A visual inspection platform for TO can bases

Abstract

The application discloses a TO pipe base visual detection platform, and belongs to the technical field of TO pipe base pin detection.The TO pipe base visual detection platform sequentially comprises a feeding sorting device, a feeding detection device and a discharging transplanting device according to the material flow conversion sequence of the TO pipe base.The TO pipe base visual detection platform further comprises a control system which is connected with the feeding sorting device, the feeding detection device and the discharging transplanting device, is used for controlling the coordinated action of the feeding sorting device, the feeding detection device and the discharging transplanting device, receiving the image of an analysis camera and outputting the detection result of the TO pipe base.The beneficial effects of the application are as follows: the front surface, the bottom surface and the side surface of the product are detected at the same time, 360-degree visual detection effect without dead angle is realized, the detection efficiency is improved, the discharging mode is changed into a double-module linear driving mode, the waiting link between feeding and discharging is avoided, seamless connection of feeding and discharging is realized, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of TO pipe base pin detection, and particularly relates to a TO pipe base visual detection platform. BACKGROUND

[0002] At present, TO pipe base products need to be detected before leaving the factory to check whether they are qualified, specific detection positions include the top base surface, top lead, side lead, bottom base surface and bottom lead of the pipe base, and detection methods include device detection methods with visual detection functions and manual detection methods.

[0003] Among them, most of the visual detection devices mainly include a feeding turntable mechanism and a discharging box mechanism, in the device running process, the feeding turntable delivers the products to be detected to a detection station, a photographing device is placed above and on the side of the detection station to detect whether the products are qualified, after detection, the feeding turntable delivers the products to a discharging station and puts them into the discharging box, and the product detection work is completed in this order.

[0004] The inventor found in the research on the visual detection device that, due to only one feeding turntable, the photographing device can only be installed on the top or side due to structural limitations, and only the top surface and side surface of the product can be detected, this method has the disadvantage that the top surface, side surface and bottom surface of the product cannot be detected at the same time, 360-degree visual detection effect without dead angle cannot be achieved, and the detection efficiency is low.

[0005] At the same time, the discharging method of the visual detection device is to directly put the products from the feeding turntable into the discharging box, this method has the disadvantage that when the discharging box is full, the feeding turntable needs to wait until the discharging box is replaced with a new one before it can continue to deliver materials, and the production efficiency is low.

[0006] In addition, the feeding and discharging components of the visual detection device are fixed in size, this method has the disadvantage that one device can only detect one type of product, and if multiple products need to be detected, multiple devices are needed, and the production cost is high. SUMMARY

[0007] The application aims to solve the technical problem that the existing visual detection device has only one feeding turntable, the photographing device can only be installed on the top or side due to structural limitations, only the top surface and side surface of the product can be detected, the top surface, side surface and bottom surface of the product cannot be detected at the same time, 360-degree visual detection effect without dead angle cannot be achieved, and the detection efficiency is low.

[0008] In order to achieve the above-mentioned goal, the application provides a TO pipe base visual detection platform.

[0009] The specific technical scheme adopted by the application is as follows:

[0010] A TO tube base visual detection platform, which sequentially comprises, in the order of TO tube base material flow conversion:

[0011] A feeding sorting device, which comprises a vibrating disc and a positioning device fixed at the outlet of the vibrating disc;

[0012] A feeding detection device, which comprises a lower turntable, an upper turntable and a photographing device; a first mechanical arm is fixed between or on the side of the lower turntable and the positioning device, so as to grab and place the TO tube base from the positioning device into the lower turntable carrier of the lower turntable; the upper turntable is fixed with a second mechanical arm, which is movable above the lower turntable carrier when the lower turntable and the upper turntable rotate, for grabbing and positioning the TO tube base; the photographing device comprises a plurality of cameras, which are respectively fixed on the side or above or below the pause position of the lower turntable carrier and the second mechanical arm, and the position of the pause position is determined by the angle of the intermittent rotation of the lower turntable and the upper turntable;

[0013] A discharging and transplanting device, which comprises a third mechanical arm, a first transfer module and a second transfer module, the first transfer module is horizontally movable below the rotation track of the second mechanical arm, and the third mechanical arm is fixed between the first transfer module and the second transfer module, so as to realize the transfer of the TO tube base from the first transfer module to the second transfer module, and the second transfer module is provided with a discharging box for storing the TO tube base;

[0014] The first mechanical arm, the second mechanical arm and the third mechanical arm are all fixed with a suction nozzle for picking up the TO tube base.

[0015] The TO tube base visual detection platform further comprises a control system, which is connected with the feeding sorting device, the feeding detection device and the discharging and transplanting device respectively, so as to control the coordinated action of the feeding sorting device, the feeding detection device and the discharging and transplanting device, receive the images of the analysis cameras and output the detection results of the TO tube base.

[0016] Further, the lower turntable comprises 8 lower turntable carriers which are evenly distributed on the circumference of the lower turntable, and the lower turntable carrier is provided with an adsorption hole for adsorbing and fixing the TO tube base; the upper turntable comprises 8 second mechanical arms which are evenly distributed on the circumference of the upper turntable, and the end of each second mechanical arm is fixed with a suction nozzle for picking up the TO tube base;

[0017] Further, the adsorption hole is connected with a Venturi tube, and the air inlet end of the Venturi tube is connected with an air pipe, and the air pipes are connected in a flow divider at the center of the lower turntable, so as to realize that the air pipes will not be entangled together when the lower turntable rotates.

[0018] Further, the first transfer module includes 20 suction carriers for placing TO tube bases; the second transfer module also includes 20 suction carriers for placing TO tube bases; the third mechanical hand includes 20 suction nozzles for picking up TO tube bases from the first transfer module and placing them in the second transfer module.

[0019] Further, the suction carriers of the first transfer module are fixed on the top surface of a sliding table, the sliding table is divided into symmetrically arranged first and second sliding tables, the bottom of each of the first and second sliding tables is provided with a transmission mechanism for driving the first and second sliding tables to make linear reciprocating motion in opposite directions; the side surface of the sliding table is also provided with a cylinder for pushing the first and second sliding tables to alternately enter the position directly below the second mechanical hand to pick up TO tube bases.

[0020] Further, the discharge end of the second transfer module is hingedly connected to a material receiving plate for temporarily storing the stacked TO tube base material disc output from the second transfer module.

[0021] Further, the camera includes a top camera, a side camera and a bottom camera, the top camera is fixed above the rotating track of the lower turntable carrier, the side camera is fixed on the side of the rotating track of the second mechanical hand of the upper turntable, and the bottom camera is fixed below the rotating track of the second mechanical hand of the upper turntable.

[0022] Further, the top camera is divided into a first top camera and a second top camera, the second top camera is used to review the detection results of the first top camera; the bottom camera is divided into a first bottom camera and a second bottom camera, the second bottom camera is used to review the detection results of the first bottom camera.

[0023] Further, the positioning device includes a sorter and a positioner connected to the sorter, the sorter is provided with a circular arc sorting groove and a spiral material returning groove, and the discharge end of the circular arc sorting groove is connected to the positioner.

[0024] Further, the circular arc sorting groove includes a first guide plate and a second guide plate, the top of the first guide plate and the second guide plate is connected, the bottom of the first guide plate and the second guide plate is adjacent to form an arc-shaped hanging groove, the TO tube bases are sequentially arranged in the arc-shaped hanging groove for conveying, and the tail of the arc-shaped hanging groove is connected to the spiral material returning groove.

[0025] The positive effects of the present application are:

[0026] By setting the lower turntable and the upper turntable, the product front, bottom and side can be detected simultaneously, 360-degree visual detection effect without dead angle is realized, the detection efficiency and accuracy are improved, the blanking mode adopts the double-module linear driving mode of the first transfer module and the second transfer module, this method avoids the waiting link between feeding and blanking, realizes the seamless connection of feeding and blanking, improves the production efficiency, the suction nozzle, carrier and the like used for product material taking and discharging can be replaced, by replacing different types of suction nozzles and carriers, the purpose of detecting multiple types of products by one equipment is realized, and the production cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a three-dimensional structure schematic view of a first visual angle direction of a TO tube base visual detection platform of the present application;

[0028] Figure 2 is a three-dimensional structure schematic view of a second visual angle direction of a TO tube base visual detection platform of the present application;

[0029] Figure 3 is Figure 2 an enlarged view of M in FIG.

[0030] Figure 4 is a three-dimensional structure schematic view of a third visual angle direction of a TO tube base visual detection platform of the present application;

[0031] Figure 5 is Figure 4 an enlarged view of N in FIG.

[0032] Figure 6 is Figure 5 an enlarged view of X in FIG.

[0033] Figure 7 is Figure 5 a structure schematic view of the lower turntable shown in FIG.

[0034] Figure 8 is Figure 4 a structure schematic view of the vibration disc shown in FIG.

[0035] Figure 9 is Figure 8 an enlarged view of E in FIG.

[0036] Figure 10 is Figure 4 a structure schematic view of the top camera shown in FIG.

[0037] Figure 11 is Figure 3 and Figure 5 a structure schematic view of the suction nozzle shown in FIG.

[0038] Legend: 1 - frame, 2 - vibration disc, 201 - spiral feeding groove, 202 - sorting groove, 203 - arc-shaped hanging groove, 204 - first guide plate, 205 - second guide plate, 206 - sorter, 207 - guide groove, 208 - pin passage, 209 - conveying groove, 210 - second vibrator, 211 - return groove, 3 - first mechanical hand, 301 - first mechanical hand suction nozzle fixing seat, 302 - first vertical column, 303 - first mechanical hand suction nozzle, 304 - positioner, 305 - positioning cylinder, 306 - TO tube seat, 307 - positioning groove, 4 - bottom camera, 401 - damping spring, 402 - camera fixing plate, 403 - dovetail slide rail, 404 - camera fixing seat, 405 - camera support, 406 - camera clamping block, 407 - second vertical column, 408 - camera locking bolt, 409 - auxiliary focusing light source, 410 - lens, 5 - upper turntable, 501 - upper turntable wheel disc, 502 - second cylinder, 503 - support, 504 - spring, 505 - fixing seat, 506 - second mechanical hand suction nozzle, 507 - waste basket, 6 - second mechanical hand, 7 - third mechanical hand, 701 - first horizontal movement cylinder, 702 - rack, 703 - first lifting cylinder, 704 - first synchronous belt, 705 - transplanting disc, 706 - third mechanical hand suction nozzle, 707 - third mechanical hand suction nozzle fixing seat, 8 - second transplanting module, 801 - horizontal movement frame, 802 - load disc gripper, 803 - second horizontal movement cylinder, 9 - material receiving plate, 901 - arc-shaped fixing groove, 902 - fixing bolt, 903 - hinged shaft, 10 - first transplanting module, 11 - side camera, 1101 - side camera sliding table, 12 - first bottom camera, 1201 - second bottom camera, 13 - lower turntable, 1301 - lower turntable carrier, 13011 - adsorption hole, 1302 - lower turntable wheel disc, 1303 - air pipe joint, 14 - load disc, 15 - material bin, 16 - air inlet nozzle, 17 - suction nozzle rubber wall, 18 - rubber wall cavity, 19 - rubber lip, 20 - air outlet nozzle. DETAILED DESCRIPTION

[0039] The application will be described in detail below with reference to the drawings and specific embodiments:

[0040] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0041] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0042] The specific implementation of the present application is described in detail below in combination with specific examples.

[0043] As shown in Figures 1 to 10 , a structure diagram of a TO tube base visual detection platform provided by an embodiment of the present application,

[0044] A TO tube base visual detection platform, the TO tube base visual detection platform sequentially includes, in the order of TO tube base 306 material flow conversion:

[0045] A feeding sorting device, the feeding sorting device includes a vibrating disc and a positioning device fixed at the outlet of the vibrating disc;

[0046] A feeding detection device, the feeding detection device includes a lower turntable, an upper turntable and a photographing device; a first mechanical hand is fixed between or on the side of the lower turntable and the positioning device, to grab and place the TO tube base 306 from the positioning device into the lower turntable carrier of the lower turntable; the upper turntable is fixed with a second mechanical hand, which is movable above the lower turntable carrier when the lower turntable and the upper turntable rotate, for grabbing and positioning the TO tube base 306; the photographing device includes a plurality of cameras, respectively fixed on the side or above or below the pause position of the lower turntable carrier and the second mechanical hand, the position of the pause position being determined by the angle of intermittent rotation of the lower turntable and the upper turntable;

[0047] A discharging and transplanting device, the discharging and transplanting device includes a third mechanical hand, a first transplanting module and a second transplanting module, the first transplanting module is horizontally movable below the rotation track of the second mechanical hand, the third mechanical hand is fixed between the first transplanting module and the second transplanting module, to realize the transfer of the TO tube base 306 from the first transplanting module to the second transplanting module, the second transplanting module is provided with a discharging box for storing the TO tube base 306;

[0048] The first, second and third mechanical hands are fixed with suction nozzles for picking up the TO can 306.

[0049] The TO can visual detection platform further comprises a control system connected with the feeding sorting device, the feeding detection device and the discharging transplanting device respectively, for controlling the feeding sorting device, the feeding detection device and the discharging transplanting device to act in coordination, receiving images of the analysis camera and outputting detection results of the TO can 306.

[0050] In the embodiment of the present application, by arranging the lower turntable and the upper turntable, the front surface, the bottom surface and the side surface of the product can be detected at the same time, realizing 360-degree visual detection effect without dead angle, improving the detection efficiency and accuracy, the discharging mode adopts the double-module linear driving mode of the first transfer module and the second transfer module, which avoids the waiting link between feeding and discharging, realizes seamless connection of feeding and discharging, improves the production efficiency, the suction nozzles, carriers and the like used for product feeding and discharging can be replaced, by replacing suction nozzles and carriers of different models, the purpose of detecting multiple models of products by one device is realized, and the production cost is reduced.

[0051] Specifically:

[0052] The rack 1 of the TO can visual detection platform is provided with the feeding sorting device, the feeding detection device and the discharging transplanting device in sequence according to the material flow sequence of the TO can 306;

[0053] The feeding sorting device comprises a vibrating disc 2 and a positioning device fixed at the outlet of the vibrating disc, the positioning device comprises a sorter 206 and a positioner 304 connected with the sorter, the sorter is provided with a circular-arc sorting groove 202 and a spiral return groove 211, the discharging end of the circular-arc sorting groove 202 is connected with the positioner, wherein the bottom of the vibrating disc 2 is provided with a first vibrator, the inner circumference of the vibrating disc 2 is provided with a spiral feeding groove 201, under the vibration of the first vibrator, the TO can 306 spirally rises along the spiral feeding groove 201, the width of the spiral feeding groove 201 is the same as or slightly larger than the diameter of the TO can 306, the TO can 306 entering the spiral feeding groove 201 transversely will fall back into the vibrating disc 2, and re-vibrate to enter the sorting state, the TO can 306 entering the spiral feeding groove 201 is divided into three types:

[0054] The first type is that the seat disc of the TO can 306 faces forward, when being conveyed to the sorting groove 202, since the sorting groove 202 comprises a V-shaped groove composed of a first guide plate 204 and a second guide plate 205, an arc-shaped hanging groove 203 is formed at the bottom opening of the V-shaped groove, the arc-shaped hanging groove 203 is lower than the top of the V-shaped groove, under the action of gravity and vibration, the pin of the TO can 306 slides into the arc-shaped hanging groove 203, and the seat disc of the TO can 306 is hung in the arc-shaped hanging groove 203;

[0055] The second, the TO tube base 306 seat plate backward, its action is same with the first kind;

[0056] The third, the TO tube base 306 seat plate backward and the TO tube base 306 seat plate forward clamped together, unable to realize sorting, along the spiral return chute 211 return into the vibration disc 2, the spiral return chute 211 can ensure that the TO tube base 306 is slipped into the vibration disc 2, rather than falling, so as to avoid the deformation and even damage of the pin by knocking.

[0057] The discharge end of the circular arc sorting groove 202 is connected with the positioner 304, the sorter 206 is further provided with a guide groove 207 for guiding and conveying the TO tube base 306 seat plate, and a pin channel 208 for guiding and accommodating the pin, the sorter 206 is connected with a conveying groove 209 for conveying and temporarily storing the TO tube base 306, the bottom of the conveying groove 209 is provided with a second vibrator 210, so as to ensure that the conveying groove 209 can continuously convey to the positioner, the end of the conveying groove 209 is connected with the positioner 304, the positioner 304 is provided with a positioning groove 307, and the opposite side of the positioning groove 307 is provided with a positioning cylinder 305, when the TO tube base 306 slides into the positioner 304, the positioning cylinder 305 pushes the TO tube base 306 into the positioning groove 307 for positioning;

[0058] The first mechanical hand 3 is provided above the positioner 304, the first mechanical hand 3 is an XY coordinate mechanical hand, the horizontal moving and lifting mechanism thereof is packaged in a box, and is fixed on the top surface of the rack 1 through the first vertical column 302, the bottom of the box is provided with a first mechanical hand suction nozzle fixing seat 301 of the first mechanical hand 3, the bottom of the first mechanical hand suction nozzle fixing seat 301 is fixedly connected with a first mechanical hand suction nozzle 303, which is used for sucking the TO tube base 306 and placing it into a lower turntable carrier 1301 of the lower turntable 13;

[0059] The lower turntable 13 is provided with a lower turntable wheel disc 1302, the bottom of the lower turntable wheel disc 13 is provided with a cam divider, and the center of the lower turntable wheel disc 13 is provided with a flow divider, wherein the cam divider is used for indexing when the lower turntable wheel disc 13 rotates, and the flow divider is used for preventing the air pipes from being wound together when the lower turntable rotates, the flow divider and the cam divider are prior art and are commercially available, and their principles and mechanisms will not be described here.

[0060] Preferably, the lower turntable 13 includes 8 lower turntable carriers 1301 evenly distributed on the circumference of the lower turntable, and the lower turntable carrier 13001 is provided with an adsorption hole 13011 for adsorbing and fixing the TO tube seat, and the adsorption hole is connected with a Venturi tube, and the gas inlet end of the Venturi tube is connected with an air pipe through an air pipe structure 1303, and the air pipe is connected in a flow divider in the center of the lower turntable to prevent the air pipe from winding together when the lower turntable rotates, and when the Venturi tube is supplied with air, a negative pressure is generated at the adsorption hole 13011 through the Venturi effect, and the TO tube seat 306 is adsorbed and fixed;

[0061] Two top cameras 4 are fixed on the side of the lower turntable 13, which are a first top camera and a second top camera, and the second top camera is used to review the detection results of the first top camera, wherein an auxiliary focusing light source 409 is arranged at the lens 410 of the top camera, which is used to assist the lens 410 to accurately capture a clear image of the TO tube seat 306, the top camera 4 is fixed on the side of the camera fixing plate 402, and the camera fixing plate 402 is provided with two plates and is connected by a damping spring 401 in the middle, which can reduce the influence of equipment vibration on the shooting accuracy of the camera, the camera fixing plate 402 is fixed on the side of the camera fixing seat 404 through the dovetail sliding rail 403, the auxiliary focusing light source 409 is also fixed on the side of the camera fixing seat 404 through the dovetail sliding rail 403, the auxiliary focusing light source 409 and the camera fixing plate 402 are both provided with a camera locking bolt 408, which is used to adjust the position of the camera fixing plate 408 on the side of the camera fixing seat 404, so as to facilitate shooting a clear TO tube seat 306 image, and the camera fixing seat 404 is fixed with a camera support 405 on the back, and the camera support 405 is clamped on the outer circumference of the second column 407 through the camera clamp block 406, and the second column 407 is fixed on the top surface of the rack 1, and such design can adjust the horizontal rotation of the top camera 4 and the auxiliary focusing light source 409, which is convenient for aligning with the TO tube seat 306;

[0062] The upper turntable 5 is fixed on the side of the lower turntable 13, and the upper turntable 5 includes a plurality of second mechanical hands 6 evenly distributed on the circumference of the upper turntable, and the end of each second mechanical hand 6 is fixed with a suction nozzle for picking up the TO tube seat 306, wherein the upper turntable 5 is also driven by a cam divider, and the prior art will not be repeated here, and the upper turntable 5 includes an upper turntable disc 501, and the upper turntable disc 501 is evenly distributed with 8 second mechanical hands 6, and the second mechanical hand 6 includes a second air cylinder 502, the bottom of the second air cylinder 502 is fixed with a support 503, the support 503 is connected with a fixing seat 505 through a spring 504, the fixing seat 505 is fixed with a second mechanical hand suction nozzle 506 at the bottom, and the detection end of the upper turntable 5 is provided with a waste basket 507, and the waste basket 507 is provided with two, and the release position is selected by the control system according to the feedback;

[0063] The detection starting end of the upper turntable 5 is provided with a side camera 11 and a bottom camera. The side camera 11 is fixed on the top of a side camera sliding table 1101. The side camera sliding table 1101 is a servo motor driven linear module, which is connected with a control system. The light gathering position can be adjusted in real time according to the definition of the side image through the control system. The bottom camera is divided into two parts, i.e., a first bottom camera 12 and a second bottom camera 1201. The first bottom camera 12 and the second bottom camera 1201 are fixed inside the rack 1. An auxiliary focusing light source 409 is arranged at the top lens of the first bottom camera 12 and the second bottom camera 1201.

[0064] The finished product discharge end of the upper turntable 5 is provided with a first transfer module 10. The first transfer module 10 is composed of a linear module and a sliding table. The adsorption carrier of the first transfer module 10 is fixed on the top surface of the sliding table. The sliding table is divided into a first sliding table 1101 and a second sliding table which are symmetrically arranged. The first sliding table 1101 and the second sliding table are both provided with a transmission mechanism at the bottom. The transmission mechanism drives the first sliding table and the second sliding table to make linear reciprocating motion in opposite directions. The side of the sliding table is also provided with a cylinder which pushes the first sliding table and the second sliding table to alternately enter the second mechanical arm below to pick up the TO tube seat.

[0065] Specifically, the first sliding table 1101 and the second sliding table are both provided with a transmission mechanism at the bottom. The transmission mechanism is a synchronous belt. The first sliding table 1101 and the second sliding table are fixed on the same synchronous belt. When the synchronous belt rotates under the drive of two synchronous pulleys, the first sliding table and the second sliding table make linear reciprocating motion in opposite directions.

[0066] Specifically, the first sliding table 1101 and the second sliding table are both provided with a transmission mechanism at the bottom. The transmission mechanism is two ball screws. The first sliding table 1101 and the second sliding table are fixed on the respective ball screws. The ball screws are driven by a servo motor to drive the first sliding table and the second sliding table to make linear reciprocating motion in opposite directions.

[0067] The first sliding table 1101 and the second sliding table can be moved to the bottom of the upper turntable compass 501 under the drive of the transmission mechanism, which facilitates the second mechanical arm 6 to place the TO tube seat on the adsorption carrier.

[0068] The structure of the adsorption carrier is the same as that of the adsorption hole structure of the lower turntable.

[0069] The first sliding table 1101 and the second sliding table are respectively provided with 20 adsorption carriers for placing the TO tube seat.

[0070] The second transplanting module 8 is fixed on the side of the first transplanting module 10, the movement directions of the first transplanting module 10 and the second transplanting module 8 are perpendicular to each other, the second transplanting module 8 comprises a horizontal moving frame 801, the horizontal moving frame 801 is provided with a guide groove, a load tray gripper 802 is slidably arranged in the guide groove, and the load tray gripper 802 is used for grabbing the conveying load tray 14; the load tray gripper 802 is fixed on a second horizontal moving cylinder 803, and the second horizontal moving cylinder 803 drives the load tray gripper 802 to slide in the guide groove of the horizontal moving frame 801, so that the load tray 14 is taken away from the transplanting tray 705;

[0071] The bottom of the transplanting tray 705 is provided with a first synchronous belt 704, which is used to pull the load tray 705 out of the bin 15 to take out the empty load tray 14;

[0072] The bin 15 and the second transplanting module 8 are provided with a third mechanical hand 706, the third mechanical hand 706 comprises a first horizontal moving cylinder 701, the first horizontal moving cylinder 701 is fixed with a third mechanical hand suction nozzle fixed seat 707, the first horizontal moving cylinder 701 drives the third mechanical hand suction nozzle fixed seat 707 to move linearly on the rack 702, and the rack ensures that the third mechanical hand suction nozzle fixed seat 707 remains stable in linear motion; the third mechanical hand suction nozzle fixed seat 707 is fixed with 20 suction nozzles, the fixed positions of the 20 suction nozzles correspond to the positions of 20 adsorption carriers respectively arranged on the first sliding table 1101 and the second sliding table; the third mechanical hand is also provided with a first lifting cylinder 703, the first lifting cylinder 703 is connected with the fixing frame of the first horizontal moving cylinder 701, and can drive the first horizontal moving cylinder 701 and the third mechanical hand suction nozzle fixed seat 707 to move linearly in the vertical direction, so that the suction nozzles of the third mechanical hand suction nozzle fixed seat 707 grab the TO pipe seat from the first sliding table 1101 or the second sliding table and place the TO pipe seat in the load tray 14 on the transplanting tray 705;

[0073] The discharge end of the second transplanting module 8 is hinged with a receiving plate 9 through a hinge shaft 903, which is used for temporarily storing the load tray 14, and can be folded down to save space when not needed; the hinge shaft 903 is also provided with an arc-shaped fixing groove 901, the arc-shaped fixing groove 901 is provided with a fixing bolt 902, which is used for fixing the receiving plate 9 and keeping the receiving plate 9 in the specified position.

[0074] Among them, as Figure 11As shown, the structure of the suction nozzle in this embodiment is fixed at the top of the nozzle fixing seat of the manipulator, the air inlet nozzle 16 is connected to the air inlet pipe, the air outlet pipe 20 is connected to the air outlet pipe or is empty, the bottom is provided with a suction nozzle rubber wall 17, the suction nozzle rubber wall 17 is provided with a rubber wall cavity 18, and the inside is sealed with a shear thickening liquid STF. When air is supplied to the air inlet nozzle 16, the Venturi structure inside the suction nozzle generates negative pressure in the suction nozzle rubber wall 17. At this time, the rubber lip 19 is combined with the top surface of the TO pipe seat to form a seal, and the TO pipe seat is sucked up. In particular, because the airflow generates a Venturi phenomenon in the Venturi structure inside the suction nozzle, the suction nozzle rubber wall 17 receives continuous vibration from the Venturi structure, and the shear thickening liquid STF can be converted from a liquid to a solid after absorbing the vibration, so that the suction nozzle rubber wall 17 becomes rigid. The advantage of this structure is that when the needle of the top of the TO pipe seat is exposed, the needle can be accommodated in the space surrounded by the suction nozzle rubber wall 17, and the vibration makes the suction nozzle rubber wall 17 rigid, without causing deformation of the suction nozzle rubber wall 17 due to negative pressure phenomenon, causing damage to the needle of the TO pipe seat.

[0075] The TO pipe seat visual detection platform further comprises a control system connected with the feeding sorting device, the feeding detection device and the unloading transplanting device respectively, for controlling the feeding sorting device, the feeding detection device and the unloading transplanting device to coordinate actions, receiving images of the analysis camera, and outputting detection results of the TO pipe seat 306, and placing unqualified products in the waste basket,

[0076] According to the feedback signals segmented by the positioner and the lower turntable cam, it is determined whether the TO pipe seat needs to be placed in the lower turntable carrier for detection; it is determined whether there is a TO pipe seat in the lower turntable carrier according to the result of grabbing by the second manipulator; it is determined whether the corresponding lower turntable carrier is supplied with air to achieve the adsorption effect according to the action result of the first manipulator; it is determined whether the cam segmenter rotates according to the detection result of the camera; and it is determined the action of the transplanting disc 705 and the action of the second transplanting module according to the action of the third manipulator.

[0077] The foregoing has outlined some aspects and features of various embodiments, which should be construed as being merely illustrative of potentially many applications of the disclosure. Other beneficial results can be attained by applying the disclosed information in a different manner or by combining aspects of the disclosed embodiments. Other aspects and more complete understandings of the exemplary embodiments can be obtained by referring to the following detailed description in conjunction with the accompanying drawings, which should be construed in accordance with the scope of the claims.

[0078] The above embodiments have been described in detail. Of course, the above description is not a limitation on the present application, and the present application is not limited to the above examples. Changes, modifications, additions or reductions, or replacements made by those skilled in the art within the scope of the present application are also within the scope of the present application.

Claims

1. A TO-can visual inspection platform, characterized by, The TO base visual detection platform sequentially comprises, in the order of TO base material flow conversion, a feeding sequencing device, an upper loading detection device, and a lower unloading and transferring device. The feeding sequencing device comprises a vibrating disc and a positioning device fixed at the outlet of the vibrating disc. The upper loading detection device comprises a lower turntable, an upper turntable, and a photographing device. The lower turntable and the positioning device are fixed with a first mechanical arm between or on the side thereof, for grabbing and placing the TO base from the positioning device into the lower turntable carrier of the lower turntable. The upper turntable is fixed with a second mechanical arm, which is movable above the lower turntable carrier when the lower turntable and the upper turntable rotate, for grabbing and positioning the TO base. The photographing device comprises a plurality of cameras fixed on the side or above or below the pause position of the lower turntable carrier and the second mechanical arm, respectively.

2. The TO-can visual inspection platform of claim 1, wherein, The lower unloading and transferring device comprises a third mechanical arm, a first transferring module, and a second transferring module.

3. The TO-can visual inspection platform of claim 2, wherein, The first transferring module is horizontally movable below the rotating track of the second mechanical arm. The third mechanical arm is fixed between the first transferring module and the second transferring module, to realize the transfer of the TO base from the first transferring module to the second transferring module. The second transferring module is provided with a unloading box for storing the TO base. The suction carrier of the first transferring module is fixed on the top surface of a sliding table, which is divided into a first sliding table and a second sliding table arranged symmetrically. The first sliding table and the second sliding table are both provided with a transmission mechanism at the bottom thereof, to drive the first sliding table and the second sliding table to make linear reciprocating motion in opposite directions. The side of the sliding table is also provided with a cylinder, to push the first sliding table and the second sliding table to alternately enter the position directly below the second mechanical arm to pick up the TO base. The first mechanical arm, the second mechanical arm, and the third mechanical arm are all fixed with a suction nozzle for picking up the TO base. The suction nozzle is fixed in the nozzle fixing seat at the top of the mechanical arm, and is provided with a nozzle rubber wall at the bottom. The nozzle rubber wall is provided with a rubber wall cavity, in which a shear thickening fluid STF is stored. When air is supplied to the air inlet nozzle, the nozzle rubber wall can receive continuous vibration from the Venturi structure, and the shear thickening fluid STF can be converted from liquid to solid after absorbing the vibration, so that the nozzle rubber wall becomes rigid to prevent the TO base pin from being damaged. The TO base visual detection platform further comprises a control system connected with the feeding sequencing device, the upper loading detection device, and the lower unloading and transferring device, to control the coordinated action of the feeding sequencing device, the upper loading detection device, and the lower unloading and transferring device, receive and analyze the images of the cameras, and output the detection results of the TO base. The lower turntable comprises eight lower turntable carriers evenly distributed on the circumference of the lower turntable. The lower turntable carriers are provided with suction holes for adsorbing and fixing the TO base. The upper turntable comprises eight second mechanical arms evenly distributed on the circumference of the upper turntable. The end of each second mechanical arm is fixed with a suction nozzle for picking up the TO base. The suction holes are connected with Venturi tubes, and the air inlet ends of the Venturi tubes are connected with air tubes. The air tubes are all connected in the flow divider at the center of the lower turntable, to prevent the air tubes from being entangled together when the lower turntable rotates.

4. The TO-can visual inspection platform of claim 3, wherein, The first transfer module includes 20 suction carriers for placing TO can holders; the second transfer module also includes 20 suction carriers for placing TO can holders; the third robot includes 20 suction nozzles for picking up TO can holders from the first transfer module and placing them in the second transfer module.

5. The TO-can visual inspection platform of claim 4, wherein, The discharge end of the second transfer module is hingedly connected to a material receiving plate for temporarily storing the stacked TO can holder trays output from the second transfer module.

6. The TO-can visual inspection platform of claim 5, wherein, The camera includes a top camera, a side camera and a bottom camera, the top camera is fixed above the rotation track of the lower turntable carrier, the side camera is fixed on the side of the rotation track of the upper turntable second robot, and the bottom camera is fixed below the rotation track of the upper turntable second robot.

7. The TO-can visual inspection platform of claim 6, wherein, The top camera is divided into a first top camera and a second top camera, the second top camera is used to review the detection results of the first top camera; the bottom camera is divided into a first bottom camera and a second bottom camera, the second bottom camera is used to review the detection results of the first bottom camera.

8. The TO-can visual inspection platform according to any one of claims 1 to 4, wherein, The positioning device includes a sorter and a positioner connected to the sorter, the sorter is provided with a circular arc sorting groove and a spiral return groove, and the discharge end of the circular arc sorting groove is connected to the positioner.

9. The TO-can visual inspection platform of claim 8, wherein, The circular arc sorting groove includes a first guide plate and a second guide plate, the top of the first guide plate and the second guide plate is connected, and the bottom of the first guide plate and the second guide plate is adjacent to form an arc-shaped hanging groove, the TO can holders are sequentially arranged in the arc-shaped hanging groove for conveying, and the tail of the arc-shaped hanging groove is connected to the spiral return groove.

Images