotating shaft to drive the entire lifting mechanism 42 and the lifting plate 43 to rotate synchronously with the sagger 200 at a predetermined angle, so that the corresponding side acquisition unit 52 can collect images. Repeatedly, it is possible to achieve comprehensive image collection of all areas of the sagger 200. Here, the lifting function and the rotation function are combined into an integrated mechanism and applied in the visual inspection process of the sagger. The mechanism can save camera costs. It only needs to set cameras on both sides, and the front and rear sides are rotated to complete the inspection, so as to realize directional inspection. The inspection can be completed without moving the camera coordinates. It is fast and efficient, and the control accuracy is high. Secondly, the rotating shaft adopts a hollow design, and negative pressure gas is passed inside to prevent the sagger 200 from shifting in position after the lifting and rotation.

[0066] In this embodiment, the structures and functions of the bottom collecting part 51 and all the side collecting parts 52 are exactly the same, and they are only arranged in different areas corresponding to the sagger 200. The structures of the bottom collecting part 51 and all the side collecting parts 52 are described in detail below by taking the side collecting part 52 as an example.

[0067] like Figure 7 and 8 As shown, the side collection unit 52 includes a suspension rod 521 , a box 522 , a fastening sleeve 523 and a visual camera 524 .

[0068] One end of the suspension rod 521 is fixed on the top plate of the frame body 10, and the other end is connected to the box body 522, and the box body 522 is fixed in a hanging manner. A plurality of adjustment through holes 521a are provided on the axial side wall of the other end of the suspension rod 521 close to the box body 522.

[0069] The top of the box 522 is connected to the other end of the suspension rod 521, and the side of the box 522 facing the sagger 200 is an open structure, which ensures that the visual camera 524 set in the box 522 can be set toward the sagger 200. The box 522 is fixed to the adjustment through hole 521a on the suspension rod 521 through the tightening sleeve 523. The height position of the box 522 can be adjusted by moving the corresponding position of the screw of the tightening sleeve 523 and the adjustment through hole 521a, that is, the vertical distance between the visual camera 524 and the sagger 200 is adjusted, and the saggers 200 of different specifications are adapted so that the visual camera 524 can correspond to the sagger 200.

[0070] Here, polished glass is installed on the side of the open structure of the box 522, so that the box 522 is fully sealed to prevent dust from entering the box 522 and contaminating the glass of the camera lens. Under the premise of ensuring the field of view, dust can be isolated at the same time.

[0071] The visual camera 524 is arranged in the box 522, and its lens is arranged toward the side where the open structure of the box 522 is located, that is, toward the sagger 200, for collecting visual images of the area corresponding to the sagger 200 (such as the bottom area or the side area). Specifically, the bottom inner surface of the box 522 is provided with a guide rail 522a and a slide 522b slidably connected to the guide rail 522a. The visual camera 524 is fixed to the camera seat 524a by bolts, and the camera seat 524a is fixed to the slide 522b. In this way, the synchronous movement of the visual camera 524 is achieved by driving the slide 522b to move along the guide rail 522a, thereby adjusting the horizontal distance between the visual camera 524 and the sagger 200, so that the visual camera 524 is fixed in a suitable position, and can be adapted to saggers 200 of different specifications.

[0072] like Figure 8As shown, in order to adapt to different specifications of saggers 200, the angle of the visual camera 524 toward the sagger 200 can also be adjusted, that is, the elevation angle of the visual camera 524 can be adjusted. The specific structure is: the two sides of the open end of the slide 522b close to the box body 522 are respectively provided with limit members 522c, each limit member 522c is penetrated with a through hole 522d, and the two sides of the other end of the slide 522b are respectively provided with adjustment members 522e, and each adjustment member 522e is penetrated with a circular waist hole 522f. Correspondingly, a shaft 524b is fixedly set at each of the four ends on both sides of the camera seat 524a, that is, a total of four shafts 524b. Among them, the two shaft rods 524b corresponding to the two stoppers 522c of the slide 522b can be rotatably connected after passing through the corresponding through holes 522d, and the two shaft rods 524b corresponding to the two adjustment members 522e of the slide 522b are passed through and extended from the corresponding circular arc waist-shaped holes 522f and can move along the circular arc waist-shaped holes 522f. By allowing the shaft rod 524b of the camera seat 524a to slide along the circular arc waist-shaped holes 522f, the orientation angle of the visual camera 524 relative to the sagger 200 is adjusted, that is, the elevation angle of the visual camera 524 is adjusted, and the focal length of the visual camera 524 is finally fixed at a specified point, so as to better collect the visual image of the corresponding area of ​​the sagger 200. While the shaft rod 524b moves along the circular arc waist-shaped holes 522f, the shaft rod 524b at the other end rotates relative to the corresponding through hole 522d, so that the angle adjustment of the camera seat 524a is more convenient and flexible.

[0073] In this embodiment, the sagger 200 is made of a transparent material, and the visual camera 524 is specifically a light source combined with a camera, such as Figure 1 As shown, in order to ensure the clarity of the image acquisition of the sagger 200 by the visual camera 524, a shading component 53 is provided at a preset position above the visual camera 524, and the shading component is used to ensure the lighting effect required for the image acquisition of the visual camera 524. Secondly, the visual camera 524 specifically adopts a combination of spectrum principle and automatic camera control system for visual acquisition and control. By optimizing the entire detection control, the glass on the front side of the camera is detected before each detection to ensure accurate detection even when the glass is contaminated; that is, even if there is dust on the glass, the visual processing system will think that it is on the glass, not on the sagger 200.

[0074] like Figures 1 to 3 As shown, the transfer unit 60 is disposed above the first conveying unit 20 and in the rear area of ​​the detection unit 50 along the first conveying direction, and is used to remove the unqualified saggers 200 from the first conveying unit 20 .

[0075] like Figure 2 , 3As shown in Figures 9 and 10, the transfer unit 60 is arranged across the first conveying unit 20 and the second conveying unit 30, and the moving direction of the transfer unit 60 is perpendicular to the first conveying direction of the first conveying unit 20, and is used to transfer the unqualified saggers 200 on the first conveying unit 20 to the second conveying unit 30 to complete the rejection operation; the supplementary saggers transported by the second conveying unit 20 can also be transferred to the corresponding position of the first conveying unit 20 to complete the replenishment operation.

[0076] like Fig. 9 and 10 As shown, the transfer unit 60 includes a sliding mechanism 61 , a telescopic mechanism 62 and a clamping mechanism 63 .

[0077] The sliding mechanism 61 is fixed to the top of the frame body 10 and is arranged along a direction perpendicular to the length direction of the first conveying unit 20 or the second conveying unit 30. The sliding mechanism 61 specifically adopts a rodless cylinder, and the movement between the first conveying unit 20 and the second conveying unit 30 is realized by moving the slider 611 of the rodless cylinder.

[0078] The telescopic mechanism 62 is fixedly connected to the slider 611 of the sliding mechanism 61 through four fixed rods, so that the telescopic mechanism moves synchronously with the slider 611. The telescopic mechanism 62 specifically adopts a cylinder with a guide rod, which is fixed on the slider 611 of the rodless cylinder.

[0079] The clamping mechanism 63 is fixedly connected to the telescopic end of the telescopic mechanism 62, and is used to clamp the sagger 200. The clamping mechanism 63 specifically adopts an air claw fixedly connected to the piston rod of the guide rod cylinder.

[0080] Based on the specific structure of the transfer unit 60, the piston rod of the cylinder with a guide rod is extended to drive the air gripper close to the sagger 200, and after the air gripper is driven to clamp the sagger 200, the piston rod of the cylinder with a guide rod is further driven to retract to make the sagger 200 separate from the first conveying unit 20. Then, the slider 611 of the rodless cylinder is driven to move to drive the cylinder with a guide rod, the air gripper and the sagger 200 to move synchronously, specifically from the first conveying unit 20 to the position corresponding to the second conveying unit 30, so as to completely remove the sagger 200 from the first conveying unit 20. Next, when the slider moves to the position corresponding to the second conveying unit 30, the piston rod of the cylinder with a guide rod is controlled to extend again to place the sagger 200 on the second conveying unit 30, and the air gripper is further driven to release the sagger 200. Finally, the sagger 200 can be transported to the designated position through the second conveying unit 30.

[0081] When quality inspection is performed on the AB bowls, if one of the saggers 200 is detected as unqualified, a qualified sagger 200 needs to be added to replace the rejected sagger after the unqualified sagger 200 is removed. Specifically, the supplementary sagger is pre-placed at a predetermined position of the second conveying unit 30, and the second conveying unit 30 conveys the sagger 200 removed from the first conveying unit 20 while conveying the supplementary sagger. When the supplementary sagger is conveyed to a position corresponding to the transfer unit 60, the conveyance of the supplementary sagger is stopped, and the clamping operation of the supplementary sagger is performed by the telescopic mechanism 62 and the clamping mechanism 63, and then the supplementary sagger is driven by the sliding mechanism 61 to move to the predetermined position of the first conveying unit 20 and the operation of placing the supplementary sagger is performed.

[0082] In this embodiment, in order to facilitate the clamping of the supplementary sagger, the second conveying unit 30 can be directly controlled to stop conveying, and it can also be indirectly controlled to stop conveying, that is, the conveying is stopped by the material blocking mechanism. Specifically, a second material blocking mechanism is set below the first conveying unit 20 and at a position close to the sliding mechanism 61, which is used to block the conveyed sagger 200 that has completed the inspection so that it stops conveying and is in a position corresponding to the sliding mechanism 61, thereby facilitating the clamping and transfer operations of the sagger 200. Specifically, the second material blocking mechanism includes a material blocking cylinder and a baffle. In the initial state, the baffle is lower than the horizontal position of the first conveying unit 20, and the baffle is driven by the material blocking cylinder to extend to a horizontal position higher than the first conveying unit 20.

[0083] In combination with specific implementation means, the above-mentioned pot filling process can be realized by using an intelligent manipulator in combination with its automatic control program, so as to accurately remove the pots and fill the pots after removal.

[0084] Based on the specific structure of the above-mentioned sagger visual inspection device 100, the action flow of the sagger visual inspection device 100 of this embodiment is as follows:

[0085] First, the first conveying unit 20 conveys the sagger 200 waiting for inspection, and simultaneously starts the first material blocking mechanism 24 to extend the baffle 242 . When the sagger 200 is conveyed to the position corresponding to the inspection area 20 a , it is blocked by the baffle 242 and the conveying stops.

[0086] Next, the lifting mechanism 42 is controlled to drive the lifting plate 43 to rise, gradually extending from the detection area 20a, and after carrying the sagger 200, further drives the sagger 200 to rise synchronously and then stops after reaching a preset height, so as to keep the height position of the sagger 200 unchanged.

[0087] Further, the visual camera 524 on the top and the four visual cameras 524 on the side are controlled to respectively capture images of the corresponding areas on the bottom and sides of the sagger 200, and the image processing unit processes the captured images in real time; then, the rotating mechanism 44 drives the lifting mechanism 42, the lifting plate 43 and the sagger 200 to rotate synchronously by a predetermined angle, and the visual camera 524 on the top and the four visual cameras 524 on the side again capture images of the corresponding areas on the bottom and sides of the sagger 200, and the captured images are processed in real time by the image processing unit; this cycle is repeated many times to achieve visual inspection processing of all areas on the bottom and sides of the sagger 200.

[0088] Further, the transfer unit 60 is controlled to start or not according to the visual inspection result, and at the same time, the lifting mechanism 42 is controlled to retract and reset. When the visual inspection result is that the quality is unqualified, the transfer unit 60 is controlled to perform the transfer operation. Specifically, the lifting mechanism 42 is controlled to drive the lifting plate 43 and the sagger 200 to descend synchronously until the sagger 200 that has been inspected is transferred to the first conveying unit 20, the lifting mechanism 42 is reset, and the first material blocking mechanism 24 is retracted to allow the first conveying unit 20 to further convey the sagger 200. At the same time, the material blocking cylinder of the second material blocking mechanism of the control transfer unit 60 drives the baffle to extend to a plane position higher than the first conveying unit 20. When the sagger 200 is conveyed to this position, it is blocked by the baffle of the second material blocking mechanism and the conveying is stopped. At this time, the telescopic mechanism 62 is controlled to drive the clamping mechanism 63 to extend so that the clamping mechanism 63 is close to the sagger 200, and the clamping mechanism 63 is further controlled to clamp the sagger 200. Thereafter, the telescopic mechanism 62 retracts with the sagger 200, and then the sliding mechanism 61 is controlled to drive the telescopic mechanism 62, the clamping mechanism 63 and the sagger 200 to move synchronously to the corresponding position above the second conveying unit 30, and the telescopic mechanism 62 and the clamping mechanism 63 are controlled to perform the extension-release-retraction action in sequence, so that the sagger 200 is transferred to the second conveying unit 30, and the second conveying unit 30 is controlled to convey the sagger 200 removed from the first conveying unit 20 to the designated area.

[0089] In the above-mentioned automated control system of conveying-detection-conveying-rejection of the sagger, the saggers with unqualified quality are transferred in a three-coordinate manner between the first conveying unit, the second conveying unit and the sliding mechanism through a telescopic mechanism and a clamping mechanism. The telescopic mechanism and the clamping mechanism use a single-axis manipulator composed of a guide rod cylinder and an air claw to complete the picking, placement and transfer of the sagger.

[0090] In addition, in the above-mentioned automated control process, when the visual camera on the first conveying unit detects that the sagger is cracked, defective, or waste, it will send signals to the transfer unit and the replenishing sagger mechanism at the same time, the baffle of the transfer unit rises, and the replenishing sagger on the second conveying unit comes to the waiting station. When the sagger is conveyed to the corresponding position of the transfer unit, the manipulator of the transfer unit will grab the unqualified sagger to remove it and transfer it to the second conveying unit. The sagger is conveyed to the conveying and positioning device for automatic outflow of sagger visual inspection through the second conveying unit. The qualified sagger at the waiting station is conveyed to the corresponding position of the transfer unit, grabbed by the manipulator of the transfer unit and transferred to the original position (i.e., the position corresponding to the rejected sagger), and the replenishing sagger is completed.

[0091] In this embodiment, Q235 material is sprayed on the main body surface of the conveying and positioning device for visual inspection of saggers. Moreover, all parts in contact with the sagger are made of non-metallic materials that are resistant to high temperature and corrosion, and in combination with the characteristics of the material, the parts in contact with the material are specially treated. The specific contact parts include the first ceramic wheel, the second ceramic wheel, the third ceramic wheel, the air claw, and the lifting plate to avoid wear, scratches or damage to the sagger; in addition, the overall non-load-bearing screws and bolts are made of engineering plastics to avoid contamination by magnetic substances.

[0092] Through actual use test of the conveying and positioning device for visual inspection of saggers, the test environment is a well-ventilated place without severe vibration. The saggers suitable for inspection are square saggers (width 320mm-350mm*320mm-350mm, height 70-120mm). The detection accuracy ratio of the equipment reaches 96%, and the detection speed under normal conditions reaches 30 seconds / sagger.

[0093] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A conveying and positioning device for sagger visual inspection, used in sagger visual inspection equipment, for conveying and positioning the sagger to be inspected to the inspection station for visual quality inspection, characterized in that: include: A conveying unit, used for conveying the sagger along a preset conveying direction, with a detection area formed on the conveying path; A lifting unit is arranged below the conveying unit corresponding to the detection area and can be lifted and lowered through the conveying unit to lift the sagger to be separated from the conveying unit and reach the detection station for visual detection processing.

2. The conveying and positioning device for sagger visual inspection according to claim 1, characterized in that: The conveying unit includes a plurality of first conveying rollers and a plurality of second conveying rollers. The plurality of second conveying rollers are arranged in pairs and facing each other, and the plurality of first conveying rollers are arranged on both sides of the plurality of second conveying rollers, so that the detection area is formed between the plurality of first conveying rollers and the plurality of second conveying rollers. The lifting unit is arranged directly below the detection area and can extend through the detection area to lift the corresponding sagger.

3. The conveying and positioning device for sagger visual inspection according to claim 2, characterized in that: The lifting unit includes a base, a lifting mechanism arranged on the base, and a lifting plate fixed on the top surface of the lifting mechanism facing the conveying unit.

4. The conveying and positioning device for sagger visual inspection according to claim 3, characterized in that: The lifting unit further comprises a rotating mechanism for driving the lifted sagger to rotate.

5. The conveying and positioning device for sagger visual inspection according to claim 4, characterized in that: The rotating mechanism is arranged between the base and the lifting mechanism, so as to drive the lifting mechanism and the lifting plate to rotate synchronously.

6. The conveying and positioning device for visual inspection of saggers according to claim 3, characterized in that: The horizontal position of the lifting plate in an initial state is not higher than the horizontal position of the conveying unit.

7. The conveying and positioning device for sagger visual inspection according to claim 3, characterized in that: The lifting plate is a double-layer structure, and the structural layer in contact with the sagger is made of elastic material.

8. The conveying and positioning device for visual inspection of saggers according to claim 3, characterized in that: The length of the second conveying roller is less than half of the length of the first conveying roller, so that the lifting plate has a predetermined area to contact the sagger.

9. The conveying and positioning device for visual inspection of saggers according to claim 4, characterized in that: The rotating mechanism is a rotating cylinder, the lifting mechanism is a telescopic cylinder fixed on the rotating shaft of the rotating cylinder, and the lifting plate is fixedly connected to the piston rod of the telescopic cylinder.

10. The conveying and positioning device for sagger visual inspection according to claim 2, characterized in that: The conveying unit further comprises a plurality of guide wheels arranged on both sides along the conveying direction, and the conveying process of the sagger is guided by the plurality of guide wheels.

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