A visual recognition mechanism for industrial appearance detection

Abstract

The present application relates to a kind of visual identification mechanism for industrial appearance detection, visual identification mechanism at least includes the auxiliary column in the region to be detected, wherein, visual identification mechanism can be based on the detection signal of at least one sensor to regulate the telescopic of auxiliary column, so that auxiliary column can contact to the pin shaft to be detected and exert external force to it, so as to eliminate the first sheltered area;And the first visual identification equipment of alignment region to be detected, the side of the pin shaft to be detected away from visual identification equipment forms the second sheltered area, wherein, visual identification mechanism can be based on the detection signal of at least one sensor to regulate the rotation of auxiliary column, to indirectly drive the pin shaft to be detected by means of auxiliary column and material-moving step plate, so as to eliminate the second sheltered area.The present application can eliminate the sheltered area of pin shaft, carry out full circumferential image acquisition to pin shaft, and can improve the visual identification accuracy in appearance detection process.

Description

[0001] Divisional Statement

[0002] The original basis of the divisional application is patent application No. 202110623148.0, filed on June 3, 2021, with the title of "An industrial appearance detection method based on intelligent vision". TECHNICAL FIELD

[0003] The present application relates to the technical field of automatic detection equipment, and in particular to a visual recognition mechanism for industrial appearance detection. BACKGROUND

[0004] Pin shaft parts are a class of standardized fasteners that can be both statically fixed and connected and relatively moved with the connected parts, mainly used in the hinge connection of two parts to form a hinge connection. Pin shaft parts are usually locked with a split pin, are reliable in work and convenient to disassemble. In the production and processing of many assemblies, pin shaft parts are an indispensable component and are required in large quantities. Due to the multi-process process characteristics of pin shaft products, domestic pin shaft production currently adopts inter-process turnover production, resulting in high production cost and low production efficiency for enterprises. In particular, during the production process of the centerless grinding section, the length and diameter size range of the pin shaft product is large, the product weight is large, the maximum single pin shaft exceeds 500g, and the pin shaft has high appearance requirements for the centerless grinding. Therefore, a large amount of manpower is required to manually visually or rely on measuring instruments to complete appearance detection to meet the production standards. The current manual detection method is affected by subjective emotions, physical fluctuations and fatigue of workers in continuous work, and has the problems of unobjective and incomplete detection data, unreliable test results, easy to cause misjudgment or missed detection, low production efficiency and increased operating costs for enterprises. At the same time, the manual record of spot check data is backward, cannot realize data interconnection with the upper MES system (manufacturing execution system, manufacturing enterprise production process execution management system), is difficult to realize digital production of products, does not meet the national industrial development policy, and if unqualified products flow into the market, it will inevitably affect the product quality of engine production enterprises, and the compensation and other accountability measures of engine production enterprises due to unqualified pin shaft parts will bring serious negative impact and economic loss to pin shaft production enterprises.

[0005] The prior art such as the patent document with the publication number CN107150102B proposes a chain pin shaft sorting machine, mainly used for screening and separating different lengths of pin shafts, separating too long or too short pin shafts, and feeding the pin shafts of qualified length into the assembly production line of the chain. The device uses the pin shaft push-out assembly and the movable baffle assembly in cooperation to select and delete the pin shafts, the hole movable plate assembly is used to assist in screening out the waste pin shafts, and the pin shaft sorting cavity is used to store the pin shafts. The device automatically selects and deletes the unqualified pin shafts, which are discharged from the waste material discharge port, and the qualified pin shafts are arranged to the qualified material discharge port and discharged from the qualified material discharge port. The chain pin shaft sorting machine takes the current chain assembly machine "pin shaft push-out feeding" as the basic mode, that is, the pin shaft push plate pushes out the qualified pin shafts, and several pin shafts are arranged in a column to the qualified material discharge port and naturally fall down one by one. The unqualified pin shafts are pushed out by the pin shaft push-out assembly and are separated and fall down to the waste material discharge port.

[0006] The above patent document attempts to use the length of the pin shaft to realize the mechanical sorting of a large number of pin shafts, but in fact, since it does not take into account the different nominal diameters and lengths of different types of pin shafts, and also does not take into account the non-regular cylindrical shape of the pin shaft, it will result in the pin shaft sorting machine proposed by the above patent document being unable to realize mechanical sorting. Specifically, the pin shaft sorting machine proposed by the above patent document requires that the pin shafts must be placed in an upright position in the pin shaft sorting cavity without external force, and still requires the pin shafts to maintain an upright position under the action of the one-way thrust of the pin shaft push plate. However, since the pin shafts all include a shaft body part and a shaft shoulder part, that is, a non-regular cylindrical shape, the pin shaft push plate can only push the pin shaft to move by contacting the shaft shoulder part. Under the condition of uneven thrust, even if the pin shafts entering the sorting cavity are short and thick pin shafts with small length and large nominal diameter, the pin shafts are still prone to tilting, resulting in the pin shafts falling over. At this time, the operator cannot detect and learn about the situation inside the sorting machine, cannot handle it in time, and the disassembly and handling are difficult. As for the long and thin pin shafts with large length and small nominal diameter entering the sorting cavity, the small nominal diameter itself cannot maintain a stable upright placement posture after being lowered into the sorting cavity, and is prone to falling over during the pin shaft sorting process.

[0007] In addition, on the one hand, there are differences in understanding between those skilled in the art; on the other hand, the inventors have studied a large number of documents and patents when making the present invention, but due to the limited space, all the details and contents are not listed in detail. However, this does not mean that the present invention does not have these features of the prior art. On the contrary, the present invention already has all the features of the prior art, and the applicant reserves the right to add relevant prior art in the background art. SUMMARY

[0008] In view of the problems of poor product quality and low production efficiency existing in the current manual detection method for detecting and producing pin shaft parts, the patent document with publication number CN107150102B proposes a chain pin shaft sorting machine. The device mainly uses the pin shaft pushing assembly and the movable baffle assembly in cooperation to realize the screening and separation of pin shafts of different lengths, separate the pin shafts that are too long or too short, and put the pin shafts of qualified length into the assembly line of the chain. The above-mentioned patent document attempts to use the length of the pin shaft to realize the mechanical sorting of a large number of pin shafts. However, in fact, since it does not take into account the different nominal diameters and lengths of different types of pin shafts, and also does not take into account the non-regular cylindrical shape of the pin shaft, it will lead to the fact that the pin shaft sorting machine proposed in the above-mentioned patent document cannot realize mechanical sorting. Specifically, the pin shaft sorting machine proposed in the above-mentioned patent document requires that the pin shaft must be placed in an upright position in the pin shaft sorting cavity without external force, and still requires the pin shaft to remain in an upright position under the action of the one-way thrust of the pin shaft pushing plate. However, since the pin shaft includes the shaft body part and the shaft shoulder part, i.e. the non-regular cylindrical shape, the pin shaft pushing plate can only push the pin shaft to move by contacting the shaft shoulder part. Under the condition of uneven thrust, even if the pin shafts that enter the sorting cavity are short and have a large nominal diameter, the pin shafts are still prone to tilting, which leads to the pin shafts falling over. At this time, the operator cannot detect and learn the situation inside the sorting machine, cannot handle it in time, and the disassembly and handling are difficult. As for the long and thin pin shafts that enter the sorting cavity, which have a small nominal diameter, they cannot maintain a stable upright placement posture after being lowered into the sorting cavity, and are prone to falling over during the pin shaft sorting process.

[0009] In view of the problems existing in the above-mentioned prior art, the present application proposes an industrial appearance detection system based on intelligent vision. By utilizing the structural characteristics of the non-regular cylindrical shape of the pin shaft, the existing feeding mechanism is improved, and a moving mechanism and a visual recognition mechanism are proposed for cooperation. Not only can the upright placement posture of the pin shaft be maintained in the appearance detection cavity, but also different sizes of pin shafts of different types can be met. Moreover, without the help of a complex bionic mechanical arm with high cost, the pin shaft can be detected in all directions. That is, by means of the difference in the circumferential height of the pin shaft, the present application avoids complex equipment and complicated processes to achieve lower cost and better detection effect.

[0010] The system at least comprises: a feeding mechanism arranged above the appearance detection cavity and used for receiving a plurality of pins to be detected in a manner capable of conveying the pins one by one; a moving mechanism arranged in the appearance detection cavity and used for separating at least one pin from the feeding mechanism and transferring the pin to a detection area in a manner suitable for different pin sizes; and a visual recognition mechanism arranged in the appearance detection cavity and used for performing an appearance detection operation while keeping the pin in an upright placement posture in the appearance detection cavity when detecting that the pin is placed in the detection area, so as to obtain size data and appearance data of the pin, wherein the feeding mechanism, the moving mechanism and the visual recognition mechanism complete the operations associated therewith by means of a circumferential height difference formed between a shaft body and a shaft shoulder of the pin.

[0011] According to a preferred embodiment, the feeding mechanism and the moving mechanism are respectively provided with a feeding step plate and a moving step plate, and the moving mechanism separates at least one pin from the feeding step plate by means of the moving step plate through a relative motion relationship formed between the moving mechanism and the moving step plate under the driving of an external force, and keeps the pin in an upright placement posture in the appearance detection cavity.

[0012] In the above-mentioned prior art technical solution, the pin sorting machine vertically stacks a plurality of pins, after pushing away a previous pin, a bottom end of a next pin to be pushed abuts against an upper end surface of a pin pushing plate, and the front and back movement of the pin pushing plate will cause unexpected abrasion to the bottom end of the next pin to be pushed, and the gravity of the next pin and a plurality of other pins above the next pin will further aggravate the abrasion. Moreover, in the above-mentioned patent document, a plurality of pins are vertically stacked, after pushing away a previous pin, a next pin to be pushed is located above the pin pushing plate, until the pin pushing plate withdraws from directly below the position of the pin, the pin will directly fall and hit the inner wall of the sorting cavity, causing unexpected use loss to the pin itself, and the falling and hitting of a plurality of other pins on top of the pin will further aggravate the use loss. In contrast, the system proposed in the present application can always keep the pins in an upright placement posture in the appearance detection cavity, and does not affect the conveying, transferring and detection operations of the pins, and can fundamentally avoid the unexpected abrasion and unexpected use loss of the pins in the above-mentioned prior art technical solution, greatly guarantees the product quality of the pins output after being processed by the system, and at the same time, the system runs stably and is enhanced, which can significantly speed up the mechanical operation efficiency.

[0013] According to a preferred embodiment, the moving mechanism can simultaneously receive one or more of at least one pin to be detected, at least one pin being detected and at least one pin having completed detection.

[0014] According to a preferred embodiment, the step plate in contact with the pin shaft to be detected forms a first shielding area on the pin shaft to be detected, and the visual recognition mechanism comprises at least a supporting column arranged in the detection area, wherein the visual recognition mechanism can control the extension and retraction of the supporting column based on the detection signal of the at least one sensor, so that the supporting column can contact and apply an external force to the pin shaft to be detected, thereby eliminating the first shielding area.

[0015] According to a preferred embodiment, the visual recognition mechanism comprises at least a first visual recognition device arranged in alignment with the detection area, and a second shielding area is formed on the pin shaft to be detected away from the visual recognition device, wherein the visual recognition mechanism can control the rotation of the supporting column based on the detection signal of the at least one sensor, so as to indirectly drive the pin shaft to be detected by means of the supporting column and the step plate, thereby eliminating the second shielding area.

[0016] According to a preferred embodiment, the end of the supporting column in contact with the pin shaft is provided with a composite microarray for adsorption, and the relative fixation or isolation between the supporting column and the pin shaft is achieved by opening and closing the composite microarray for adsorption.

[0017] According to a preferred embodiment, the visual recognition mechanism further comprises at least one second visual recognition device arranged in the appearance detection cavity, which is used to collect image data of the upper and lower end faces of the pin shaft to be detected beyond the field of view of the first visual recognition device.

[0018] According to a preferred embodiment, the at least one sensor can be a distance sensor or a displacement sensor, which is used to obtain the relative position data between the supporting column and the pin shaft to be detected.

[0019] According to a preferred embodiment, the material transfer mechanism is configured to transfer at least one pin shaft from the feeding mechanism to the detection area without impact on the inner wall of the appearance detection cavity and between the pin shafts in a manner suitable for different sizes of pin shafts.

[0020] According to a preferred embodiment, the system further comprises a material distribution mechanism, which is used to transfer at least one pin shaft from the material transfer mechanism to at least one discharge port corresponding to the size data and / or appearance data of the pin shaft under the driving of an external force.

[0021] In the prior art technical scheme as above, the pin shaft sorting machine can only divide the qualified and unqualified pin shafts according to the length range corresponding to the pin shaft, and the output qualified pin shafts still need to be detected twice to screen out the pin shafts with qualified appearance, resulting in low processing efficiency of the pin shaft detection process. Meanwhile, the pin shaft sorting machine proposed in the above patent document can only divide the pin shafts to be detected into qualified pin shafts and unqualified pin shafts, and the user cannot know the problems of the unqualified pin shafts, and still needs to manually check the multiple pin shafts divided as unqualified one by one, which consumes labor cost and is not conducive to detection efficiency. In view of this, the pin shaft based on the appearance data and size data detected by the pin shaft can be corresponded to multiple different discharge ports, and the pin shafts output from the different discharge ports do not need to be detected twice to obtain the size detection result and the appearance detection result, which is conducive to improving the processing efficiency of the pin shaft detection process and reducing the labor cost.

[0022] The present application also provides an industrial appearance detection method based on intelligent vision, which at least includes the following steps: receiving a plurality of pin shafts to be detected by a feeding mechanism; the feeding mechanism is adapted to different pin shaft sizes, and at least one pin shaft is separated from the feeding mechanism in the pin shaft appearance detection cavity without impact between the pin shafts; the feeding mechanism transfers the pin shaft to be detected to the detection area; when the pin shaft is detected in the detection area, the appearance detection operation is performed by the visual recognition mechanism while maintaining the vertical placement posture of the pin shaft in the appearance detection cavity; the size data and appearance data of the pin shaft are obtained, wherein the conveying operation, the transfer operation and the detection operation of the pin shaft are completed by means of the circumferential height difference between the shaft body and the shaft shoulder of the pin shaft. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a simplified module connection relationship diagram of the industrial appearance detection system provided by the present application;

[0024] Figure 2 is a simplified schematic diagram of the overall structure of the industrial appearance detection system provided by the present application;

[0025] Figure 3 is a simplified schematic diagram of the relative position relationship between the second visual recognition device and the feeding mechanism provided by the present application;

[0026] Figure 4 is a simplified top view schematic diagram of the relative position relationship between the feeding mechanism and the feeding mechanism provided by the present application;

[0027] Figure 5 is a simplified side view structure schematic diagram of the feeding mechanism provided by the present application;

[0028] Figure 6is a simplified structure diagram of the stepped plate for feeding provided by the present application;

[0029] Figure 7 is a simplified structure diagram of the pin shaft (A type and B type) given in the national standard GB / T882-2008.

[0030] List of reference signs

[0031] 1: feeding mechanism 2: material moving mechanism 3: visual recognition mechanism

[0032] 4: material distributing mechanism 5: appearance detection cavity 6: pin shaft

[0033] 7: stepped plate for feeding 8: stepped plate for moving 9: auxiliary column

[0034] 10: first visual recognition device 11: composite microarray for adsorption 12: second visual recognition device

[0035] 13: clamping part 14: discharge port 15: shaft body part

[0036] 16: shaft shoulder part 17: first passage inner wall segment 18: second passage inner wall segment

[0037] 19: third passage inner wall segment 20: conveying mechanism 21: first rotary disc base

[0038] 22: second rotary disc base 23: vertical rod 24: bent rod

[0039] 25: telescopic mechanism 26: controller DETAILED DESCRIPTION

[0040] The present application will be described in detail below in combination with the drawings.

[0041] The present application is proposed to overcome the deficiencies of the prior art and provides an industrial appearance detection system based on intelligent vision, which has low manual operation requirement, can automatically complete pin shaft conveying, transferring and detection, and classifies and collects the detected pin shafts.

[0042] As Figure 2 shown is a simplified diagram of the overall structure of the industrial appearance detection system provided by the present application, which has an appearance detection cavity 5 and a feeding mechanism 1. The feeding mechanism 1 is arranged above the appearance detection cavity 5 and conveys the pin shaft 6 to the appearance detection cavity 5 from top to bottom for appearance detection and mechanical sorting. As Figure 2 and Figure 5As shown, the feeding mechanism 1 can be sequentially divided into a first channel inner wall segment 17, a second channel inner wall segment 18 and a third channel inner wall segment 19. A conveying mechanism 20 is arranged in the inner wall of the feeding mechanism 1. The conveying belt of the conveying mechanism 20 is continuously laid along the second channel inner wall segment 18 and the third channel inner wall segment 19 to convey the pins 6.

[0043] The length of the first channel inner wall segment 17 is shorter than the length of the pin 6 in the shortest dimension. So that one end of the pin 6 placed in the first channel inner wall segment 17 abuts against the conveying belt on the second channel inner wall segment 18. The conveying belt is opened to drive the pin 6 to move towards the appearance detection cavity 5. In this process, several pins 6 can be moved forward by the conveying belt, and unnecessary pressure is not generated between the front and rear pins 6, and the unexpected wear of the pins 6 is greatly reduced.

[0044] In order to transfer the pin 6 from the feeding mechanism 1 to the appearance detection cavity 5 and avoid the unexpected wear caused by the impact of the pin 6 on the inner wall due to the falling in the prior art, a plurality of feeding steps 7 are arranged on the conveying belt. The plurality of feeding steps 7 are sequentially arranged along the length direction of the conveying belt. The feeding step 7 has an open end to accommodate the body portion of the pin 6.

[0045] In this application, the pins 6 are put into the feeding mechanism 1 in the same direction. The direction means that the height of the shoulder portion 16 of the pin 6 is always higher than the free end of the shaft body portion 15. The first and second channel inner wall segments 18 are both downward inclined slopes, that is, when the pin 6 is put in, the end of the shoulder portion 16 contacts the first channel inner wall segment 17, and the free end of the shaft body portion 15 contacts the second channel inner wall segment 18. Thus, when the pin 6 to be detected is placed on the feeding mechanism 1, the conveying mechanism 20 is started, the feeding step 7 moves upward along the conveying belt to make the pin 6 enter from the open end of the feeding step 7 until the pin 6 abuts against the feeding step 7. The transmission mechanism is started to move downward with the feeding step 7 and the pin 6.

[0046] Preferably, the pin 6 can be put in manually, and the first channel inner wall is pre-marked with a placing point, and the operator only needs to put the pin 6 one by one by aligning the shoulder portion 16 with the placing point. Preferably, the pin 6 can also be put in by mechanical automatic operation with controllable operation time.

[0047] The third channel inner wall segment 19 extends vertically relative to the ground, so that the pin 6 entering the inner wall segment is changed from an inclined position to a vertical placement posture. At this time, the feeding step 7 abuts against the lower end surface of the shoulder portion 16 to keep the pin 6 from being separated from the feeding step 7.

[0048] The material moving mechanism 2 can be separated from the feeding step plate 7 with the pin shaft 6. The feeding step plate 7 without the pin shaft 6 is rotated with the conveying belt and is returned to the first passage inner wall section 17 for supporting the new pin shaft 6 to be detected.

[0049] Preferably, a collecting mechanism is arranged at the vertical bottom end of the third passage inner wall section 19. Thus, if a pin shaft 6 cannot be effectively transferred by the material moving mechanism 2 in the pin shaft 6 feeding operation, i.e. cannot be clamped on the feeding step plate 7, the pin shaft 6 that fails to be fed will move with the conveying belt until it falls at the turning position between the second and third passage inner wall sections 19 and is collected by the collecting mechanism for re-feeding. The collecting mechanism can be the conveying belt. The collecting mechanism can be designed to extend outward of the appearance detection cavity 5 for being observed by the operator, and the operator can clearly know the internal operation, so that the system parameters can be adjusted in time, and thus the serious influence caused by the failure to know the transfer failure of the pin shaft 6 in time in the prior art can be avoided.

[0050] As shown in Figure 6 The feeding step plate 7 is a plate structure and is fixed on the conveying belt in a vertical placement posture, and one end of the plate body thereof away from the conveying belt has an open notch, the inner edge of the notch extends toward the side where the conveying belt is located, and the inner edge of the notch forms a shape on the plate body that can adapt to the shaft body 15 of the pin shaft 6 of different models. The shape can be a multi-stage increasing bracket shape similar to a gourd contour. The curvature of the bracket shape at the opening of the notch gradually increases, and when the pin shaft 6 is fed, the inclined first and second passage inner wall sections 18 can enable the pin shaft 6 to be clamped in the notch of the feeding step plate 7 at a position that is suitable for the diameter size thereof.

[0051] Preferably, a bending rod 24 can be arranged at the end of the feeding step plate 7 where the notch is located. The rod body of the bending rod 24 is parallel to the plate body of the feeding step plate 7. The bending rod 24 is arranged in the hollow inner cavity of the feeding step plate 7. The bending point of the bending rod 24 is rotationally connected in the hollow inner cavity of the feeding step plate 7. The first branch rod of the bending rod 24 is arranged at the side where the notch is located, and the second branch rod extends out of the feeding step plate 7. When the pin shaft 6 is aligned with the notch for feeding, the pin shaft 6 contacts the first branch rod and the gravity of the pin shaft 6 forms an external force on the first branch rod, the first branch rod rotates toward the inside of the notch, and the second branch rod synchronously rotates inward and abuts against the shaft body 15.

[0052] Preferably, the bending rod 24 can be mechanically controlled. A first sensor is arranged on the first rod body of the bending rod 24, and can sense that the pin shaft 6 is put into the gap. After sensing that the pin shaft 6 is put into the gap, the bending rod 24 is driven to rotate towards the inside of the gap, and a second sensor is arranged on the second rod body, and can sense whether the second rod body is in contact with the pin shaft 6. The sensor can be an acceleration sensor or a pressure sensor, etc. By using the second sensor, the second rod body can always keep the contact relationship between the second rod body and the shaft body 15. In this way, the pin shaft 6 will not be separated from the feeding step plate 7 during the conveying of the pin shaft 6.

[0053] The material moving mechanism 2 comprises a first rotating disc base 21 which is controllably rotatably connected to the inner wall of the appearance detection cavity 5. The material moving mechanism 2 can separate the pin shaft 6 from the feeding step plate 7 along the gap of the feeding step plate 7. The pin shaft 6 conveying mechanism is arranged above the material moving mechanism 2, and the opening direction of the gap of the feeding step plate 7 is the tangent direction of the first rotating disc base 21.

[0054] The material moving mechanism 2 comprises a material moving step plate 8. When the first rotating disc base 21 rotates, the material moving step plate 8 is in contact with the pin shaft 6 and applies a pushing force to the pin shaft 6 under the continuous rotation of the first rotating disc base 21. When the second sensor collects sensing data exceeding a preset pressure threshold, it indicates that the second rod body is reversely rotated to release the pin shaft 6. In this way, the pin shaft 6 is transferred from the feeding mechanism 1 to the material moving step plate 8.

[0055] Preferably, the feeding step plate 7 and the material moving step plate 8 have the same structure.

[0056] The system further comprises a visual recognition mechanism 3, which comprises a first visual recognition device 10 and two second visual recognition devices 12, as shown in Figure 4 The first visual recognition device 10 and the second visual recognition devices 12 are arranged at two different positions around the circumference of the first rotating disc base 21, respectively, as shown in Figure 3 The two second visual recognition devices 12 are arranged on the inner wall of the appearance detection cavity 5 opposite to each other, respectively, and are used to collect image data of the upper and lower end faces of the pin shaft 6 to be detected.

[0057] The visual recognition mechanism 3 further comprises an auxiliary column 9 which is located closer to the first rotating disc base 21 than the first visual recognition device 10. The auxiliary column 9 can be driven to stretch up and down and rotate by external force. According to the mode that the center of the auxiliary column 9 corresponds to the shaft center of the pin shaft 6, the material moving step plate 8 can be moved to be directly above the position of the auxiliary column 9 according to the rotation of the first rotating disc base 21. The auxiliary column 9 can stretch up and down to abut on and be fixed relative to the bottom end face of the pin shaft 6, so as to drive the pin shaft 6 to move up and down and / or rotate.

[0058] The step plate 8 for moving material is arranged on the vertical rod 23 which is fixedly arranged at the edge position of the first rotary disc base 21. The telescopic mechanism 25 is further arranged on the vertical rod 23, which can drive the step plate 8 for moving material to move towards the direction away from or close to the vertical rod 23. Since the second visual recognition device 12 collects the image data of the lower end surface of the pin shaft 6, the position data of the center position of the lower end surface of the pin shaft 6 in the appearance detection cavity 5 can be analyzed and obtained. Based on the relative position relationship between the second visual recognition device 12 and the auxiliary column 9 and the relative position relationship between the shaft center of the auxiliary column 9 and the disc, the relative position relationship between the center position of the lower end surface of the pin shaft 6 to be detected and the shaft center of the auxiliary column 9 can be calculated. Based on the calculation result, the rotation angle of the first rotary disc base 21 and the telescopic length of the telescopic mechanism 25 on the vertical rod 23 can be determined. Thus, the center of the auxiliary column 9 corresponds to the shaft center of the pin shaft 6.

[0059] The auxiliary column 9 realizes the relative fixation or isolation with the pin shaft 6 based on the opening and closing of the composite microarray arranged on the top end surface thereof. Since the upper end of the pin shaft 6 is clamped in the notch of the step plate 8 for moving material, the auxiliary column 9 can stably rotate with the pin shaft 6. The first visual recognition device 10 is aligned with the corresponding detection area above the auxiliary column 9, so that the pin shaft 6 can be fully circumferentially imaged in the case of rotation of the pin shaft 6. The full circumferential image acquisition can refer to the complete acquisition of the side surface in the circumferential direction of the pin shaft 6.

[0060] The composite microarray can be a gecko biomimetic mushroom-shaped array structure, the auxiliary column 9 is provided with a through hole and a vacuum suction nozzle embedded in the through hole, and the vacuum suction nozzle is connected with a negative pressure supply mechanism. The high-strength adhesion of the gecko biomimetic mushroom-shaped array structure enables the composite microarray to obtain a large adhesion force to the bottom end surface of the pin shaft 6 under a small vacuum degree. The gecko biomimetic mushroom-shaped array structure can reduce the vacuum degree of the negative pressure. The application of negative pressure will generate a normal pre-stress on the gecko biomimetic mushroom-shaped array structure, thereby increasing the adhesion force of the gecko biomimetic mushroom-shaped array structure.

[0061] The step plate 8 for moving material blocks part of the shaft body 15, and the blocked part forms a first blocked area. The side of the pin shaft 6 to be detected which is away from the visual recognition device forms a second blocked area. By driving the auxiliary column 9 to move up and down and rotate with the pin shaft 6, the first blocked area and the second blocked area can be eliminated. The first visual recognition device 10 realizes full circumferential acquisition of the pin shaft 6 based on at least two time-sharing image acquisition operations. Time-sharing can refer to different time points.

[0062] The distribution mechanism 4 comprises a second carousel base 22 and at least one clamping portion 13. The first carousel base 21 is arranged side by side with the first carousel base 21. The clamping portion 13 is in the shape of an arcuate plate. The clamping portion 13 can be fixed on the edge of the second carousel base 22 by means of a vertical rod 23. A plurality of air bag strips are arranged on the inner wall of the clamping portion 13, vertically and side by side. The air bag strips are connected to a negative pressure supply mechanism. The negative pressure supply mechanism can be inflated or deflated. At least one sensor can be arranged on the plate body of the clamping portion 13, for sensing whether the pin shaft 6 is placed in the clamping portion 13.

[0063] Based on the size data of the pin shaft 6 to be transferred on the transfer mechanism 2, the inflation end valve corresponding to the at least one air bag strip on the clamping portion 13 is opened. When the sensor senses that the pin shaft 6 is placed in the clamping portion 13, the negative pressure supply mechanism is driven to operate, and the air bag strip is inflated to surround the pin shaft 6 in the clamping portion 13.

[0064] The transfer operation of the transfer mechanism 2 is completed by means of the difference in relative motion speed between the first carousel base 21 and the conveying belt of the feeding mechanism 1. Similarly, the transfer operation of the distribution mechanism 4 is completed by means of the difference in relative motion speed between the first and second carousel bases 22.

[0065] The rotation directions of the first and second carousel bases 22 are opposite.

[0066] Preferably, each transfer step plate 8 corresponds to an identification code. An identification code sequence table can be obtained along the circumference of the first carousel base 21.

[0067] Preferably, the identification code can be arranged on the side of the first carousel base 21 at a position corresponding to each transfer step plate 8. An auxiliary base is arranged opposite the first carousel base 21 below the auxiliary column 9, and a first identifier is arranged on the auxiliary base. The identifier can be a third visual recognition device, for identifying the identification code.

[0068] Preferably, the identification code can be arranged on the rod body of the vertical rod 23 on the first carousel base 21, facing the side where the second visual recognition device 12 is located. Preferably, the identification code can be arranged on the end of the feeding step plate 7, facing the side where the second visual recognition device 12 is located. Thus, the identification code corresponding thereto can be obtained by analyzing the image data collected by the second visual recognition device 12.

[0069] Preferably, a second identifier is arranged on the side of the second carousel base 22 at a position corresponding to each clamping portion 13, for identifying the identification code.

[0070] The visual recognition mechanism 3 can obtain the size data and appearance data of the pin shaft 6, and bind the analysis result based on the data, the size data and appearance data, and the identification code obtained by the first identifier. The appearance data mentioned in the present application can refer to the image data of the pin shaft body of the pin shaft and / or the image data of the pin shaft cap. The image data can mainly be the image data of the side wall surface of the pin shaft body or the pin shaft cap in the circumferential direction. By processing and analyzing the image data, it can be determined whether at least one appearance problem such as foreign matter protrusion, surface depression, deformation, burr, etc. exists on the side wall surface. The appearance data mentioned in the present application can also refer to the all-around appearance data.

[0071] The clamping part 13 can adjust its clamping space based on the size data of the pin shaft 6 to be transferred obtained by the visual recognition mechanism 3 to realize stable transfer of pin shafts 6 of different sizes. When the identification code located in the previous position of the identification code is obtained by the at least one second identifier, based on the identification code sorting table, the identification code corresponding to the next pin shaft 6 to be transferred can be determined, and the clamping part 13 corresponding to the next pin shaft 6 to be transferred can be determined. Based on this, the operation of the clamping part 13 corresponding to the next pin shaft 6 to be transferred can be adjusted in advance based on the analysis result, size data and all-around appearance data of the next pin shaft 6 to be transferred. Preferably, when the diameter size of the pin shaft 6 to be transferred is small, the clamping part 13 corresponding thereto is set to inflate the air bag strips close to the central position thereof. Conversely, the clamping part 13 corresponding thereto is set to inflate the air bag strips close to the two end portions thereof.

[0072] The system also includes at least one discharge port 14, different discharge ports 14 corresponding to pin shafts 6 in different categories. The system also includes a distribution mechanism 4 for transferring at least one pin shaft 6 from the material transfer mechanism 2 to the corresponding discharge port 14 under the driving of an external force. The discharge ports 14 are sequentially arranged at positions close to the outer edge of the second turntable base 22 along the circumferential direction of the second turntable base 22. The positional relationship between the plurality of discharge ports 14 is determined, so that the positional information thereof can be input in advance.

[0073] The clamping part 13 determines the positional information of a matched discharge port 14 based on the analysis result corresponding to the pin shaft 6 clamped thereby and the pre-input positional information of the discharge port 14, transfers the pin shaft 6 clamped thereby to the upper side of the discharge port 14, and releases the pin shaft 6 clamped thereby, thereby completing the sorting and collection of the pin shaft 6.

[0074] Preferably, the plurality of discharge outlets 14 can correspond to the pin shafts 6 of qualified size and appearance, the pin shafts 6 of qualified size but unqualified appearance, the pin shafts 6 of unqualified size but qualified appearance, and the pin shafts 6 of unqualified size and appearance, respectively. The pin shafts 6 output by different discharge outlets 14 can be known about their size detection results and appearance detection results without secondary detection, which is beneficial to improve the processing efficiency of the pin shaft 6 detection process.

[0075] The system further comprises a controller 26 connected with the feeding mechanism 1, the material moving mechanism 2, the visual identification mechanism 3 and the discharge outlets 14, respectively, and the controller 26 is used to regulate and control the operations of the feeding mechanism 1, the material moving mechanism 2, the visual identification mechanism 3 and the discharge outlets 14, respectively. The feeding mechanism 1, the material moving mechanism 2, the visual identification mechanism 3 and the discharge outlets 14 can be respectively provided with a central processing unit, and each central processing unit is wirelessly or wiredly connected with the controller 26.

[0076] It should be noted that the above specific embodiments are exemplary, and those skilled in the art can come up with various solutions under the inspiration of the disclosure of the present application, and these solutions also belong to the disclosed range of the present application and fall within the protection scope of the present application. Those skilled in the art should understand that the specification and drawings of the present application are illustrative and do not constitute a limitation on the claims. The protection scope of the present application is defined by the claims and their equivalents. The specification of the present application contains multiple inventive concepts, such as “preferably”, “according to a preferred embodiment” or “optionally”, which all indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application according to each inventive concept.

Claims

1. A visual recognition mechanism for industrial appearance inspection, characterized in that, The visual recognition mechanism (3) at least includes an auxiliary column (9) arranged in the detection area, wherein the visual recognition mechanism (3) can regulate the extension and retraction of the auxiliary column (9) based on the detection signal of at least one sensor, so that the auxiliary column (9) can contact and apply external force to the detected pin shaft (6), thereby eliminating the first shielding area formed on the detected pin shaft (6) by the contact between the material moving step plate (8) and the detected pin shaft (6) supported thereby. A plurality of pin shafts (6) are received by the feeding mechanism (1) arranged above the appearance detection cavity (5) in a one-by-one conveying manner, and at least one pin shaft (6) is separated from the feeding mechanism (1) and transferred to the detection area by the material moving mechanism (2) arranged in the appearance detection cavity (5) in a manner suitable for different sizes of pin shafts (6); and The first visual recognition device (10) is aligned with the detection area, and the side of the detected pin shaft (6) away from the visual recognition device forms a second shielding area, wherein the visual recognition mechanism (3) can regulate the rotation of the auxiliary column (9) based on the detection signal of at least one sensor, so as to indirectly drive the detected pin shaft (6) by means of the auxiliary column (9) and the material moving step plate (8), thereby eliminating the second shielding area.

2. The visual recognition mechanism of claim 1, wherein, The auxiliary column (9) is located closer to the first turntable base (21) relative to the first visual recognition device (10), and the auxiliary column (9) can extend and retract up and down and rotate under external driving.

3. The visual recognition mechanism of claim 2, wherein, According to the correspondence between the center of the auxiliary column (9) and the shaft center of the pin shaft (6), the material moving step plate (8) can be moved to directly above the position of the auxiliary column (9) in a manner that the first turntable base (21) rotates.

4. The visual recognition mechanism of claim 3, wherein, The material moving step plate (8) is arranged on a vertical rod (23) fixedly arranged at the edge position of the first turntable base (21), and a telescopic mechanism (25) is further arranged on the vertical rod (23), which can drive the material moving step plate (8) to move towards the direction away from or close to the vertical rod (23).

5. A visual recognition method for industrial appearance inspection, characterized in that, At least the following steps: Based on the detection signal of at least one sensor, the extension and retraction of the auxiliary column (9) is regulated, so that the auxiliary column (9) can contact and apply external force to the detected pin shaft (6), thereby eliminating the first shielding area formed on the detected pin shaft (6) by the contact between the material moving step plate (8) and the detected pin shaft (6) supported thereby. A plurality of pin shafts (6) are received by the feeding mechanism (1) arranged above the appearance detection cavity (5) in a one-by-one conveying manner, and at least one pin shaft (6) is separated from the feeding mechanism (1) and transferred to the detection area by the material moving mechanism (2) arranged in the appearance detection cavity (5) in a manner suitable for different sizes of pin shafts (6); and And The first visual identification device (10) is aligned with the area to be detected, and a second shielding area is formed on the side of the pin shaft (6) to be detected away from the visual identification device, wherein the identification method can regulate the rotation of the auxiliary column (9) based on the detection signal of at least one sensor, so as to indirectly drive the pin shaft (6) to be detected by means of the auxiliary column (9) and the material moving step plate (8), so as to eliminate the second shielding area.

6. The visual recognition method of claim 5, wherein, The visual identification method respectively arranges the first visual identification device (10) and the second visual identification device (12) at two different positions around the axis of the first rotary base (21).

7. The visual recognition method of claim 6, wherein, The visual identification method respectively arranges two second visual identification devices (12) on the inner wall of the appearance detection cavity (5) opposite to each other, and respectively used for collecting image data of the upper and lower ends of the pin shaft (6) to be detected.

8. The visual recognition method of claim 5, wherein, The auxiliary column (9) can be telescoped up and down to abut on and be fixed opposite to the bottom end face of the pin shaft (6), so as to drive the pin shaft (6) to move up and down and / or rotate.

9. The visual recognition method of claim 8, wherein, The first visual identification device (10) is aligned with the corresponding area to be detected above the auxiliary column (9), so that the pin shaft (6) can be fully circumferentially imaged under the condition of rotation of the pin shaft (6).

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