Grid appearance automatic detection equipment

Abstract

The present disclosure belongs to the field of nuclear power technology, and specifically relates to an automatic detection device for the appearance of a grid. The present disclosure realizes a series of operations such as automatic loading and unloading of grids, cleaning of grids, placing of grids in the detection area, and automatic flipping of grids through industrial robot components. Manual operations only need to load and unload materials in batches from the loading and unloading warehouse. The visual system can automatically collect images of the grids and other signals, convert them into data that can be recognized and analyzed by the industrial control computer, and transmit them to the host computer. In this way, the automatic detection device for the appearance of the grid disclosed in the present disclosure improves the measurement efficiency, alleviates the problem of low efficiency of manual detection, and avoids the occurrence of missed detection and false detection to the greatest extent, playing an important role in product quality process control.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear power, and in particular relates to an automatic detection device for the appearance of a grid. Background Art

[0002] The grid is an important part of nuclear fuel assembly, and the quality inspection of the grid is of vital importance. In the related technology, the appearance inspection of the grid can only be completed manually. The low degree of automation, low reliability of inspection, high false detection rate, and high labor intensity of manual appearance inspection have become one of the bottlenecks restricting the production of nuclear fuel assemblies. Therefore, how to improve the efficiency and accuracy of grid appearance inspection has become an urgent problem to be solved. Summary of the invention

[0003] In order to overcome the problems existing in the related art, a grid appearance automatic detection device is provided.

[0004] According to one aspect of an embodiment of the present disclosure, there is provided an automatic grid appearance inspection device, the automatic grid appearance inspection device comprising: a base, an inspection platform, a plurality of loading and unloading warehouses, an industrial robot assembly, an inspection area, a cleaning device, an industrial control system, and a visual inspection system;

[0005] The detection platform and a plurality of loading and unloading warehouses are arranged on the base, and each loading and unloading warehouse is used to place a plurality of grids;

[0006] The industrial robot assembly, the detection area and the cleaning equipment are arranged on the detection platform, and the detection area is used to place the grid;

[0007] The industrial robot assembly, under the control of the industrial control system, can take out or put in a grid from any one of each loading and unloading warehouse, the cleaning equipment, and the inspection platform, and can move and / or flip the gripped grid;

[0008] The cleaning device is used to perform air blowing cleaning on the placed grid;

[0009] The visual inspection system is used to collect images of the grid in the inspection area, determine whether the grid has defects based on the recognition results of the collected images, and count the types and quantities of the grid defects if the grid has defects.

[0010] In a possible implementation, the visual inspection system includes any one or more of the following modules:

[0011] A rack number and strip number identification module is used to identify the identification number of the rack and the identification number of the strip;

[0012] The smoke color and oxidation color detection module of the outer strip of the grid is used to detect whether there are defects in the smoke color and oxidation color of the outer strip of the grid;

[0013] The grid outer strip scratch and dirt detection module is used to detect whether there are scratches and dirt on the grid outer strip;

[0014] A grid outer strip guide wing deformation detection module is used to detect whether the grid outer strip guide wing is deformed;

[0015] The grid outer strip weld length and welding quality detection module is used to detect the length and welding quality of the grid outer strip weld;

[0016] Grid weld point and slurry wing detection module, used to detect the quality of grid weld points and whether the slurry wing is deformed;

[0017] The grid spring and steel convex splash detection module is used to detect whether there are splash stains on the grid spring and the steel convex;

[0018] The grid inner strip inner wall splash detection module is used to detect whether there are splash stains on the inner wall of the grid inner strip;

[0019] The grid strip rigid bump spot welding tongue spring deformation detection module is used to detect whether the grid, strip, rigid bump, spot welding tongue and spring are deformed.

[0020] In a possible implementation, the detection area includes a first detection area, a second detection area, and a third detection area;

[0021] The visual inspection system includes a first subsystem, a second subsystem and a third subsystem;

[0022] The first subsystem includes a plurality of image acquisition devices arranged in the first detection area, the grid number and strip number recognition module, the grid outer strip smoke color and oxidation color detection module, the grid outer strip scratch and dirt detection module, the grid outer strip guide wing deformation detection module, the grid outer strip weld length and welding quality detection module and the grid inner strip inner wall spatter detection module, which are used to detect the grids placed in the first detection area;

[0023] The second subsystem includes a plurality of image acquisition devices arranged in the second detection area, the grid spring and steel bump splash detection module, the grid strip steel bump welding tongue spring deformation detection module, and is used to detect the grid placed in the second detection area;

[0024] The third subsystem includes a plurality of image acquisition devices arranged in the third detection area, the grid welding point and the slurry wing detection module, and is used to detect the grid placed in the third detection area.

[0025] In a possible implementation, the automatic grid appearance detection device further includes: a transfer table, which is arranged near the detection platform and is used to place the grid waiting for image acquisition.

[0026] In a possible implementation, the automatic grid appearance inspection device further includes a defective grid configuration table, which is disposed near the inspection platform and is used to place defective grids.

[0027] In a possible implementation, the multiple loading and unloading warehouses surround the detection platform to isolate the detection platform from the external space of the automatic grid appearance detection equipment;

[0028] Each loading and unloading warehouse is provided with a plurality of through slots, the opening at one end of each through slot faces the external space of the automatic grid appearance inspection equipment, and the opening at the other end of each through slot faces the inspection platform. A drawer can be loaded from the opening at one end of each through slot, and each drawer can automatically extend out from the opening direction of the other end of the loaded through slot or automatically retract and close under the drive of the industrial control system.

[0029] In a possible implementation, for each rack, the industrial control system performs the following operations until all racks are detected:

[0030] The industrial control system controls the industrial robot assembly to grab the racks to be inspected from the loading and unloading warehouse and send them to the cleaning equipment for cleaning;

[0031] After the cleaning operation of the grid is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the inspection area for defect inspection;

[0032] After the defect detection of the grid in the detection area is completed, the industrial control system controls the industrial robot component to grab the grid and put it into a loading and unloading warehouse.

[0033] In a possible implementation, the industrial control system performs the following operations for each rack until all racks are detected:

[0034] The industrial control system controls the industrial robot assembly to grab the racks to be inspected from the loading and unloading warehouse and send them to the cleaning equipment for cleaning;

[0035] After the cleaning operation of the grid is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the first inspection area for defect inspection;

[0036] After the defect detection of the grid in the first detection area is completed, the industrial control system controls the industrial robot component to grab the grid and put it into the second detection area for defect detection or put it into the transfer table for temporary storage;

[0037] After the defect detection of the grid in the second detection area is completed, the industrial control system controls the industrial robot component to grab the grid and put it into the third detection area for defect detection;

[0038] After the defect detection of the grid in the third detection area is completed, the industrial control system controls the industrial robot component to grab the grid and put it into a loading and unloading warehouse.

[0039] In one possible implementation, the visual inspection system includes multiple image acquisition devices. When a frame is placed in a first inspection area, a second inspection area, or a third inspection area, the industrial control system controls the multiple image acquisition devices to perform one or more image acquisitions on the frame. In the period between each two image acquisitions, the industrial control system controls the first inspection area, the second inspection area, or the third inspection area where the frame is located to rotate horizontally by a preset angle and / or controls the industrial robot component to grasp the workpiece and flip it by a preset angle.

[0040] In a possible implementation, the automatic grid appearance detection device further includes: a shield, wherein the shield body is a frame structure, and the shield is disposed above the detection platform.

[0041] In a possible implementation, the shield further includes a safety door, and when the safety door is opened, outsiders can enter the detection platform, and when the safety door is closed, outsiders cannot enter the detection platform;

[0042] The safety door establishes a communication connection with the industrial robot component;

[0043] When the industrial robot component starts working, it sends a first signal to the door suction of the safety door, and the door suction locks the safety door upon receiving the first signal, so that the safety door is closed;

[0044] When the safety door is opened, a second signal is sent to the industrial robot component. Upon receiving the second signal, the self-locking device of the industrial robot component is locked, so that the industrial robot component cannot be started.

[0045] In a possible implementation, the protective cover further includes an alarm device, and the alarm device is connected to the industrial machine component, and when the industrial machine component is turned on, the alarm device issues an alarm.

[0046] In a possible implementation, the shield further includes a lighting device, which is disposed at a top end inside the shield and is used to provide lighting for the detection platform.

[0047] The beneficial effects of the present disclosure are: the present disclosure realizes a series of operations such as automatic loading and unloading of grids, cleaning of grids, placing of grids in the detection area, and automatic flipping of grids through industrial robot components. Manual labor only needs to load and unload materials in batches from the loading and unloading warehouse, and the visual inspection system can automatically collect images of the grids and other signals, convert them into data that can be recognized and analyzed by the industrial control computer, and transmit them to the host computer. In this way, the automatic detection equipment for the appearance of the grid disclosed by the present disclosure improves the measurement efficiency, alleviates the problem of low efficiency of manual inspection, and avoids the occurrence of missed inspections and false inspections to the greatest extent, playing an important role in the process control of product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The figure is a stereoscopic diagram of a device for automatically detecting the appearance of a grid according to an exemplary embodiment.

[0049] Figure 2 The figure is a top view of a grid appearance automatic inspection device with a protective cover removed according to an exemplary embodiment.

[0050] Figure 3 It is a stereoscopic diagram of a detection platform of a grid appearance automatic detection device according to an exemplary embodiment.

[0051] Figure 4 The figure is a three-dimensional diagram of a protective cover of a grid appearance automatic detection device according to an exemplary embodiment.

[0052] In the figure:

[0053] 1. Base; 2. Cabinet door; 3. Protective cover; 4. Inspection platform; 5. Loading and unloading storage; 6. Storage electrical control cabinet;

[0054] 8. Main electric control cabinet; 9. Industrial robot components; 10. Protective net; 12. Defect grid configuration table;

[0055] 13. Inspection area; 14. Transfer station; 17. Cleaning equipment; 18. Robot control cabinet;

[0056] 25. Frame; 26. Alarm device; 27. Touch screen; 28. Visual display; 29. ​​Industrial computer display;

[0057] 30. Mouse and keyboard drawer; 31. Lighting equipment; 32. Door stopper; 33. Security door. DETAILED DESCRIPTION

[0058] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] Figure 1 is a stereoscopic diagram of a grid appearance automatic detection device according to an exemplary embodiment Figure 2is a top view of a grid appearance automatic detection device with a protective cover removed according to an exemplary embodiment. Figure 3 FIG. 1 is a perspective view of a detection platform of a grid appearance automatic detection device according to an exemplary embodiment. Figure 1 and Figure 3 As shown, the automatic grid appearance inspection device includes: a base 1, an inspection platform 4, a plurality of loading and unloading warehouses 5, an industrial robot component 9, an inspection area 13, a cleaning device 17, an industrial control system (not shown in the figure) and a visual inspection system (not shown in the figure);

[0060] The detection platform 4 and a plurality of loading and unloading warehouses 5 are arranged on the base 1 , and each loading and unloading warehouse 5 is used for placing a plurality of racks.

[0061] The industrial robot assembly 9, the detection area 13 and the cleaning device 17 are arranged on the detection platform 4, and the detection area 13 is arranged horizontally for placing the grid;

[0062] The industrial robot assembly 9, when driven by the industrial control system, can take out or put in a grid from any one of each loading and unloading warehouse 5, the cleaning equipment 17, and the detection platform 4, and the industrial robot assembly 9 can also move and / or flip the gripped grid;

[0063] The cleaning device 17 is used to blow and clean the placed grid;

[0064] The visual inspection system is arranged at the inspection area 13, and is used to collect images of the grids on the inspection area 13, and send the collected images to the host computer.

[0065] The visual inspection system is used to collect images of the grid in the inspection area, determine whether the grid has defects based on the recognition results of the collected images, and count the types and quantities of the grid defects if the grid has defects.

[0066] For each rack, the industrial control system performs the following operations until all racks are detected;

[0067] The industrial control system controls the industrial robot assembly to grab the racks to be inspected from the loading and unloading warehouse and send them to the cleaning equipment for cleaning;

[0068] After the cleaning operation of the grid is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the inspection area for defect inspection;

[0069] After the defect detection of the grid in the detection area is completed, the industrial control system controls the industrial robot component to grab the grid and put it into a loading and unloading warehouse.

[0070] The present invention realizes a series of operations such as automatic loading and unloading of grids, cleaning of grids, placing of grids in the detection area, and automatic flipping of grids through industrial robot components. Manual labor only needs to load and unload materials in batches from the loading and unloading warehouse, and the visual inspection system can automatically collect images of the grids and other signals and convert them into data that can be recognized and analyzed by the industrial control computer and transmitted to the host computer. In this way, the automatic detection equipment for the appearance of the grid disclosed in the present invention improves the measurement efficiency, alleviates the problem of low efficiency of manual inspection, and avoids the occurrence of missed inspections and false inspections to the greatest extent, playing an important role in the process control of product quality.

[0071] In a possible implementation, the visual inspection system includes any one or more of the following modules:

[0072] A rack number and strip number identification module is used to identify the identification number of the rack and the identification number of the strip;

[0073] The smoke color and oxidation color detection module of the outer strip of the grid is used to detect whether there are defects in the smoke color and oxidation color of the outer strip of the grid;

[0074] The grid outer strip scratch and dirt detection module is used to detect whether there are scratches and dirt on the grid outer strip;

[0075] A grid outer strip guide wing deformation detection module is used to detect whether the grid outer strip guide wing is deformed;

[0076] The grid outer strip weld length and welding quality detection module is used to detect the length and welding quality of the grid outer strip weld;

[0077] Grid weld point and slurry wing detection module, used to detect the quality of grid weld points and whether the slurry wing is deformed;

[0078] The grid spring and steel convex splash detection module is used to detect whether there are splash stains on the grid spring and the steel convex;

[0079] The grid inner strip inner wall splash detection module is used to detect whether there are splash stains on the inner wall of the grid inner strip;

[0080] The grid strip rigid bump spot welding tongue spring deformation detection module is used to detect whether the grid, strip, rigid bump, spot welding tongue and spring are deformed.

[0081] In a possible implementation, for each grid, the visual inspection system can first call the code identified by the grid number and strip number recognition module, and then respectively call the grid outer strip smoke color and oxidation color detection module, the grid outer strip scratch and dirt detection module, the grid outer strip guide wing deformation detection module, the grid outer strip weld length and welding quality detection module, the grid weld point and stirring wing detection module, the grid spring and steel convex spatter detection module, the grid inner strip inner wall spatter detection module, and the grid strip steel convex point welding tongue spring deformation detection module. And according to the recognition results of each module, establish the image detection result set corresponding to the code. In this way, the quality inspection result of each grid is obtained.

[0082] In this way, the present invention can obtain multi-dimensional and comprehensive appearance inspections such as the smoked color, oxidation color, scratches and dirt, outer strip guide wings, weld length and welding quality, weld points and stirring wings of the frame according to the number corresponding to each frame through image recognition. Since the number corresponding to the frame is obtained through actual inspection, the situation of incorrect association between the frame number and the frame appearance inspection result is effectively avoided.

[0083] In a possible implementation, the detection area includes a first detection station, a second detection station, and a third detection station;

[0084] The visual inspection system includes a first subsystem, a second subsystem and a third subsystem;

[0085] The first subsystem includes a plurality of image acquisition devices arranged at the first inspection station, the grid number and strip number recognition module, the grid outer strip smoke color and oxidation color detection module, the grid outer strip scratch and dirt detection module, the grid outer strip guide wing deformation detection module, the grid outer strip weld length and welding quality detection module and the grid inner strip inner wall spatter detection module, which are used to detect the grid placed at the first inspection station;

[0086] The second subsystem includes a plurality of image acquisition devices arranged at the second inspection station, the grid spring and steel bump splash detection module, the grid strip steel bump welding tongue spring deformation detection module, and is used to detect the grid placed at the second inspection station;

[0087] The third subsystem includes a plurality of image acquisition devices arranged at the third inspection station, the grid welding point and scrambling wing inspection module, and is used to inspect the grid placed at the third inspection station.

[0088] The industrial control system performs the following operations for each rack until all racks are detected;

[0089] The industrial control system controls the industrial robot assembly to grab the racks to be inspected from the loading and unloading warehouse and send them to the cleaning equipment for cleaning;

[0090] After the cleaning operation of the grid is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the first inspection station for defect inspection;

[0091] After the defect detection of the grid at the first detection station is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the second detection station for defect detection or put it into the transfer station for temporary storage;

[0092] After the defect detection of the grid at the second detection station is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the third detection station for defect detection;

[0093] After the defect detection of the grid at the third detection station is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into a loading and unloading warehouse.

[0094] In one possible implementation, the visual inspection system includes multiple image acquisition devices. When a frame is placed in a first inspection station, a second inspection station, or a third inspection station, the industrial control system controls the multiple image acquisition devices to perform one or more image acquisitions on the frame. In the period between each two image acquisitions, the industrial control system controls the first inspection station, the second inspection station, or the third inspection station where the frame is located to rotate horizontally by a preset angle and / or controls the industrial robot assembly to grasp the workpiece and flip it by a preset angle.

[0095] In one possible implementation, Figure 1 and Figure 2 As shown, the automatic grid appearance detection device also includes: a material warehouse electric control cabinet 6 and a main electric control cabinet 8, wherein the material warehouse electric control cabinet and the main electric control cabinet are respectively arranged on the base, and the material warehouse electric control cabinet is used to control the automatic opening and closing of the upper and lower material warehouse drawers. The main electric control cabinet is used to supply power to each component device of the automatic grid appearance detection device.

[0096] In one possible implementation, Figure 1 and Figure 2 As shown, the automatic grid appearance detection device also includes: a protective net 10. For example, the protective net is arranged above each loading and unloading warehouse.

[0097] In a possible implementation, the multiple loading and unloading warehouses surround the detection platform, isolating the detection platform from the external space of the grid appearance automatic detection equipment; each loading and unloading warehouse has multiple through slots, the opening of one end of each through slot faces the external space of the grid appearance automatic detection equipment, and the opening of the other end of each through slot faces the detection platform, and a drawer can be loaded from the opening of one end of each through slot, and each drawer can automatically extend from the opening direction of the other end of the loaded through slot to open or automatically retract and close. In this way, it is convenient for personnel to load and unload materials, and it is convenient for industrial robot components to take square grids from the loading and unloading warehouses, and it also isolates personnel from industrial robot components to prevent industrial machine components from causing harm to personnel when working.

[0098] like Figure 3 As shown, the automatic grid appearance detection equipment also includes: a robot control cabinet 18, which can be set on the lower layer of the detection platform 4, and the robot control cabinet is used to control the movement of the industrial robot components.

[0099] In one possible implementation, Figure 3 As shown, the detection platform 4 is a two-layer frame structure; the cleaning device 17 is arranged on the lower layer of the detection platform 4, and the detection area 13 is arranged on the upper layer of the detection platform 4. In this way, the internal space of the equipment can be concentrated.

[0100] In addition, if Figure 1 As shown, a cabinet door 2 is arranged on one side of the detection platform facing the outside of the automatic grid appearance detection device.

[0101] In a possible implementation, the automatic grid appearance detection device includes a plurality of detection areas 13; the visual detection system includes a plurality of cameras, and each detection area 13 is respectively provided with one or more cameras.

[0102] In a possible implementation, the automatic grid appearance detection device further includes: a transfer station 14;

[0103] The transfer table 14 is arranged near the detection platform 4 and is used to place the racks waiting for image acquisition.

[0104] In a possible implementation, the automatic grid appearance detection device further includes a defective grid configuration station 12;

[0105] The defective rack configuration table 12 is disposed near the detection platform 4 and is used to place defective racks.

[0106] In a possible implementation, the automatic grid appearance detection device further includes: a shield 3 , the main body of the shield 3 is a frame 25 , and the shield 3 is disposed above the detection platform 4 .

[0107] In a possible implementation, the shield 3 further includes a safety door 33 . When the safety door 33 is opened, outsiders can enter the detection platform 4 . When the safety door 33 is closed, outsiders cannot enter the detection platform 4 .

[0108] The safety door 33 establishes a communication connection with the industrial robot assembly 9;

[0109] When the industrial robot assembly 9 starts working, it sends a first signal to the door stopper 32 of the safety door 33. When the door stopper 32 receives the first signal, it locks the safety door 33 to close the safety door 33.

[0110] When the safety door 33 is opened, it sends a second signal to the industrial robot assembly 9. Upon receiving the second signal, the self-locking device of the industrial robot assembly 9 is locked, so that the industrial robot assembly 9 cannot be started.

[0111] In one possible implementation, Figure 3 As shown, a touch screen 27, a visual display 28, an industrial computer display 29 and a mouse and keyboard drawer 30 are also provided on the outside of the protective cover 3 to facilitate personnel to monitor and operate data.

[0112] In a possible implementation, the safety door 33 is made of a transparent material, wherein the transparent material can be a material that can transmit light, such as glass, organic glass, etc., which is not limited in the present disclosure.

[0113] In a possible implementation, the protective cover 3 further includes a lighting device 31 , which is disposed at the top of the interior of the protective cover 3 and is used to provide lighting for the detection platform 4 .

[0114] In a possible implementation, the protective cover 3 further includes an alarm device 26, which is connected to the industrial robot assembly 9. When the industrial robot assembly 9 is turned on, the alarm device 26 issues an alarm (for example, the alarm may be a sound alarm, a flashing light alarm, or a combination of a sound alarm and a flashing light alarm). In this way, personnel can be further reminded to pay attention to safety.

[0115] In a possible implementation, the automatic grid appearance detection device further includes a plurality of universal wheels, and the plurality of universal wheels are disposed at the bottom end of the base.

[0116] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A grid appearance automatic detection device, characterized in that: The automatic grid appearance inspection equipment includes: a base, an inspection platform, multiple loading and unloading warehouses, an industrial robot component, an inspection area, a cleaning device, an industrial control system, and a visual inspection system; The detection platform and a plurality of loading and unloading warehouses are arranged on the base, and each loading and unloading warehouse is used to place a plurality of grids; The industrial robot assembly, the detection area and the cleaning equipment are arranged on the detection platform, and the detection area is used to place the grid; The industrial robot assembly, under the control of the industrial control system, can take out or put in a grid from any one of each loading and unloading warehouse, the cleaning equipment, and the inspection platform, and can move and flip the gripped grid; The cleaning device is used to perform air blowing cleaning on the placed grid; The visual inspection system is used to collect images of the grid in the inspection area, determine whether the grid has defects based on the recognition results of the collected images, and count the types and quantities of grid defects if the grid has defects; The visual inspection system includes any one or more of the following modules: A rack number and strip number identification module is used to identify the identification number of the rack and the identification number of the strip; The smoke color and oxidation color detection module of the outer strip of the grid is used to detect whether there are defects in the smoke color and oxidation color of the outer strip of the grid; The grid outer strip scratch and dirt detection module is used to detect whether there are scratches and dirt on the grid outer strip; A grid outer strip guide wing deformation detection module is used to detect whether the grid outer strip guide wing is deformed; The grid outer strip weld length and welding quality detection module is used to detect the length and welding quality of the grid outer strip weld; Grid weld point and slurry wing detection module, used to detect the quality of grid weld points and whether the slurry wing is deformed; The grid spring and steel convex splash detection module is used to detect whether there are splash stains on the grid spring and the steel convex; The grid inner strip inner wall splash detection module is used to detect whether there are splash stains on the inner wall of the grid inner strip; Grid strip rigid bump spot welding tongue spring deformation detection module, used to detect whether the grid, strip, rigid bump, spot welding tongue, and spring are deformed; The detection area includes a first detection station, a second detection station and a third detection station; The visual inspection system includes a first subsystem, a second subsystem and a third subsystem; The first subsystem includes a plurality of image acquisition devices arranged at the first inspection station, the grid number and strip number recognition module, the grid outer strip smoke color and oxidation color detection module, the grid outer strip scratch and dirt detection module, the grid outer strip guide wing deformation detection module, the grid outer strip weld length and welding quality detection module and the grid inner strip inner wall spatter detection module, which are used to detect the grid placed at the first inspection station; The second subsystem includes a plurality of image acquisition devices arranged at the second inspection station, the grid spring and steel bump splash detection module, the grid strip steel bump welding tongue spring deformation detection module, and is used to detect the grid placed at the second inspection station; The third subsystem includes a plurality of image acquisition devices arranged at the third inspection station, the grid welding point and the slurry wing inspection module, and is used to inspect the grid placed at the third inspection station; The automatic detection device for the appearance of the grid also includes: a transfer table, which is arranged near the detection platform and is used to place the grid waiting for image acquisition; The multiple loading and unloading warehouses surround the detection platform to isolate the detection platform from the external space of the automatic grid appearance detection equipment; Each loading and unloading warehouse is provided with a plurality of through slots, the opening at one end of each through slot faces the external space of the automatic inspection device for the appearance of the grid, and the opening at the other end of each through slot faces the inspection platform. A drawer can be loaded from the opening at one end of each through slot, and each drawer can automatically extend out from the opening direction at the other end of the loaded through slot or automatically retract and close under the drive of the industrial control system; The industrial control system performs the following operations for each rack until all racks are detected; The industrial control system controls the industrial robot assembly to grab the racks to be inspected from the loading and unloading warehouse and send them to the cleaning equipment for cleaning; After the cleaning operation of the grid is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the first inspection station for defect inspection; After the defect detection of the grid at the first detection station is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the second detection station for defect detection or put it into the transfer station for temporary storage; After the defect detection of the grid at the second detection station is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into the third detection station for defect detection; After the defect detection of the grid at the third detection station is completed, the industrial control system controls the industrial robot assembly to grab the grid and put it into a loading and unloading warehouse; The visual inspection system includes multiple image acquisition devices. When the frame is placed in the first inspection station, the second inspection station or the third inspection station, the industrial control system controls the multiple image acquisition devices to perform one or more image acquisitions on the frame. In the period between each two image acquisitions, the industrial control system controls the first inspection station, the second inspection station or the third inspection station where the frame is located to rotate horizontally at a preset angle and controls the industrial robot component to grasp the workpiece and flip it at a preset angle.

2. The automatic grid appearance detection device according to claim 1, characterized in that: The automatic grid appearance inspection device further comprises a defective grid configuration table, which is arranged near the inspection platform and is used for placing defective grids.

3. The automatic grid appearance detection device according to claim 1, characterized in that: The automatic grid appearance detection device also includes a shield, the shield body is a frame structure, and the shield is arranged above the detection platform.

4. The automatic grid appearance detection device according to claim 3 is characterized in that: The shield further comprises a safety door. When the safety door is opened, outsiders can enter the detection platform. When the safety door is closed, outsiders cannot enter the detection platform. The safety door establishes a communication connection with the industrial robot component; When the industrial robot component starts working, it sends a first signal to the door suction of the safety door, and the door suction locks the safety door upon receiving the first signal, so that the safety door is closed; When the safety door is opened, a second signal is sent to the industrial robot component. Upon receiving the second signal, the self-locking device of the industrial robot component is locked, so that the industrial robot component cannot be started.

5. The automatic grid appearance detection device according to claim 3, characterized in that: The shield further comprises a lighting device, which is arranged at the top end of the shield and is used to provide lighting for the detection platform.

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