A system and method for detecting the appearance of nuclear industry parts

Abstract

The application provides a nuclear industry part appearance detection system and method, and the nuclear industry part appearance detection system comprises a feeding mechanism, a grabbing mechanism, an end face detection mechanism, a cylindrical surface detection mechanism and a control device, wherein the control device is in communication connection with each of the other mechanisms, the feeding mechanism is used for arranging parts to be detected, and is used for acquiring the specification information type, attitude information and position information of each part to be detected; the grabbing mechanism is used for grabbing the parts to be detected according to the specification information type, attitude information and position information of each part to be detected; the end face detection mechanism is used for end face appearance detection of the parts to be detected; and the cylindrical surface detection mechanism comprises a plurality of detection groups and is used for cylindrical surface appearance detection of the parts to be detected with different specification information types. The application can realize full-automatic detection of the appearances of different types of nuclear industry parts, can reduce detection cost, can reduce detection time, and can improve detection efficiency and detection accuracy.

Description

Technical Field

[0001] This invention belongs to the field of material inspection technology, and specifically relates to a system and method for inspecting the appearance of nuclear industry components. Background Technology

[0002] Nuclear energy, as a high-density and low-pollution energy source, has the potential to replace fossil fuels on a large scale and occupies an important position in the current global energy structure. However, due to the irreversible damage caused by nuclear fuel leaks, the safe operation of nuclear reactors is of paramount importance to the international community.

[0003] Nuclear fuel rods are the first line of defense in a nuclear reactor, playing a crucial role in preventing fuel leaks. Excessive surface defects in nuclear industry components used to manufacture fuel rods can cause damage, directly impacting the safe operation of the reactor. Before manufacturing fuel rods, the appearance of nuclear industry components must be inspected to avoid defects such as insufficient or excessive material, flaws, and cracks. This primarily involves the appearance inspection of various sizes of cylindrical parts and irregularly shaped upper and lower end plugs.

[0004] Currently, different types of nuclear industry components require different types of testing equipment, making testing inconvenient and costly. Furthermore, manual assistance is needed for tray placement before testing, which is labor-intensive, inefficient, and prone to errors, resulting in low accuracy of subsequent test results. Therefore, how to achieve fully automated, streamlined testing of different types of nuclear industry components to reduce testing costs, shorten testing time, and improve testing efficiency and accuracy is a pressing issue that needs to be addressed. Summary of the Invention

[0005] The purpose of this invention is to provide a nuclear industry component appearance inspection system and method to overcome the defects and shortcomings of the prior art. This invention can realize the assembly line inspection of different types of nuclear industry components through full automation, with low inspection cost, short inspection time, and high inspection efficiency and accuracy.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a nuclear industry component appearance inspection system, comprising:

[0007] The feeding mechanism is used to arrange the parts to be inspected and to obtain the type, posture and position information of each part to be inspected.

[0008] The gripping mechanism is used to grip the parts to be inspected according to their type, posture information, and position information.

[0009] An end-face inspection mechanism is used to perform end-face appearance inspection on the parts to be inspected.

[0010] The cylindrical surface inspection mechanism includes multiple inspection groups, each used to inspect the cylindrical surface appearance of different types of parts to be inspected.

[0011] The control device is communicatively connected to the feeding mechanism, the gripping mechanism, the end face detection mechanism, and the cylindrical surface detection mechanism, respectively.

[0012] Optionally, the feeding mechanism includes a material trough, a fixed plate, a base, a flexible feeder, a first vibration source, a second vibration source, a support frame, and a camera;

[0013] The material trough is connected to the base via the fixing plate. The flexible feeder is located below the outlet of the material trough. The first vibration source is located below the base and is used to vibrate the parts to be inspected in the material trough to the flexible feeder. The second vibration source is located below the flexible feeder and is used to arrange the parts to be inspected on the flexible feeder. The support frame is located on both sides of the base. The camera is mounted on the support frame and located directly above the flexible feeder.

[0014] Optionally, the gripping mechanism includes a robotic arm, a quick-change gripper, and a gripper placement rack;

[0015] The quick-change gripper is detachably connected to the robot arm. The gripper placement rack holds various types of quick-change grippers. The robot arm can travel back and forth to the gripper placement rack to change to a suitable quick-change gripper to grasp the corresponding part to be inspected, based on the type, posture information, and position information of the part to be inspected.

[0016] Optionally, the end face detection mechanism includes a fixed camera, a moving camera, and a first feeding tray;

[0017] The fixed camera and the movable camera are arranged opposite each other to acquire the end face image of the component to be inspected. The first unloading tray is located between the fixed camera and the movable camera to receive and place defective end face products.

[0018] Optionally, the cylindrical surface detection mechanism includes a mounting plate, a detection component, a first motion module, a second motion module component, a third motion module, and a second unloading tray;

[0019] The first motion module is disposed above the mounting plate and is movably connected to the detection component, and is used to drive the detection component to move along the first direction;

[0020] The second motion module is located below the mounting plate and is used to drive the detection component to move along the second direction; the first direction is perpendicular to the second direction;

[0021] The detection component is used to acquire cylindrical images of different types of parts to be inspected;

[0022] The second feeding tray is mounted on the third motion module and located below the detection component. The third motion module is used to drive the second feeding tray to move along the second direction. The second feeding tray is used to receive and place cylindrical defective products and qualified products respectively.

[0023] Optionally, the detection component includes a first detection group, a second detection group, a third detection group, and a camera module;

[0024] The first detection group includes a first pusher bar, a first guide groove and a second guide groove that are arranged opposite each other and have the same inner diameter. The first pusher bar is connected to the end of the mounting plate away from the second guide groove and can move along the first guide groove. The first guide groove and the second guide groove are respectively provided with a first pneumatic slide and a second pneumatic slide, which are used to drive the first guide groove and the second guide groove to move along the first direction.

[0025] The second detection group includes a second pusher bar, a third guide groove and a fourth guide groove that are arranged opposite each other and have the same inner diameter. The second pusher bar is connected to the end of the mounting plate away from the fourth guide groove and can move along the third guide groove. A third pneumatic slide and a fourth pneumatic slide are respectively provided below the third guide groove and the fourth guide groove, which are used to drive the third guide groove and the fourth guide groove to move along the first direction respectively.

[0026] The third detection group includes a third pusher rod, a vacuum generator, and a guide structure. The third pusher rod is a hollow structure, with one end connected to one end of the mounting plate and communicating with the vacuum generator. The guide structure is installed on the other end, and the third pusher rod can move along the first direction.

[0027] The camera module is located in the middle of the second motion module and is used to acquire cylindrical images of the parts to be inspected.

[0028] Optionally, both the first pusher and the second pusher are solid structures.

[0029] Optionally, the second motion module includes a first motion module and a second motion module;

[0030] The first motion module is used to drive the first pusher bar, the first guide groove, the second pusher bar, the third guide groove, and the third pusher bar to move along the second direction;

[0031] The second motion module is used to drive the second guide groove and the fourth guide groove to move along the second direction.

[0032] Secondly, the present invention provides a method for inspecting the appearance of nuclear industry components, comprising:

[0033] The parts to be inspected are arranged, and the type, orientation information and position information of each part are obtained.

[0034] Based on the type, posture information, and position information of the component, grab a component to be inspected in sequence;

[0035] The end face appearance of the component to be inspected is then inspected.

[0036] Determine whether the end face appearance inspection of the component to be inspected is qualified;

[0037] If so, depending on the type of the component to be inspected, perform cylindrical surface appearance inspection on the component to be inspected;

[0038] Determine whether the cylindrical surface appearance inspection of the component to be inspected is qualified;

[0039] If so, mark the component to be inspected as a qualified product and unload it, then return to the execution process to sequentially grab a component to be inspected based on its type, posture information, and position information.

[0040] Compared with existing technologies, the nuclear industry component appearance inspection system and method provided by this invention have the following advantages: The nuclear industry component appearance inspection system includes a feeding mechanism, a gripping mechanism, an end face inspection mechanism, a cylindrical surface inspection mechanism, and a control device. The control device is communicatively connected to each of the other mechanisms. The feeding mechanism is used to arrange the components to be inspected and to acquire the specification type, posture information, and position information of each component. The gripping mechanism is used to grip the components according to their specification type, posture information, and position information. The end face inspection mechanism is used to perform end face appearance inspection on the components. The cylindrical surface inspection mechanism includes multiple inspection groups, each used to perform cylindrical surface appearance inspection on components with different specification types. This invention can achieve fully automated inspection of the appearance of different types of nuclear industry components, reducing inspection costs, shortening inspection time, and improving inspection efficiency and accuracy. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a nuclear industry component appearance inspection system provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the feeding mechanism in a nuclear industry component appearance inspection system according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the gripping mechanism in a nuclear industry component appearance inspection system according to an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of the end face inspection mechanism in a nuclear industry component appearance inspection system according to an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of the cylindrical surface inspection mechanism in a nuclear industry component appearance inspection system according to an embodiment of the present invention;

[0047] Figure 6 This is a schematic flowchart of a method for inspecting the appearance of nuclear industry components according to an embodiment of the present invention;

[0048] Explanation of reference numerals in the attached figures:

[0049] 1-Feeding mechanism; 11-Material trough; 12-Fixing plate; 13-Base; 14-Flexible feeder; 15-Second vibration source; 16-Support frame; 17-Camera; 2-Gripping mechanism; 21-Robot arm; 22-Quick-change gripper; 23-Gripper placement rack; 3-End face inspection mechanism; 31-Fixed camera; 32-Moving camera; 33-First unloading tray; 4-Cylindrical surface inspection mechanism; 41-Mounting plate; 42-First inspection group; 421-First pusher bar; 422-First guide groove; 423- Second guide groove; 424-First pneumatic slide; 425-Second pneumatic slide; 43-Second detection group; 431-Second pusher bar; 432-Third guide groove; 433-Fourth guide groove; 434-Third pneumatic slide; 435-Fourth pneumatic slide; 44-Third detection group; 441-Third pusher bar; 442-Guide structure; 45-Camera module; 46-First motion module; 471-First motion module; 472-Second motion module; 48-Third motion module; 49-Second unloading tray. Detailed Implementation

[0050] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the nuclear industry component appearance inspection system and method proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this invention.

[0051] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] The core idea of ​​this invention is to provide a nuclear industry component appearance inspection system and method. By setting up multiple inspection groups, it can achieve fully automated inspection of the appearance of different types of nuclear industry components, which can reduce inspection costs, reduce inspection time, and improve inspection efficiency and accuracy.

[0053] Therefore, this embodiment provides a nuclear industry component appearance inspection system. Please refer to [link / reference]. Figure 1-5 The detection system includes a feeding mechanism 1, a gripping mechanism 2, an end face detection mechanism 3, a cylindrical surface detection mechanism 4, and a control device (not shown in the figure). The feeding mechanism 1 is used to arrange the parts to be inspected and to acquire the type, posture, and position information of each part. The gripping mechanism 2 is used to grip the parts to be inspected according to their type, posture, and position information. The end face detection mechanism 3 is used to perform end face appearance inspection on the parts. The cylindrical surface detection mechanism 4 includes multiple detection groups, each used to perform cylindrical surface appearance inspection on different types of parts. The control device is communicatively connected to the feeding mechanism 1, the gripping mechanism 2, the end face detection mechanism 3, and the cylindrical surface detection mechanism 4, and is used for information exchange and issuing execution commands to them.

[0054] In practical applications, for example, consider a batch of mixed-size parts to be inspected, specifically including upper plugs, lower plugs, large-diameter cylindrical parts, and small-diameter cylindrical parts. When performing visual inspection on this batch of parts, all parts are first placed on the loading mechanism 1. The loading mechanism arranges the parts and sequentially acquires the type, orientation, and position information of each part, uploading this information to the control device. For example, the part at the first position is identified as the upper plug, the part at the second position as the lower plug, the part at the third position as the large-diameter cylindrical part, and the part at the fourth position as the small-diameter cylindrical part. Then, the control device sequentially issues corresponding execution commands to the gripping mechanism 2 based on the type, posture information, and position information of each component to be inspected. The gripping mechanism 2 then sequentially grips the components to be inspected according to the execution commands. Next, the gripping mechanism 2 transfers the gripped components to the end-face inspection mechanism 3 for end-face appearance inspection. After the end-face appearance inspection is qualified, the gripping mechanism transfers the gripped components to the cylindrical surface inspection mechanism 4 and places them on their corresponding inspection group for cylindrical surface appearance inspection. It can be seen that the inspection system provided in this embodiment can realize fully automated assembly line inspection of the appearance of different types of nuclear industry components, reducing inspection costs, shortening inspection time, and improving inspection efficiency and accuracy.

[0055] For example, the feeding mechanism 1 includes a material trough 11, a fixing plate 12, a base 13, a flexible feeder 14, a first vibration source (not shown in the figure), a second vibration source 15, a support frame 16, and a camera 17. The material trough 11 is connected to the base 13 via the fixing plate 12. The flexible feeder 14 is located below the outlet of the material trough 11. The first vibration source is located below the base 13 and is used to vibrate the parts to be inspected in the material trough 11 to the flexible feeder 14. The second vibration source 15 is located below the flexible feeder 14 and is used to arrange the parts to be inspected on the flexible feeder 14. The support frame 16 is located on both sides of the base 13. The camera 17 is mounted on the support frame 16 and located directly above the flexible feeder 14. The flexible feeder 14 used in this embodiment is highly versatile and can be compatible with feeding different parts. It has a fast response speed and efficient part positioning. Specifically, based on frequency vibration fitting technology, the vibration response time is only a few milliseconds, as short as 100-1000 milliseconds, to complete vibration dispersion, thereby achieving fast and accurate positioning of parts, which facilitates accurate subsequent gripping of parts.

[0056] In practical applications, a batch of mixed parts to be inspected is first loaded into the feed trough 11. Then, the first vibration source is turned on, vibrating all the parts onto the flexible feeder 14. The first vibration source stops vibrating, and the second vibration source is turned on, causing the parts to be inspected on the flexible feeder 14 to move in any direction on its surface. After all the parts to be inspected are quickly vibrated and arranged, the second vibration source 15 stops vibrating, and the flexible feeder 14 sends a stationary signal to the control device. Then, the camera is controlled to photograph the parts to be inspected located on the flexible feeder 14, and the control device obtains the type, posture information, and position information of the parts to be inspected based on the image of the parts to be inspected captured by the camera. Preferably, the camera is a CCD camera.

[0057] For example, the gripping mechanism 2 includes a robotic arm 21, quick-change grippers 22, and a gripper placement rack 23. The quick-change grippers 22 are detachably connected to the robotic arm 21. The gripper placement rack 23 holds various types of quick-change grippers 22. The robotic arm 21 can move back and forth between the gripper placement rack 23 and the appropriate quick-change gripper 22 to grip the corresponding part. Preferably, the quick-change gripper 22 is a soft-touch gripper, specifically pneumatically driven. The opening and closing of the soft-touch gripper is achieved by switching between positive and negative pressure, enabling gripping or outward support. Furthermore, the clamping force or opening / closing angle of the gripper can be controlled by adjusting the air pressure, thereby achieving flexible gripping of different types of parts and effectively avoiding damage to the parts.

[0058] For example, in this embodiment, the gripper placement rack has three types of quick-change grippers 22, namely, a first type of gripper for gripping the upper or lower plug, a second type of gripper for gripping large-diameter cylindrical parts, and a third type of gripper for gripping small-diameter cylindrical parts.

[0059] In practical applications, before each gripping operation, the gripping target is determined based on the position information of the component to be inspected. Then, according to the type of the gripping target, the robot arm 21 is controlled to move to the gripper placement rack 23 to replace the quick-change gripper 22 suitable for the gripping target. Specifically, each hole of the gripper placement rack 23 is equipped with a photoelectric sensor, which can determine whether the robot arm 21 is currently equipped with a quick-change gripper 22 and the type of quick-change gripper by sensing the presence or absence of the quick-change gripper 22 at each hole. For example, if the gripping target is determined to be an upper plug located at the first position, the robot arm 21 is controlled to move to the gripper placement rack 23 to replace the quick-change gripper 22 with a first-type gripper. As another example, if the gripping target is determined to be a large-diameter cylindrical component located at the third position, the robot arm 21 is controlled to move to the gripper placement rack 23 to replace the quick-change gripper 22 with a second-type gripper. Then, based on the posture and position information of the gripping target, the robot arm 21 is controlled to drive the quick-change gripper 22 to accurately grip the gripping target. It should be noted that when quick-change grippers pick up the parts to be inspected, the end face of the parts to be inspected must be fully exposed and not obstructed.

[0060] For example, the end face inspection mechanism 3 includes a fixed camera 31, a movable camera 32, and a first unloading tray 33. The fixed camera and the movable camera are arranged opposite to each other to acquire end face images of the parts to be inspected. The first unloading tray is located between the fixed camera and the movable camera to receive and place defective products. Specifically, a linear motion module is provided below the movable camera to drive the movable camera in linear motion.

[0061] In practical applications, the fixed camera 31 remains stationary. After the quick-change gripper 22 accurately grasps the part to be inspected, the robot arm is controlled to move the quick-change gripper 22 to transfer the part to be inspected between the fixed camera 31 and the movable camera 32. Then, the movable camera 32 is adjusted to the optimal position matching the working distance of the lens to obtain a clear end-face image of the part to be inspected. The end-face image is then transmitted to the control device. After image processing, the control device determines whether the end-face inspection of the part to be inspected is qualified based on the processed end-face image. If the end-face inspection is unqualified, the robot arm 21 is controlled to place the unqualified parts into the first unloading tray 33 in a certain order. Preferably, the first unloading tray 33 provided in this embodiment is a square grid, so that the unqualified parts are not mixed together in the tray, and the stored end-face image data can be quickly matched when querying the unqualified parts later.

[0062] For example, the cylindrical surface inspection mechanism 4 includes a mounting plate 41, an inspection component, a first motion module 46, a second motion module component, a third motion module 48, and a second unloading tray 49. The first motion module 46 is located above the mounting plate 41 and is movably connected to the inspection component, driving the inspection component to move along a first direction. The second motion module is located below the mounting plate 41 and drives the inspection component to move along a second direction. The first direction is perpendicular to the second direction. The inspection component is used to acquire cylindrical surface images of different types of parts to be inspected. The second unloading tray 49 is mounted on the third motion module 48 and located below the inspection component. The third motion module 48 drives the second unloading tray 49 to move along the second direction. The second unloading tray 49 is used to receive and hold cylindrical surface defective products and qualified products, respectively. Specifically, the second unloading tray 49 includes a first dispensing compartment and a second dispensing compartment. The first dispensing compartment is used to receive cylindrical surface defective products, and the second dispensing compartment is used to receive and hold qualified products.

[0063] For example, in this embodiment, the detection components include a first detection group 42, a second detection group 43, a third detection group 44, and a camera module 45. The first detection group 42 includes a first pusher 421, a first guide groove 422 and a second guide groove 423 oppositely arranged and having equal inner diameters. The first pusher 421 is connected to the end of the mounting plate away from the second guide groove 423 and can move along the first guide groove 422. A first pneumatic slide 424 and a second pneumatic slide 425 are respectively provided below the first guide groove 422 and the second guide groove 423 to respectively drive the first guide groove 422 and the second guide groove 423 to move along the first direction. The second detection group 43 includes a second pusher 431, a third guide groove 432 and a fourth guide groove 433 oppositely arranged and having equal inner diameters. The second pusher 431 is connected to the mounting plate 41 away from the fourth guide groove 422 and the second guide groove 423. One end of the groove 433 is connected and can move along the third guide groove 432. A third pneumatic slide 434 and a fourth pneumatic slide 435 are respectively provided below the third guide groove 432 and the fourth guide groove 433 to drive the third guide groove 432 and the fourth guide groove 433 to move along the first direction. The third detection group 44 includes a third pusher rod 441, a vacuum generator (not shown in the figure), and a guide structure 442. The third pusher rod 441 is a hollow structure, with one end connected to one end of the mounting plate 41 and communicating with the vacuum generator. The guide structure 442 is installed on the other end, and the third pusher rod 441 can move along the first direction. The camera module 45 is located in the middle of the second motion module and is used to acquire cylindrical images of the parts to be inspected. Specifically, the camera module 45 includes multiple CCD cameras arranged in a surrounding pattern. Preferably, the first pusher rod 421 and the second pusher rod 431 provided in this embodiment are both solid structures. Specifically, in this embodiment, the inner diameter of the first guide groove 422 is larger than the inner diameter of the third guide groove 432, and the inner diameter of the first guide groove 422 is adapted to the outer diameter of the large-diameter cylindrical part, while the inner diameter of the third guide groove 432 is adapted to the outer diameter of the small-diameter cylindrical part. In addition, the third guide groove 432 and the fourth guide groove 433 are also provided with a discharge port.

[0064] For example, the second motion module includes a first motion module 471 and a second motion module 472, wherein the first motion module 471 is used to drive the first pusher 421, the first guide groove 422, the second pusher 431, the third guide groove 432 and the third pusher 441 to move along the second direction, and the second motion module is used to drive the second guide groove 423 and the fourth guide groove 433 to move along the second direction.

[0065] In practical applications, after the end face inspection of the component to be inspected passes, the robotic arm drives the quick-change gripper to move the component to the cylindrical surface inspection mechanism for cylindrical surface inspection. Specifically, when the component to be inspected is moved above the inspection assembly, the robotic arm descends and places it at the loading point of the corresponding inspection group according to the type of component, and then pushes the component to the camera module for cylindrical surface inspection.

[0066] For example, if the type of the component to be inspected is identified as an upper plug, the robot arm 21 is controlled to drive the quick-change gripper to align the perforated end face of the upper plug with the third pusher rod 441, and then the upper plug is fitted onto the end of the third pusher rod 441 with the guide structure. The vacuum generator evacuates the third pusher rod 441, generating suction to adsorb the upper plug onto the end of the third pusher rod 441. The guide structure 442 is conical, ensuring that the upper plug and the third pusher rod are parallel. After the upper plug is loaded, the first motion module 471 in the second motion module is activated to drive the third pusher rod 441 to move back and forth along the second direction until the center of the third pusher rod 441 is aligned with the center of the camera module 45. Then, the first motion module 46 is activated to push the third pusher rod 441 slowly from the center of the camera module 45 along the first direction. During the process of passing through, the camera module 45 continuously captures images of the cylindrical surface of the upper plug and transmits the images to the control device. The control device processes the images and then determines whether the cylindrical surface of the upper plug is qualified based on the processed images. If the cylindrical surface is unqualified, the third motion module 48 is activated to move the second unloading tray 49 back and forth along the second direction until the upper plug is positioned above the first sub-packaging compartment within the second unloading tray 49. Then, the unqualified cylindrical products are placed into the first sub-packaging compartment in a certain order. If the cylindrical surface is qualified, the third motion module 48 is activated to move the second unloading tray 49 back and forth along the second direction until the upper plug is positioned above the second sub-packaging compartment within the second unloading tray 49. Then, the qualified products are placed into the second sub-packaging compartment. Preferably, the first sub-packaging compartment provided in this embodiment is a square compartment, so that the unqualified cylindrical products will not be mixed together in the tray, and the stored cylindrical image data can be quickly matched when querying unqualified cylindrical products later.

[0067] For example, after completing the appearance inspection of the current upper plug, the next component to be inspected is identified as a large-diameter cylindrical part. Once the end face inspection of the large-diameter cylindrical part is qualified, the robot arm 21 is controlled to drive the quick-change gripper 22 to place the large-diameter cylindrical part into the first guide groove 422. The first motion module 471 in the second motion module is activated to drive the first pusher 421 and the first guide groove 422 to move back and forth along the second direction until the center of the first pusher 421 and the first guide groove 422 is aligned with the center of the camera module 45. Then, the first pneumatic slide 424 is activated to drive the first guide groove 422 to move along the first direction until the first guide groove... The end of 422 extends to the center of the camera module 45. Then, the second motion module 473 in the second motion module is activated to drive the second guide groove 423 to move back and forth along the second direction until the center of the second guide groove 423 is aligned with the center of the camera module 45. Then, the second pneumatic slide 425 is activated to drive the second guide groove 423 to run along the first direction until the end of the second guide groove 423 extends to the center of the camera module 45 and is spaced a certain distance from the end of the first guide groove 422. It should be noted that this certain distance is greater than zero and less than half the length of the large-diameter cylindrical part. Finally, the first guide groove 422 and the second guide groove 422 are fixed. At the position of groove 423, the first motion module 46 is activated to push the first pusher bar 421 to move slowly along the first guide groove 422, thereby pushing the large-diameter cylindrical component located in the first guide groove 422 to slowly pass through the center of the camera module 45 and transition into the second guide groove 423. During this process, the camera module 45 will continuously capture images of the cylindrical surface of the large-diameter cylindrical component and transmit the cylindrical surface images to the control device. After processing the cylindrical surface images, the control device will determine whether the cylindrical surface detection of the large-diameter cylindrical component is qualified based on the processed cylindrical surface images. If the cylindrical surface detection is unqualified, the third motion module 48 is activated to drive the second... The feeding tray 49 moves back and forth along the second direction until it is adjusted so that the feeding port on the second guide groove 423 is above the first sub-packaging compartment in the second feeding tray 49. Then, the first pusher 421 pushes the large-diameter cylindrical part to fall from the feeding port into the first sub-packaging compartment in a certain order. If the cylindrical surface is qualified, the third motion module 48 is activated to drive the second feeding tray 49 to move back and forth along the second direction until it is adjusted so that the feeding port on the second guide groove 423 is above the second sub-packaging compartment in the second feeding tray 49. Then, the first pusher 421 pushes the large-diameter cylindrical part to fall from the feeding port into the second sub-packaging compartment.

[0068] Understandably, if the next component to be inspected is identified as a small-diameter cylindrical part, the detection principle for small-diameter cylindrical parts is the same as above.

[0069] As can be seen, the nuclear industry component appearance inspection system provided in this embodiment can realize automatic loading, inspection, and unloading of different types of components to be inspected, with high integration, high automation, and high inspection accuracy.

[0070] Based on the same inventive concept, this embodiment also provides a method for visual inspection of nuclear industry components. Please refer to [link / reference]. Figure 6 The detection method includes the following steps:

[0071] Step S1: Arrange the parts to be inspected and obtain the type, posture information and position information of each part.

[0072] Step S2: Grab a component to be inspected in sequence according to the type, posture information and position information of the component.

[0073] Step S3: Perform end face appearance inspection on the component to be inspected.

[0074] Step S4: Determine whether the end face appearance inspection of the component to be inspected is qualified. If yes, proceed to step S5;

[0075] For example, if not, mark the component to be inspected as a defective end face and cut it into pieces, then return to step S2.

[0076] Step S5: Perform cylindrical surface appearance inspection on the component to be inspected according to the type of the component to be inspected.

[0077] Step S6: Determine whether the cylindrical appearance inspection of the component to be inspected is qualified. If yes, proceed to step S7 and return to step S2.

[0078] Step S7: Mark the parts to be inspected as qualified products and proceed with unloading.

[0079] For example, if not, mark the component to be inspected as a cylindrical defective product and cut it into pieces, then return to step S2.

[0080] As can be seen, the nuclear industry component appearance inspection method provided in this embodiment can achieve fully automated, assembly-line inspection of different types of components, reducing inspection costs and time, and improving inspection efficiency and accuracy. Furthermore, compared to traditional inspection methods that perform overall inspection of a single type of nuclear industry component, the method provided in this embodiment inspects each component sequentially, item by item. If any defect is detected during the process, the inspection is stopped and the next inspection begins. This significantly reduces inspection time and facilitates subsequent analysis to pinpoint the causes of defects.

[0081] In summary, the nuclear industry component appearance inspection system and method provided by this invention have the following advantages: The nuclear industry component appearance inspection system includes a feeding mechanism, a gripping mechanism, an end face inspection mechanism, a cylindrical surface inspection mechanism, and a control device. The control device is communicatively connected to each of the other mechanisms. The feeding mechanism is used to arrange the components to be inspected and to acquire the specification type, posture information, and position information of each component. The gripping mechanism is used to grip the components according to their specification type, posture information, and position information. The end face inspection mechanism is used to perform end face appearance inspection on the components. The cylindrical surface inspection mechanism includes multiple inspection groups, each used to perform cylindrical surface appearance inspection on components with different specification types. This invention can achieve fully automated inspection of the appearance of different types of nuclear industry components, reducing inspection costs, shortening inspection time, and improving inspection efficiency and accuracy.

[0082] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A nuclear industry component appearance inspection system, characterized in that, include: The feeding mechanism is used to arrange the parts to be inspected and to obtain the type, posture and position information of each part to be inspected. The gripping mechanism is used to grip the parts to be inspected according to their type, posture information, and position information. An end-face inspection mechanism is used to perform end-face appearance inspection on the parts to be inspected. The cylindrical surface inspection mechanism includes multiple inspection groups, each used to inspect the cylindrical surface appearance of different types of parts to be inspected. The control device is communicatively connected to the feeding mechanism, the gripping mechanism, the end face detection mechanism, and the cylindrical surface detection mechanism, respectively. The cylindrical surface detection mechanism includes a mounting plate, a detection component, a first motion module, a second motion module component, a third motion module, and a second unloading tray. The first motion module is disposed above the mounting plate and is movably connected to the detection component, and is used to drive the detection component to move along the first direction; The second motion module is located below the mounting plate and is used to drive the detection component to move along the second direction; the first direction is perpendicular to the second direction; The detection component is used to acquire cylindrical images of different types of parts to be inspected; The second feeding tray is mounted on the third motion module and located below the detection component. The third motion module is used to drive the second feeding tray to move along the second direction. The second feeding tray is used to receive and place cylindrical defective products and qualified products respectively. The detection components include a first detection group, a second detection group, a third detection group, and a camera module. The multiple detection groups are used to perform cylindrical appearance inspection on the parts to be inspected with different specifications and information types. The first detection group includes a first pusher bar, a first guide groove and a second guide groove that are arranged opposite each other and have the same inner diameter. The first pusher bar is connected to the end of the mounting plate away from the second guide groove and can move along the first guide groove. The first guide groove and the second guide groove are respectively provided with a first pneumatic slide and a second pneumatic slide, which are used to drive the first guide groove and the second guide groove to move along the first direction. The second detection group includes a second pusher bar, a third guide groove and a fourth guide groove that are arranged opposite each other and have the same inner diameter. The second pusher bar is connected to the end of the mounting plate away from the fourth guide groove and can move along the third guide groove. A third pneumatic slide and a fourth pneumatic slide are respectively provided below the third guide groove and the fourth guide groove, which are used to drive the third guide groove and the fourth guide groove to move along the first direction respectively. The third detection group includes a third pusher rod, a vacuum generator, and a guide structure. The third pusher rod is a hollow structure, with one end connected to one end of the mounting plate and communicating with the vacuum generator. The guide structure is installed on the other end, and the third pusher rod can move along the first direction. The camera module is located in the middle of the second motion module and is used to acquire cylindrical images of the parts to be inspected.

2. The nuclear industry component appearance inspection system as described in claim 1, characterized in that, The feeding mechanism includes a material trough, a fixed plate, a base, a flexible feeder, a first vibration source, a second vibration source, a support frame, and a camera; The material trough is connected to the base via the fixing plate. The flexible feeder is located below the outlet of the material trough. The first vibration source is located below the base and is used to vibrate the parts to be inspected in the material trough to the flexible feeder. The second vibration source is located below the flexible feeder and is used to arrange the parts to be inspected on the flexible feeder. The support frame is located on both sides of the base. The camera is mounted on the support frame and located directly above the flexible feeder.

3. The nuclear industry component appearance inspection system as described in claim 1, characterized in that, The gripping mechanism includes a robotic arm, a quick-change gripper, and a gripper placement rack; The quick-change gripper is detachably connected to the robot arm. The gripper placement rack holds various types of quick-change grippers. The robot arm can travel back and forth to the gripper placement rack to change to a suitable quick-change gripper to grasp the corresponding part to be inspected, based on the type, posture information, and position information of the part to be inspected.

4. The nuclear industry component appearance inspection system as described in claim 1, characterized in that, The end face inspection mechanism includes a fixed camera, a movable camera, and a first feeding tray; The fixed camera and the movable camera are arranged opposite each other to acquire the end face image of the component to be inspected. The first unloading tray is located between the fixed camera and the movable camera to receive and place defective end face products.

5. The nuclear industry component appearance inspection system as described in claim 1, characterized in that, Both the first pusher and the second pusher are solid structures.

6. The nuclear industry component appearance inspection system as described in claim 1, characterized in that, The second motion module includes a first motion module and a second motion module; The first motion module is used to drive the first pusher bar, the first guide groove, the second pusher bar, the third guide groove, and the third pusher bar to move along the second direction; The second motion module is used to drive the second guide groove and the fourth guide groove to move along the second direction.

7. A method for inspecting the appearance of nuclear industry components, comprising the nuclear industry component appearance inspection system according to any one of claims 1-6, characterized in that, include: The parts to be inspected are arranged, and the type, orientation information and position information of each part are obtained. Based on the type, posture information, and position information of the component, grab a component to be inspected in sequence; The end face appearance of the component to be inspected is then inspected. Determine whether the end face appearance inspection of the component to be inspected is qualified; If so, depending on the type of the component to be inspected, perform cylindrical surface appearance inspection on the component to be inspected; Determine whether the cylindrical surface appearance inspection of the component to be inspected is qualified; If so, mark the component to be inspected as a qualified product and unload it, then return to the execution process to sequentially grab a component to be inspected based on its type, posture information, and position information.

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