Strip automatic detection equipment

Abstract

The present disclosure belongs to the field of nuclear power technology, and specifically relates to an automatic strip detection device. In the automatic strip detection device disclosed in the present disclosure, an industrial robot component, a stage detection area, a plurality of strip boxes, a first image acquisition device, and a second image acquisition device are arranged on the detection platform; under the control of a control device, the industrial robot component can take out a strip from each strip box, place it in the stage detection area, and take out the strip in the stage detection area and put it into the strip box; the first image acquisition device is used to acquire a top view image of the strip in the stage detection area, and the second image acquisition device is used to acquire a side view image of the side spring of the strip in the stage detection area. The automatic strip detection device 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 strip detection device. Background Art

[0002] In the related technology, it is necessary to use manual visual inspection to check whether the strip has defects, which is inefficient and the strip inspection results are heavily dependent on manual experience, which makes the strip inspection results unguaranteed, thereby seriously affecting the output quality of the strip. Therefore, it is urgent to improve the inspection quality and efficiency of the strip quality. Summary of the invention

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

[0004] According to one aspect of an embodiment of the present disclosure, there is provided an automatic strip detection device, the automatic strip detection device comprising: a detection platform, an industrial robot assembly, a stage detection area, a plurality of strip boxes, a first image acquisition device, a second image acquisition device, and a control device;

[0005] The industrial robot assembly, the stage detection area, the plurality of strip boxes, the first image acquisition device and the second image acquisition device are arranged on the detection platform;

[0006] The industrial robot assembly, under the control of the control device, can take out the strips from each strip box and place them in the stage detection area, and take out the strips in the stage detection area and place them in the strip box;

[0007] The first image acquisition device is used to acquire a top view image of the strip in the stage detection area, and the second image acquisition device is used to acquire a side view image of the side spring of the strip in the stage detection area.

[0008] In a possible implementation, the strip automatic detection device further includes: a base, and the detection platform is arranged on the base.

[0009] In a possible implementation, the base includes an upper and lower layer structure, the detection platform is arranged on the upper layer of the base, and the control device is arranged on the lower layer of the base.

[0010] In a possible implementation, a plurality of universal wheels are disposed at the bottom end of the base, and each universal wheel can adjust the height.

[0011] In a possible implementation, the strip automatic detection device further includes: a protective cover, the protective cover is arranged above the detection platform;

[0012] The protective cover is provided with a loading safety door, and when the loading safety door is opened, the strip box can be placed or taken on the detection platform;

[0013] When the loading safety door is closed, the protective cover isolates the detection platform from the external space.

[0014] In a possible implementation, the strip automatic detection device further includes: an alarm device;

[0015] When the feeding safety door is opened, the alarm device sounds an alarm.

[0016] In a possible implementation, the strip automatic detection device further includes: a lighting device, which is disposed on the top of the inner side of the protective cover and is used to provide lighting for the detection platform.

[0017] In a possible implementation, the strip automatic detection device further includes a strip light source, the strip light source is connected to the detection platform through a module, the stage detection area includes a plurality of stage detection positions, and a strip is placed at each stage detection position;

[0018] The control device controls the industrial robot assembly to grab the strips from the strip box and send them to the detection positions of each carrier;

[0019] For each stage detection position in turn, after the control device controls the module to move the strip light source to align with one end of each stage detection position, the control device controls the module to move the strip light source every time it moves a preset distance, and controls the first image acquisition device to take a photo once until the image acquisition of the first surface with the strip facing upwards at the stage detection position is completed;

[0020] After the image acquisition of the first surface of the strip at each stage detection position is completed, the control device controls the industrial robot assembly to flip the strip on each stage detection position so that the second surface of the strip facing downward at each stage detection position faces upward. After the control device controls the module to move the strip light source to align with one end of each stage detection position, the control device controls the module to move the strip light source to control the first image acquisition device to take a photo once every time it moves a preset distance until the image acquisition of the second surface of the strip facing upward at the stage detection position is completed;

[0021] The control device controls the second image acquisition device to take a photo each time while controlling the first image acquisition device to take a photo.

[0022] In a possible implementation, the strip automatic detection device further includes: a visual detection system, the visual detection system being used to identify the images acquired from the first image acquisition device and the second image acquisition device to obtain a recognition result;

[0023] The visual inspection system comprises:

[0024] A first identification module, used to identify the number of the strip;

[0025] The second recognition module is used to recognize whether the strip has any one or more of pits, indentations, and scratches;

[0026] The third identification module is used to identify whether the strip has oxidation and / or metal precipitation color;

[0027] A fourth identification module is used to identify the size of the strip spring welding point and whether the strip spring welding point is deviated;

[0028] The fifth identification module is used to identify the height of the strip spring.

[0029] The beneficial effects of the present disclosure are as follows: in the strip automatic detection equipment of the present disclosure, the industrial robot assembly, the stage detection area, the plurality of strip boxes, the first image acquisition device and the second image acquisition device are arranged on the detection platform; under the control of the control device, the industrial robot assembly can take out the strip from each strip box, place it in the stage detection area, and take out the strip in the stage detection area and put it into the strip box; the first image acquisition device is used to acquire the top view image of the strip in the stage detection area, and the second image acquisition device is used to acquire the side view image of the strip side spring in the stage detection area. The strip automatic detection equipment improves the measurement efficiency, alleviates the problem of low manual detection efficiency, and avoids the occurrence of missed detection and false detection to the greatest extent, playing an important role in product quality process control. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of a strip automatic detection device according to an exemplary embodiment.

[0031] Figure 2 It is a schematic diagram of a strip automatic detection device according to an exemplary embodiment.

[0032] Figure 3 The figure is a schematic diagram showing the removal of a protective cover of an automatic strip detection device according to an exemplary embodiment.

[0033] In the figure:

[0034] 1. Base, 2. Universal wheels, 3. Inspection door, 4. Protective cover, 5. Loading safety door, 6. Visual display screen,

[0035] 7. Computer monitors, 8. Touch screens, 9. Buttons, 10. Alarm devices, 11. Industrial robot components,

[0036] 12. Lighting, 13. Electrical installation panels and components, 14. Pneumatic system components,

[0037] 15. Robot control cabinet, 16. Industrial computer, 17. Strip box, 19. First image acquisition device,

[0038] 20. A second image acquisition device, 21. A strip carrier. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Figure 1 is a schematic diagram of a strip automatic detection device according to an exemplary embodiment; Figure 2 is a schematic diagram of a strip automatic detection device according to an exemplary embodiment; Figure 3 is a schematic diagram showing a strip automatic detection device for removing a protective cover according to an exemplary embodiment.

[0041] The base 1 can be welded from square steel pipes, with inspection doors 3 at the front and back, and four heavy-duty universal wheels 2 fixed at the bottom. The base 1 is mainly used for the installation and bearing of all equipment, providing an installation foundation for all equipment; the universal wheels 2 are used for the movement, leveling and support of equipment;

[0042] The protective cover 4 is mainly welded by square steel pipes and channel steels, and the welding is stable and reliable. The channel steel is welded to the top surface of the inner part of the protective cover 4. A loading safety door 5 is opened on the front side of the upper support, and transparent windows are installed on the left and right sides for easy manual observation. The whole is firmly fixed to the base 1 by bolts. A visual display screen 6, a computer display 7, a touch screen 8, buttons 9, etc. are installed on the upper front side of the protective cover 4 for easy real-time manual operation and observation.

[0043] The alarm device 10 is fixed to the top surface of the entire equipment. When the loading safety door of the protective cover 4 is opened, the alarm device can send out an alarm message. In addition, the alarm device can also be used for equipment failure warning and prompting.

[0044] The industrial robot component 11 may be composed of, for example, a six-axis industrial robot and a strip gripper to form a strip grabbing component. The industrial robot component is connected to a control device to realize functions such as strip grabbing, flipping, loading and unloading.

[0045] The lighting lamp 12 is installed on the top surface of the interior of the device to facilitate lighting inside the device.

[0046] The electrical installation board and its components 13, pneumatic system components 14, robot control cabinet 15, and industrial computer 16 are all installed inside the frame of the base 1, which is convenient for controlling and repairing the equipment.

[0047] The strip box 17 is arranged on the detection platform and can be used for storing and loading and unloading the strips.

[0048] The strip carrier detection position 21 is used for positioning, supporting and clamping during strip detection, and there are two detection positions in total.

[0049] The strip inspection equipment is mainly used to independently inspect the appearance quality of the strip. It can safely and quickly inspect the defects such as scratches, oxidation color, spatter, spring solder joint deviation and spring height on the strip. It can also mark whether it is qualified and display the defect location on the image intuitively through the software system on the display. The main functions of each module can be summarized from the following aspects:

[0050] Mechanical system and electrical system modules: The strip inspection process uses the 6-axis industrial robot to automatically load and unload materials to the inspection area and automatically flip the strips. Manual work only needs to load and unload materials in batches using storage disks.

[0051] Vision system module: The vision system can convert images and other signals obtained during the strip detection process into data that can be recognized and analyzed by the industrial computer. All data are stored in the database.

[0052] Software system module: The software system module can analyze the data converted by the visual system and stored in the database, process image recognition, classification and defect determination, automatically mark the unqualified data system, and statistically analyze the test results to provide data support for quality management and auxiliary process analysis. The analysis and processing results are displayed on the interface of the "strip detection equipment software" for further analysis and processing by the operator. In addition to automatically recording and analyzing appearance inspection data, the software system module also supports manual entry of inspection data and participation in statistical analysis.

[0053] Image processing algorithm: positioning and registration algorithm, graphic positioning based on strip positioning reference; morphological processing algorithm, morphological processing of weld spot and weld seam graphics to detect appearance defects such as weld spots, weld seams, springs, steel convex splash deformation, etc.; defect classification algorithm, using relevant pattern recognition and classification methods to classify defects and provide support for process analysis.

[0054] Strip detection equipment improves measurement efficiency, alleviates the problem of low efficiency of manual detection, minimizes the occurrence of missed detection and false detection, and plays an important role in product quality process control.

[0055] Working principle of visual inspection of strip inspection equipment:

[0056] The visual system is used for image acquisition, image processing, software analysis, etc. to complete the defect detection of the strip. Each visual system module is composed of a camera, lens, light source and software system.

[0057] The visual system modules of the strip detection part can be divided into 5 functional modules according to the detection function:

[0058] A first identification module, used to identify the number of the strip;

[0059] The second recognition module is used to recognize whether the strip has any one or more of pits, indentations, and scratches;

[0060] The third identification module is used to identify whether the strip has oxidation and / or metal precipitation color;

[0061] A fourth identification module is used to identify the size of the strip spring welding point and whether the strip spring welding point is deviated;

[0062] The fifth identification module is used to identify the height of the strip spring.

[0063] Among them: strip number recognition, pits, indentations, scratches, oxidation / metal precipitation color, spring solder joint size, solder joint deviation, etc. are mainly completed by the vertical detection mechanism; the spring height is mainly completed by the lateral detection mechanism.

[0064] Strip detection equipment detection workflow:

[0065] The staff placed the multiple strip boxes to be inspected on the positioning loading platform, closed the protective door and pressed the start button;

[0066] The industrial robot component automatically grabs the strips from the strip box and delivers them to each stage detection position. The two strip boxes are grabbed in sequence;

[0067] For each stage detection position in turn, after the control device controls the module to move the strip light source to align with one end of each stage detection position, the control device controls the module to move the strip light source every time it moves a preset distance, and controls the first image acquisition device to take a photo once until the image acquisition of the first surface with the strip facing upwards at the stage detection position is completed;

[0068] After the image acquisition of the first surface of the strip at each stage detection position is completed, the control device controls the industrial robot assembly to flip the strip on each stage detection position so that the second surface of the strip facing downward at each stage detection position faces upward. After the control device controls the module to move the strip light source to align with one end of each stage detection position, the control device controls the module to move the strip light source to control the first image acquisition device to take a photo once every time it moves a preset distance until the image acquisition of the second surface of the strip facing upward at the stage detection position is completed;

[0069] The control device controls the second image acquisition device to take a photo each time while controlling the first image acquisition device to take a photo.

[0070] The industrial robot assembly unloads the inspected strips into the original strip reel.

[0071] 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 strip automatic detection device, characterized in that: The strip automatic detection device comprises: a detection platform, an industrial robot assembly, a stage detection area, a plurality of strip boxes, a first image acquisition device, a second image acquisition device and a control device; The industrial robot assembly, the stage detection area, the plurality of strip boxes, the first image acquisition device and the second image acquisition device are arranged on the detection platform; The industrial robot assembly, under the control of the control device, can take out the strips from each strip box and place them in the stage detection area, and take out the strips in the stage detection area and place them in the strip box; The first image acquisition device is used to acquire a top view image of the strip in the stage detection area, and the second image acquisition device is used to acquire a side view image of the strip side spring in the stage detection area; The strip automatic detection device further comprises: a protective cover, which is arranged above the detection platform; The protective cover is provided with a loading safety door, and when the loading safety door is opened, the strip box can be placed or taken on the detection platform; When the loading safety door is closed, the protective cover isolates the detection platform from the external space; The strip automatic detection device also includes: an alarm device; When the feeding safety door is opened, the alarm device sounds an alarm; The strip automatic detection device also includes a strip light source, which is connected to the detection platform through a module, and the stage detection area includes a plurality of stage detection positions, each of which is placed with a strip; The control device controls the industrial robot assembly to grab the strips from the strip box and send them to the detection positions of each carrier; For each stage detection position in turn, after the control device controls the module to move the strip light source to align with one end of each stage detection position, the control device controls the module to move the strip light source every time it moves a preset distance, and controls the first image acquisition device to take a photo once until the image acquisition of the first surface with the strip facing upwards at the stage detection position is completed; After the image acquisition of the first surface of the strip at each stage detection position is completed, the control device controls the industrial robot assembly to flip the strip on each stage detection position so that the second surface of the strip facing downward at each stage detection position faces upward. After the control device controls the module to move the strip light source to align with one end of each stage detection position, the control device controls the module to move the strip light source every time it moves a preset distance, and controls the first image acquisition device to take a photo once until the image acquisition of the second surface of the strip facing upward at the stage detection position is completed; The control device controls the second image acquisition device to take a photo at the same time as controlling the first image acquisition device to take a photo each time; The strip automatic detection device further includes: a visual detection system, the visual detection system being used to identify the images acquired from the first image acquisition device and the second image acquisition device to obtain a recognition result; The visual inspection system comprises: A first identification module, used to identify the number of the strip; The second recognition module is used to recognize whether the strip has any one or more of pits, indentations, and scratches; The third identification module is used to identify whether the strip has oxidation and / or metal precipitation color; A fourth identification module is used to identify the size of the strip spring welding point and whether the strip spring welding point is deviated; a fifth recognition module for identifying the height of the strip spring; When the visual inspection system detects a defect on an image, it displays a mark indicating the defect at the position of the defect on the image.

2. The strip automatic detection device according to claim 1, characterized in that: The strip automatic detection device also includes: a base, and the detection platform is arranged on the base.

3. The strip automatic detection device according to claim 2, characterized in that: The base comprises an upper and lower layer structure, the detection platform is arranged on the upper layer of the base, and the control device is arranged on the lower layer of the base.

4. The strip automatic detection device according to claim 2, characterized in that: A plurality of universal wheels are arranged at the bottom end of the base, and each universal wheel can adjust the height.

5. The strip automatic detection device according to claim 1, characterized in that: The strip automatic detection device also includes: a lighting device, which is arranged on the top of the inner side of the protective cover and is used to provide lighting for the detection platform.

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