A mechanical parts height grading and screening device based on infrared and image recognition

Abstract

The present invention discloses a mechanical parts height grading and screening device based on infrared and image recognition, and belongs to the technical field of mechanical parts size screening. The mechanical parts height grading and screening device and grading screening method based on infrared and image recognition provided by the present invention determine the vertical height of multiple infrared beams through the standard size information of the mechanical parts to be screened and the national standard secondary precision grade information, and determine whether the currently screened mechanical parts meet the height requirements according to whether the mechanical parts touch the infrared beams. According to the judgment results, the manipulator at the corresponding workstation is controlled to remove the mechanical parts that do not meet the height tolerance range for rework, so that the mechanical parts that meet the height tolerance range fall into the qualified product area. The above-mentioned grading and screening device and method use corresponding screening means according to the product precision grade requirements, improve resource utilization, avoid errors caused by manual screening, and greatly improve screening efficiency and accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical parts size screening, and in particular to a mechanical parts height grading screening device based on infrared and image recognition. Background Art

[0002] Disc springs (hereinafter referred to as disc springs) or disc spring washers (hereinafter referred to as disc washers) are mechanical parts with a circular ring shape. They are made of spring steel. Due to the special elastic deformation ability of spring steel, there is a certain height difference in the forming process of disc springs or disc washers. After heat treatment, roller / vibration machine, shot peening and other process treatments, the height difference between each product of the same specification and batch will be further increased (and the inner and outer diameters will also have a large difference). The height of the disc spring is an important factor in determining its mechanical effect, especially for disc springs or disc washers used in special working environments, which require higher height accuracy. In order to obtain stable product quality, it is necessary to screen the produced disc springs or disc washers to select qualified products.

[0003] In the prior art, there are usually two methods for screening the height of disc springs or disc washers. One is to manually measure one by one through a depth gauge, and put products that meet the tolerance range into storage, and rework unqualified products; the other is to make a height through-end gauge and a stop-end gauge according to the upper and lower limits of the height tolerance range of the disc spring or disc washers. If it can pass the stop-end gauge, the height of the disc spring or disc washers is lower than the lower limit of the height tolerance. If it cannot pass the stop-end gauge but can pass the through-end gauge, the height of the disc spring or disc washers is between the upper and lower limits of the height tolerance. If it cannot pass the through-end gauge, the height of the disc spring or disc washers is higher than the upper limit of the height tolerance. The above methods usually require a lot of manpower and time, are inefficient, and after long-term use, the depth gauge or wire cutting groove is prone to wear, resulting in the inability to accurately control the height quality. Summary of the invention

[0004] The purpose of the present invention is to provide a height grading screening device and method for mechanical parts in response to the deficiencies in the prior art. The device and method are suitable for standard disc springs, disc spring washers and non-standard customized disc springs and disc spring washers, and have the advantages of precise screening, fast and accurate comparison, thereby improving production efficiency, reducing human errors, and effectively eliminating products whose heights do not meet the tolerance range, while extending the service life of the screening device.

[0005] The present invention is achieved through the following technical solutions:

[0006] A highly graded screening device for mechanical parts based on infrared and image recognition.

[0007] The highly graded screening device comprises a conveyor belt on which the mechanical accessories are transported;

[0008] The conveyor belt surface is respectively provided with a first screening station, a second screening station, and a third screening station.

[0009] The first screening station and the second screening station are respectively provided with a first infrared transmitter and a second infrared transmitter, and the third screening station is provided with an image recognition module;

[0010] The height classification screening device also includes a signal processing module connected to the first infrared transmitter, the second infrared transmitter, and the image recognition module;

[0011] The first infrared transmitter and the second infrared transmitter emit infrared beams, and the mechanical accessory generates a signal when passing through the infrared beams, and the signal is sent to the signal processing module;

[0012] The image recognition module acquires image information of the mechanical parts and sends the acquired image information to the signal processing module;

[0013] The signal processing module processes the signals generated by the first infrared transmitter and the second infrared transmitter and the image information acquired by the image recognition module to determine whether the current mechanical parts meet the height requirements for screening.

[0014] Preferably, the first infrared emitter and the second infrared emitter are respectively arranged on both sides of the conveyor belt;

[0015] The first infrared emitter generates a first infrared beam A and a first infrared beam B, wherein the first infrared beam A and the first infrared beam B are located at the same horizontal position but at different vertical heights;

[0016] The second infrared emitter produces a second infrared beam A and a second infrared beam B, wherein the second infrared beam A and the second infrared beam B are located at the same horizontal position and at different vertical heights;

[0017] The image recognition module is located directly above the conveyor belt.

[0018] Preferably, the first screening station, the second screening station and the third screening station are respectively equipped with a first manipulator, a second manipulator and a third manipulator;

[0019] The first manipulator is coupled to the first infrared transmitter and the signal processing module, and is located on the same side of the conveyor belt as the first infrared transmitter;

[0020] The second manipulator is coupled to the second infrared transmitter and the signal processing module, and is located on the same side of the conveyor belt as the second infrared transmitter;

[0021] The third robot is coupled to the image recognition module and the signal processing module, and is located on the same side of the conveyor belt as the image recognition module.

[0022] Preferably, a first slideway is further configured on the side of the first screening station opposite to the first infrared emitter, and a first rework area is connected to the first slideway;

[0023] A second slide is also arranged on the side of the second screening station opposite to the second infrared emitter, and a second rework area is connected to the second slide;

[0024] A third slide and a fourth slide are also arranged on both sides of the third screening station, the third slide is connected to the first rework area, and the fourth slide is connected to the second rework area;

[0025] Wherein, the first rework area is used to store mechanical parts whose height is lower than the lower limit value, and the second rework area is used to store mechanical parts whose height is higher than the lower limit value;

[0026] At the tail end of the conveyor belt, a qualified product area is provided for storing mechanical parts that meet height requirements.

[0027] Preferably, the conveyor belt surface is made of stainless steel or die-cast aluminum, and the conveyor belt frame is made of carbon steel;

[0028] The mechanical accessories are disc springs or disc spring washers;

[0029] The image recognition module is a camera.

[0030] A method for highly grading and screening mechanical parts based on infrared and image recognition comprises the following steps:

[0031] (1) inputting standard size information and precision grade information of mechanical parts through a signal processing module; wherein the precision grade includes the first / second grade precision of GB / T1972 national standard and customized precision, and the customized precision grade is higher than the first / second grade precision of the national standard;

[0032] (2) According to the input standard size information and the national standard first / second level precision, the vertical heights of the first infrared beam A and the first infrared beam B of the first infrared emitter, and the vertical heights of the second infrared beam A and the second infrared beam B of the second infrared emitter are respectively set, and the vertical heights of the first infrared beam B and the second infrared beam B constitute a first height tolerance range [H 1B ,H 2B ]; according to the input standard size information and the customized accuracy, the image recognition module is set to perform a second height tolerance range for height discrimination [H min ,H max ];

[0033] (3) When the mechanical parts pass through the first screening station and the second screening station under the conveyor belt, the signal generated by whether the mechanical parts collide with the infrared is sent to the signal processing module through the first infrared transmitter and the second infrared transmitter;

[0034] (4) When the mechanical parts are continuously transferred to the third screening station after passing through the first screening station and the second screening station, the image recognition module obtains image information of the mechanical parts and sends the obtained image information to the signal processing module;

[0035] (5) The signal processing module processes the signals sent by the first infrared transmitter and the second infrared transmitter and the image information sent by the image recognition module, and processes the signals according to the first height tolerance range [H 1B ,H 2B ]、Second height tolerance range [H min ,H max ]Judge whether the current mechanical parts meet the height requirements, and control the robot at the corresponding workstation to remove the mechanical parts that do not meet the height tolerance range based on the judgment results, so that the mechanical parts that meet the height tolerance range fall into the qualified product area.

[0036] Preferably, in step (2), the first height tolerance range [H 1B ,H 2B ] is determined by the upper and lower limits of the height tolerance corresponding to the standard size of the mechanical parts and the first / second level accuracy grade of the GB / T1972 national standard;

[0037] The first infrared emitter is used to screen the lower limit of the height of the mechanical parts. The first infrared beam A of the first infrared emitter is at the same height as the conveyor belt surface. The vertical height H of the second infrared beam B of the first infrared emitter is 1B， According to the standard height H of mechanical parts and the lower limit value h of the first / second level precision height tolerance of the national standard lowg Calculate and determine, H 1B =H+h lowg ;

[0038] The second infrared emitter is used to screen the upper limit of the height of the mechanical parts. The second infrared beam A of the second infrared emitter is at the same height as the conveyor belt surface. The vertical height H of the second infrared beam B of the second infrared emitter is 2B， According to the standard height H of mechanical parts and the upper limit value h of the first / second level precision height tolerance of the national standard upg Calculate and determine, H 2B =H+h upg ;

[0039] The second height tolerance range [Hmin ,H max ] is determined by the standard height H of the mechanical parts and the upper and lower limits of the height tolerance corresponding to the customized accuracy:

[0040] H min =H+h lowd , H max =H+h upd , where H min is the lower limit of the second height tolerance range, h lowd H is the lower limit of the custom precision height tolerance. max is the upper limit of the second height tolerance range, h upd It is the upper limit value of the customized precision height tolerance.

[0041] Preferably, in the step (3), when the accuracy level requirement of the mechanical parts is the first / second level accuracy of GB / T1972 national standard, only the first infrared emitter and the second infrared emitter are turned on, and the image recognition module is turned off;

[0042] When the mechanical accessory is transported to the first workstation via the conveyor belt, the bottom of the mechanical accessory keeps in contact with the conveyor belt and is aligned with the first infrared beam A. If any other position of the body of the mechanical accessory is in contact with the first infrared beam B, it indicates that the height of the mechanical accessory meets the lower limit requirement, then the first infrared transmitter sends a signal 1 to the first manipulator via the signal processing module, and the first manipulator does not take any action. If any other position of the body of the mechanical accessory is not in contact with the first infrared beam B, it indicates that the height of the mechanical accessory does not meet the lower limit requirement, then the first infrared transmitter sends a signal 0 to the first manipulator via the signal processing module, and the first manipulator grabs and pushes the mechanical accessory to the first slide to place it in the first rework area;

[0043] When the mechanical part is transferred from the first screening station to the second screening station, the bottom of the mechanical part contacts the conveyor belt and is aligned with the second infrared beam A. If any other position of the mechanical part body contacts the second infrared beam B, it indicates that the height of the mechanical part does not meet the upper limit requirement. Then, the second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical part to the second slide to place it in the second rework area. If any other position of the mechanical part body does not contact the second infrared beam B, it indicates that the height of the mechanical part meets the upper limit requirement.

[0044] When the mechanical parts pass through the second screening station, they directly pass through the third screening station and fall into the qualified product area.

[0045] Preferably, in the step (4), when the precision level requirement of the mechanical part is customized precision, the first infrared emitter, the second infrared emitter and the image recognition module are turned on; the first tolerance range [H ] is determined according to the standard height H of the mechanical part and the upper and lower limits of the height tolerance corresponding to the first / second precision level of GB / T1972 national standard determined by the thickness information t. 1B ,H 2B ]; Determine the second height tolerance range [H] according to the standard height H of the mechanical parts and the upper and lower limits of the height tolerance corresponding to the customized accuracy level. min ,H max ];

[0046] When the mechanical accessory is transported to the first screening station through the conveyor belt, the bottom of the mechanical accessory keeps in contact with the conveyor belt and is aligned with the first infrared beam A. If any other position of the body of the mechanical accessory is in contact with the first infrared beam B, it indicates that the height of the mechanical accessory meets the lower limit requirement, then the first infrared transmitter sends a signal 1 to the first manipulator through the signal processing module, and the first manipulator does not take any action. If any other position of the body of the mechanical accessory is not in contact with the first infrared beam B, it indicates that the height of the mechanical accessory does not meet the lower limit requirement, then the first infrared transmitter sends a signal 0 to the first manipulator through the signal processing module, and the first manipulator grabs and pushes the mechanical accessory to the first slide to be placed in the first rework area;

[0047] When the mechanical part is transferred from the first station to the second screening station, the bottom of the mechanical part contacts the conveyor belt and is aligned with the second infrared beam A. If any other position of the mechanical part body contacts the second infrared beam B, it indicates that the height of the mechanical part does not meet the upper limit requirement. Then, the second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical part to the second slide to be placed in the second rework area. If any other position of the mechanical part body does not contact the second infrared beam B, it indicates that the height of the mechanical part meets the upper limit requirement.

[0048] When the mechanical parts are transmitted to the third screening station after passing through the first screening station and the second screening station, the image recognition module obtains the image information of the mechanical parts, and sends the obtained image information to the signal processing module, and the signal processing module extracts the height value of the mechanical parts and compares it with the second height tolerance range;

[0049] If the height value of the mechanical parts meets the height range value, they will pass through the third screening station and fall into the qualified product area;

[0050] If the height value of the mechanical accessory is lower than the height range value, the third robot grabs and pushes the mechanical accessory to the third slideway to be placed in the first rework area;

[0051] If the height value of the mechanical accessory is higher than the height range value, the third robot will grab and push the mechanical accessory to the fourth slide to place it in the second rework area.

[0052] Preferably, in step (2), when the second height tolerance range [Hmin, Hmax] is an arc difference,

[0053] Turn on the first infrared transmitter, the second infrared transmitter and the image recognition module; determine the first tolerance range [H1B, H2B] according to the standard height H of the mechanical parts and the upper and lower limits of the height tolerance corresponding to the first / second level accuracy grade of GB / T1972 determined by the thickness information t; determine the second height tolerance range [Hmin, Hmax], that is, the arc difference range, according to the design requirements of the mechanical parts;

[0054] When the mechanical accessory is transported to the first screening station through the conveyor belt, the bottom of the mechanical accessory keeps in contact with the conveyor belt and is aligned with the first infrared beam A. If any other position of the body of the mechanical accessory is in contact with the first infrared beam B, it indicates that the height of the mechanical accessory meets the lower limit requirement, then the first infrared transmitter sends a signal 1 to the first manipulator through the signal processing module, and the first manipulator does not take any action. If any other position of the body of the mechanical accessory is not in contact with the first infrared beam B, it indicates that the height of the mechanical accessory does not meet the lower limit requirement, then the first infrared transmitter sends a signal 0 to the first manipulator through the signal processing module, and the first manipulator grabs and pushes the mechanical accessory to the first slide to be placed in the first rework area;

[0055] When the mechanical part is transferred from the first station to the second screening station, the bottom of the mechanical part contacts the conveyor belt and is aligned with the second infrared beam A. If any other position of the mechanical part body contacts the second infrared beam B, it indicates that the height of the mechanical part does not meet the upper limit requirement. Then, the second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical part to the second slide to be placed in the second rework area. If any other position of the mechanical part body does not contact the second infrared beam B, it indicates that the height of the mechanical part meets the upper limit requirement.

[0056] When the mechanical parts are transmitted to the third screening station after passing through the first screening station and the second screening station, the image recognition module obtains the image information of the mechanical parts, extracts the thickness value t and the height value H of the mechanical parts from the image information, calculates the arc difference ΔH, and then compares the arc difference ΔH with the arc difference range of the product;

[0057] If the arc difference value of the mechanical parts meets the arc difference range value, they will pass through the third screening station and fall into the qualified product area;

[0058] If the arc difference of the mechanical accessory is lower than the height range, the third robot grabs and pushes the mechanical accessory to the third slideway to be placed in the first rework area;

[0059] If the arc difference of the mechanical accessory is higher than the height range value, the third robot grabs and pushes the mechanical accessory to the fourth slide to be placed in the second rework area.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] The device and method for mechanical parts height classification based on infrared and image recognition provided by the present invention determine the vertical heights of multiple infrared beams through the standard size information and national standard second-level precision grade information of the mechanical parts to be screened, and determine whether the currently screened mechanical parts meet the height requirements according to whether the mechanical parts touch the infrared beams;

[0062] For mechanical parts with national standard first-level accuracy or customized accuracy, after they are screened by infrared beams, the image recognition module obtains image information of the mechanical parts and extracts the height value for comparison with the height tolerance range for height discrimination;

[0063] According to the judgment result, the robot at the corresponding workstation is controlled to remove the mechanical parts that do not meet the height tolerance range for rework, so that the mechanical parts that meet the height tolerance range fall into the qualified product area. The above-mentioned grading screening device and method use corresponding screening means according to the product accuracy grade requirements, improve resource utilization, avoid errors caused by manual screening, and greatly improve screening efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a schematic diagram of the structure of the present invention.

[0065] In the figure: 1. Conveyor belt; 2. Qualified area; 3. First rework area; 4. Second rework area; 5. First slide; 6. Third slide; 7. Second slide; 8. Fourth slide; 9. First screening station; 10. Second screening station; 11. Third screening station; 12. First infrared transmitter; 13. First manipulator; 14. Second infrared transmitter; 15. Second manipulator; 16. Image recognition module; 17. Third manipulator. DETAILED DESCRIPTION

[0066] The present invention is further described below in conjunction with the accompanying drawings:

[0067] Example 1

[0068] As shown in the attached figure of the instruction manual Figure 1As shown, a highly graded screening device for mechanical parts based on infrared and image recognition, the highly graded screening device comprises a conveyor belt 1, and the mechanical parts are transported on the conveyor belt 1; the surface of the conveyor belt 1 is respectively provided with a first screening station 9, a second screening station 10, and a third screening station 11, the first screening station 9 and the second screening station 10 are respectively provided with a first infrared emitter 12 and a second infrared emitter 14, and the third screening station 11 is provided with an image recognition module 16; the highly graded screening device also includes a first infrared emitter 12, a second infrared emitter 14, and an infrared emitting device 16 connected to the first infrared emitter 12, the second infrared emitter 14, and the infrared emitting device 16 connected to the first infrared emitter 12, the second infrared emitter 14, and the infrared emitting device 16 connected to the third infrared emitter 11; a signal processing module connected to the image recognition module 16; the first infrared transmitter 12 and the second infrared transmitter 14 emit infrared beams, and the mechanical accessories generate signals when passing through the infrared beams, and the signals are sent to the signal processing module; the image recognition module 16 acquires image information of the mechanical accessories and sends the acquired image information to the signal processing module; the signal processing module processes the signals generated by the first infrared transmitter 12 and the second infrared transmitter 14 and the image information acquired by the image recognition module 16 to determine whether the current mechanical accessories meet the height requirements for screening.

[0069] The first infrared emitter 12 and the second infrared emitter 14 are respectively arranged on both sides of the conveyor belt 1; the first infrared emitter 12 generates a first infrared beam A and a first infrared beam B, and the first infrared beam A and the first infrared beam B are located at the same horizontal position and at different vertical heights; the second infrared emitter 14 produces a second infrared beam A and a second infrared beam B, and the second infrared beam A and the second infrared beam B are located at the same horizontal position and at different vertical heights; the image recognition module 16 is located directly above the conveyor belt 1.

[0070] The first, second and third screening stations 11 are respectively provided with a first manipulator 13, a second manipulator 15 and a third manipulator 17; the first manipulator 13 is coupled and connected with the first infrared emitter 12 and the signal processing module, and is located on the same side of the conveyor belt 1 as the first infrared emitter 12; the second manipulator 15 is coupled and connected with the second infrared emitter 14 and the signal processing module, and is located on the same side of the conveyor belt 1 as the second infrared emitter 14; the third manipulator 17 is coupled and connected with the image recognition module 16 and the signal processing module, and is located on the same side of the conveyor belt 1 as the image recognition module 16.

[0071] A first slideway 5 is also provided on the side of the first screening station 9 opposite to the first infrared emitter 12, and a first rework area 3 is connected to the first slideway 5; a second slideway 7 is also provided on the side of the second screening station 10 opposite to the second infrared emitter 14, and a second rework area 4 is connected to the second slideway 7;

[0072] A third and a fourth slide 8 are also arranged on both sides of the third screening station 11, the third slide 6 is connected to the first rework area 3, and the fourth slide 8 is connected to the second rework area 4; wherein, the first rework area 3 is used to store mechanical accessories whose height is lower than the lower limit value, and the second rework area 4 is used to store mechanical accessories whose height is higher than the lower limit value; at the tail end of the conveyor belt 1, a qualified product area is provided for storing mechanical accessories that meet the height requirements.

[0073] The surface of the conveyor belt 1 is made of stainless steel or die-cast aluminum, and the frame of the conveyor belt 1 is made of carbon steel; the mechanical accessories are disc springs or disc spring washers; and the image recognition module 16 is a camera.

[0074] Example 2

[0075] The height measurement process of mechanical parts with national standard level 1 / 2 accuracy is as follows:

[0076] In this embodiment, the mechanical parts are disc springs produced according to the first / second level precision of GB / T1972-92 national standard, and their standard size information is outer diameter D=112mm, inner diameter d=57mm, thickness t=4mm, H=7.2mm, and the limit deviation (mm) of the free height H is [-0.15, +0.30]. According to the standard height and limit deviation of the disc spring, it can be determined that the height H of the first infrared beam B of the first infrared emitter is 1B =H+h lowd =7.2mm-0.15mm=7.05mm, height H of the second infrared beam B of the second infrared emitter 2B =H+h upd =7.2mm+0.30mm=7.5mm, that is, the height tolerance range (mm) is [7.05,7.50].

[0077] After batch production, the finished disc springs of this specification are placed on the conveyor belt in turn for height screening. First, when passing through the first screening station, the bottom of the disc spring contacts the conveyor belt, and at the same time, the first infrared beam A is aligned with the surface of the conveyor belt. At this time, the disc spring with a height lower than 7.05mm cannot contact the first infrared beam B, which indicates that the height of the disc spring does not meet the lower limit of the height. The first infrared transmitter sends a signal 0 to the first manipulator through the signal processing module, and the first manipulator grabs the disc spring to the first slide to place it in the first rework area; and after the disc spring with a height higher than 7.05mm contacts the first infrared beam B, it indicates that the height of the disc spring meets the lower limit of the height. The first infrared transmitter sends a signal 1 to the first manipulator through the signal processing module, and the first manipulator does not take any action to allow the disc spring to continue to be conveyed forward to the second screening station.

[0078] When the disc spring is transferred to the second screening station, the bottom of the disc spring remains in contact with the conveyor belt, and at the same time, the second infrared beam A is aligned with the surface of the conveyor belt. At this time, if the disc spring with a height higher than 7.5mm contacts the second infrared beam B, it means that the height of the disc spring exceeds the upper limit of the height and does not meet the height range requirement. The second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical accessory to the second slide to be placed in the second rework area; and the disc spring with a height lower than 7.5mm does not contact the second infrared beam B, which means that the height of the disc spring meets the upper limit of the height requirement. After passing the second screening station, it directly passes the third screening station and falls into the qualified product area.

[0079] 1. Conveyor belt; 2. Qualified area; 3. First rework area; 4. Second rework area; 5. First slide; 6. Third slide; 7. Second slide; 8. Fourth slide; 9. First screening station; 10. Second screening station; 11. Third screening station; 12. First infrared transmitter; 13. First manipulator; 14. Second infrared transmitter; 15. Second manipulator; 16. Image recognition module; 17. Third manipulator.

[0080] Example 3

[0081] The height measurement process for custom precision non-standard mechanical parts is as follows:

[0082] In this embodiment, the mechanical parts are disc springs with support surfaces produced according to customer customization requirements, and their standard size information is D = 115 (0, -0.35) mm, d = 46 (+0.25, 0) mm, t = 5 (+0.05, -0.05) mm, H = 8.35 (+0.15, -0.05) mm, b = 1.5 mm, where the limit deviation (mm) determined by the customized accuracy level of the free height H is [-0.05, +0.15]; and according to the thickness of the product, the height deviation range corresponding to the disc spring under the national standard first / second level accuracy requirements can be determined, that is, when t = 5 mm, the limit deviation (mm) of the free height H is [-0.15, +0.30]. Obviously, the height limit deviation range requirement of this customized accuracy level is higher than the national standard first / second level accuracy requirements.

[0083] At this time, first set the heights of the first infrared beam B and the second infrared beam B according to the standard height of the disc spring and the limit deviation corresponding to the first / second level of national standard accuracy: the height H of the first infrared beam B of the first infrared emitter 1B =H+h lowd =8.35mm-0.15mm=8.2mm, height H of the second infrared beam B of the second infrared emitter2B =H+h upd =8.35mm+0.30mm=8.65mm, that is, the first height tolerance range (mm) is [8.20,8.65]; further, the second height tolerance range (mm) for height discrimination by the image recognition device is set, H min =H+H lowd =8.35mm-0.05mm=8.30mm, H max =H+H upd =8.35mm+0.15mm=8.50mm, that is, the second height tolerance range (mm) is [8.30,8.50].

[0084] After batch production, the finished disc springs of this specification are placed on the conveyor belt in turn for height screening. First, when passing through the first station, the bottom of the disc spring contacts the conveyor belt, and at the same time, the first infrared beam A is aligned with the surface of the conveyor belt. At this time, the disc spring with a height lower than 8.20mm cannot contact the first infrared beam B, which indicates that the height of the disc spring does not meet the lower limit requirement of the first height tolerance range. The first infrared transmitter sends a signal 0 to the first manipulator through the signal processing module, and the first manipulator grabs the disc spring to the first slide to place it in the first rework area; and after the disc spring with a height higher than 8.20mm contacts the first infrared beam B, it indicates that the height of the disc spring meets the lower limit requirement of the first height tolerance. The first infrared transmitter sends a signal 1 to the first manipulator through the signal processing module, and the first manipulator does not take any action to allow the disc spring to continue to be conveyed forward to the second screening station.

[0085] When the disc spring is transferred to the second screening station, the bottom of the disc spring remains in contact with the conveyor belt, and at the same time, the second infrared beam A is aligned with the surface of the conveyor belt. At this time, the disc spring with a height higher than 8.65mm contacts the second infrared beam B, indicating that the height of the disc spring exceeds the upper limit of the first height tolerance range and does not meet the height range requirements. The second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical accessory to the second slide to be placed in the second rework area; while the disc spring with a height lower than 8.65mm does not contact the second infrared beam B, indicating that the height of the disc spring meets the upper limit requirements of the first height tolerance range. After passing the second screening station, the first-level screening is completed.

[0086] When the disc spring is transferred to the third station, the image recognition module obtains the image information of the mechanical parts, extracts the height value of the mechanical parts from the image information and compares it with the second height tolerance range (mm) [8.30,8.50]. At this time, after the first-level screening of the first and second screening stations, the height values ​​of the disc springs transferred to the third station are all within the range (mm) of [8.20,8.65]. Therefore, during the second-level screening, the disc springs with a height value (mm) of [8.30,8.50] fall into the qualified production area through the third station. If the disc spring height value (mm) is [8.20,8.30], the third manipulator grabs and pushes the metal mechanical parts to the third slide to be placed in the first rework area. If the disc spring height value (mm) is [8.50,8.65], the third manipulator grabs and pushes the metal mechanical parts to the fourth slide to be placed in the second rework area.

[0087] Example 4

[0088] When the second height tolerance range is the arc difference range, the height and arc difference measurement process of customized precision non-standard mechanical accessories is as follows:

[0089] In this embodiment, the mechanical parts are disc springs produced according to customer customization requirements, and their standard size information is outer diameter D = 86 (0, -0.4) mm, inner diameter d = 43 (+0.25, 0) mm, thickness t = 5 (+0.05, -0.1) mm, free height H = 6.9 (+0.3, -0.15) mm, wherein the limit deviation (mm) determined by the customized precision level of the free height H is [-0.15, +0.3]; based on the thickness of the product, the height deviation range corresponding to the disc spring under the national standard level 1 / 2 precision level requirements can be determined, that is, when t = 5 mm, the limit deviation (mm) of the free height H is [-0.15, +0.30], and the height limit deviation range requirements of the customized precision level are consistent with the national standard level 1 / 2 precision requirements. Based on the standard height and limit deviation of the disc spring, it can be determined that the height H1B of the first infrared beam B of the first infrared emitter is H+h lowd =6.9mm-0.15mm=6.75mm, height of the second infrared beam B of the second infrared emitter H2B=H+h upd =6.9mm+0.30mm=7.2mm, that is, the height tolerance range (mm) is [6.75,7.2]. At the same time, the arc difference ΔH accuracy (mm) requirement of this product is [1.8,2.2], where arc difference ΔH=Ht. Finally, the selected disc springs must meet both the height requirements and the arc difference accuracy requirements.

[0090] After batch production, the finished disc springs of this specification are placed on the conveyor belt in turn for height screening. First, when passing through the first station, the bottom of the disc spring contacts the conveyor belt, and at the same time, the first infrared beam A is aligned with the surface of the conveyor belt. At this time, the disc spring with a height lower than 6.75mm cannot contact the first infrared beam B, which indicates that the height of the disc spring does not meet the lower limit requirement of the first height tolerance range. The first infrared transmitter sends a signal 0 to the first manipulator through the signal processing module, and the first manipulator grabs the disc spring to the first slide to place it in the first rework area; and after the disc spring with a height higher than 6.75mm contacts the first infrared beam B, it indicates that the height of the disc spring meets the lower limit requirement of the first height tolerance. The first infrared transmitter sends a signal 1 to the first manipulator through the signal processing module, and the first manipulator does not take any action to allow the disc spring to continue to be conveyed forward to the second screening station.

[0091] When the disc spring is transferred to the second screening station, the bottom of the disc spring remains in contact with the conveyor belt, and at the same time, the second infrared beam A is aligned with the surface of the conveyor belt. At this time, the disc spring with a height higher than 7.2mm contacts the second infrared beam B, indicating that the height of the disc spring exceeds the upper limit of the first height tolerance range and does not meet the height range requirements. The second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical accessory to the second slide to be placed in the second rework area; while the disc spring with a height lower than 7.2mm does not contact the second infrared beam B, indicating that the height of the disc spring meets the upper limit requirements of the first height tolerance range. After passing the second screening station, the first level of screening is completed.

[0092] When the disc spring is transferred to the third station, the image recognition module obtains the image information of the mechanical parts, extracts the thickness value t and height value H of the mechanical parts from the image information, calculates the arc difference ΔH, and then compares the arc difference ΔH with the arc difference ΔH accuracy (mm) requirement of the product [1.8,2.2]. At this time, after the first-level screening of the first and second screening stations, the height values ​​of the disc springs transferred to the third station are all within the range of [6.75,7.2] (mm).

[0093] Therefore, when performing the second-level screening, the disc spring with an arc difference value (mm) in the range of [1.8, 2.2] will pass through the third station and fall into the qualified production area. For example, the disc spring has a thickness of t = 5.02 mm, a height of H = 7.1 mm, and ΔH = 7.1-5.02 = 2.08 mm. If the disc spring has an arc difference value lower than 1.8 mm, for example, the disc spring has a thickness of t = 5 mm, a height of H = 6.78 mm, and ΔH = 6.78-5 = 1.78 mm, then the height of the product meets the height requirements, but still needs to be further raised. To meet the arc difference requirement, at this time, the third manipulator is used to grab and push the metal mechanical accessory to the third slide to be placed in the first rework area; if the arc difference value of the disc spring is higher than 2.2mm, for example, the thickness of the disc spring is t=4.92mm, the height H=7.15mm, ΔH=7.15-4.92=2.23mm, then although the height of the product meets the height requirement, it needs to be further reduced to meet the arc difference requirement. At this time, the third manipulator is used to grab and push the metal mechanical accessory to the fourth slide to be placed in the second rework area.

[0094] The present invention can also implement graded screening of the height of disc spring washers.

[0095] In summary, the mechanical parts height grading screening device and grading screening method based on infrared and image recognition provided by the present invention determine the vertical height of multiple infrared beams through the standard size information of the mechanical parts to be screened and the national standard first / second level precision grade information, and determine whether the currently screened mechanical parts meet the height requirements according to whether the mechanical parts touch the infrared beams; for mechanical parts with customized precision grades, after they are screened by the infrared beams, the image recognition module obtains the image information of the mechanical parts, and extracts the height value and compares it with the height tolerance range for height discrimination; and according to the judgment result, the manipulator at the corresponding workstation is controlled to remove the mechanical parts that do not meet the height tolerance range for rework, so that the mechanical parts that meet the height tolerance range fall into the qualified product area. The above-mentioned grading screening device and method use corresponding screening means according to the product precision grade requirements, improve resource utilization, avoid errors caused by manual screening, and greatly improve screening efficiency and accuracy.

[0096] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. All equivalent changes and modifications to the shapes, structures, features and spirits described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A method for highly grading and screening mechanical parts based on infrared and image recognition, using a device for highly grading and screening mechanical parts based on infrared and image recognition, characterized in that: The highly graded screening device comprises a conveyor belt on which the mechanical accessories are transported; The conveyor belt surface is respectively provided with a first screening station, a second screening station, and a third screening station. The first screening station and the second screening station are respectively provided with a first infrared transmitter and a second infrared transmitter, and the third screening station is provided with an image recognition module; The height classification screening device also includes a signal processing module connected to the first infrared transmitter, the second infrared transmitter, and the image recognition module; The first infrared transmitter and the second infrared transmitter emit infrared beams, and the mechanical accessory generates a signal when passing through the infrared beams, and the signal is sent to the signal processing module; The image recognition module acquires image information of the mechanical parts and sends the acquired image information to the signal processing module; The signal processing module processes the signals generated by the first infrared transmitter and the second infrared transmitter and the image information acquired by the image recognition module to determine whether the current mechanical parts meet the height requirements for screening; The method for highly grading and screening mechanical parts based on infrared and image recognition comprises the following steps: (1) inputting standard size information and precision grade information of mechanical parts through a signal processing module; wherein the precision grade includes the first / second grade precision of GB / T1972 national standard and customized precision, and the customized precision grade is higher than the first / second grade precision of the national standard; (2) According to the input standard size information and the national standard first / second level precision, the vertical heights of the first infrared beam A and the first infrared beam B of the first infrared emitter, and the vertical heights of the second infrared beam A and the second infrared beam B of the second infrared emitter are respectively set, and the vertical heights of the first infrared beam B and the second infrared beam B constitute a first height tolerance range [H 1B ,H 2B ]; according to the input standard size information and the customized accuracy, the image recognition module is set to perform a second height tolerance range for height discrimination [H min ,H max ]; (3) When the mechanical parts pass through the first screening station and the second screening station under the conveyor belt, the signal generated by whether the mechanical parts collide with the infrared is sent to the signal processing module through the first infrared transmitter and the second infrared transmitter; (4) When the mechanical parts are continuously transferred to the third screening station after passing through the first screening station and the second screening station, the image recognition module obtains image information of the mechanical parts and sends the obtained image information to the signal processing module; (5) The signal processing module processes the signals sent by the first infrared transmitter and the second infrared transmitter and the image information sent by the image recognition module, and processes the signals according to the first height tolerance range [H 1B ,H 2B ], the second height tolerance range [H min ,H max ]Judge whether the current mechanical parts meet the height requirements, and control the robot at the corresponding workstation to remove the mechanical parts that do not meet the height tolerance range based on the judgment results, so that the mechanical parts that meet the height tolerance range fall into the qualified product area.

2. The method for highly graded screening of mechanical parts based on infrared and image recognition according to claim 1 is characterized in that: The first infrared emitter and the second infrared emitter are respectively arranged on both sides of the conveyor belt; The first infrared emitter generates a first infrared beam A and a first infrared beam B, wherein the first infrared beam A and the first infrared beam B are located at the same horizontal position but at different vertical heights; The second infrared emitter produces a second infrared beam A and a second infrared beam B, wherein the second infrared beam A and the second infrared beam B are located at the same horizontal position and at different vertical heights; The image recognition module is located directly above the conveyor belt.

3. The method for highly grading and screening mechanical parts based on infrared and image recognition according to claim 2 is characterized in that: The first screening station, the second screening station and the third screening station are respectively equipped with a first manipulator, a second manipulator and a third manipulator; The first manipulator is coupled to the first infrared transmitter and the signal processing module, and is located on the same side of the conveyor belt as the first infrared transmitter; The second manipulator is coupled to the second infrared transmitter and the signal processing module, and is located on the same side of the conveyor belt as the second infrared transmitter; The third robot is coupled to the image recognition module and the signal processing module, and is located on the same side of the conveyor belt as the image recognition module.

4. The method for highly grading and screening mechanical parts based on infrared and image recognition according to claim 3 is characterized in that: A first slideway is also provided on the side of the first screening station opposite to the first infrared emitter, and a first rework area is connected to the first slideway; A second slide is also arranged on the side of the second screening station opposite to the second infrared emitter, and a second rework area is connected to the second slide; A third slide and a fourth slide are also arranged on both sides of the third screening station, the third slide is connected to the first rework area, and the fourth slide is connected to the second rework area; Wherein, the first rework area is used to store mechanical parts whose height is lower than the lower limit value, and the second rework area is used to store mechanical parts whose height is higher than the lower limit value; At the tail end of the conveyor belt, a qualified product area is provided for storing mechanical parts that meet height requirements.

5. The method for highly grading and screening mechanical parts based on infrared and image recognition according to claim 4 is characterized in that: The conveyor belt surface is made of stainless steel or die-cast aluminum, and the conveyor belt frame is made of carbon steel; The mechanical accessories are disc springs or disc spring washers; The image recognition module is a camera.

6. The method for highly grading and screening mechanical parts based on infrared and image recognition according to claim 1 is characterized in that: In the step (2), the first height tolerance range [H 1B ,H 2B ] is determined by the upper and lower limits of the height tolerance corresponding to the standard size of the mechanical parts and the first / second level accuracy grade of the GB / T1972 national standard; The first infrared emitter is used to screen the lower limit of the height of the mechanical parts. The first infrared beam A of the first infrared emitter is at the same height as the conveyor belt surface. The vertical height H of the second infrared beam B of the first infrared emitter is 1B， According to the standard height H of mechanical parts and the lower limit value h of the first / second level precision height tolerance of the national standard lowg Calculate and determine, H 1B =H+h lowg ; The second infrared emitter is used to screen the upper limit of the height of the mechanical parts. The second infrared beam A of the second infrared emitter is at the same height as the conveyor belt surface. The vertical height H of the second infrared beam B of the second infrared emitter is 2B， According to the standard height H of mechanical parts and the upper limit value h of the first / second level precision height tolerance of the national standard upg Calculate and determine, H 2B =H+h upg ; The second height tolerance range [H min ,H max ] is determined by the standard height H of the mechanical parts and the upper and lower limits of the height tolerance corresponding to the customized accuracy: H min =H+h lowd , H max =H+h upd , where H min is the lower limit of the second height tolerance range, hl owd H is the lower limit of the custom precision height tolerance. max is the upper limit of the second height tolerance range, h upd It is the upper limit value of the customized precision height tolerance.

7. The method for highly grading and screening mechanical parts based on infrared and image recognition according to claim 6 is characterized in that: In the step (3), when the accuracy level requirement of the mechanical parts is the first / second level accuracy of GB / T1972 national standard, only the first infrared transmitter and the second infrared transmitter are turned on, and the image recognition module is turned off; When the mechanical accessory is transported to the first workstation via the conveyor belt, the bottom of the mechanical accessory keeps in contact with the conveyor belt and is aligned with the first infrared beam A. If any other position of the body of the mechanical accessory is in contact with the first infrared beam B, it indicates that the height of the mechanical accessory meets the lower limit requirement, then the first infrared transmitter sends a signal 1 to the first manipulator via the signal processing module, and the first manipulator does not take any action. If any other position of the body of the mechanical accessory is not in contact with the first infrared beam B, it indicates that the height of the mechanical accessory does not meet the lower limit requirement, then the first infrared transmitter sends a signal 0 to the first manipulator via the signal processing module, and the first manipulator grabs and pushes the mechanical accessory to the first slide to place it in the first rework area; When the mechanical part is transferred from the first screening station to the second screening station, the bottom of the mechanical part contacts the conveyor belt and is aligned with the second infrared beam A. If any other position of the mechanical part body contacts the second infrared beam B, it indicates that the height of the mechanical part does not meet the upper limit requirement. Then, the second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical part to the second slide to place it in the second rework area. If any other position of the mechanical part body does not contact the second infrared beam B, it indicates that the height of the mechanical part meets the upper limit requirement. When the mechanical parts pass through the second screening station, they directly pass through the third screening station and fall into the qualified product area.

8. The method for high-grade screening of mechanical parts based on infrared and image recognition according to claim 6 is characterized in that: In the step (4), when the precision level requirement of the mechanical part is customized precision, the first infrared emitter, the second infrared emitter and the image recognition module are turned on; the first tolerance range [H] is determined according to the standard height H of the mechanical part and the upper and lower limits of the height tolerance corresponding to the first / second level precision level of GB / T1972 determined by the thickness information t. 1B ,H 2B ]; Determine the second height tolerance range [H] according to the standard height H of the mechanical parts and the upper and lower limits of the height tolerance corresponding to the customized accuracy level. min ,H max ]; When the mechanical accessory is transported to the first screening station through the conveyor belt, the bottom of the mechanical accessory keeps in contact with the conveyor belt and is aligned with the first infrared beam A. If any other position of the body of the mechanical accessory is in contact with the first infrared beam B, it indicates that the height of the mechanical accessory meets the lower limit requirement, then the first infrared transmitter sends a signal 1 to the first manipulator through the signal processing module, and the first manipulator does not take any action. If any other position of the body of the mechanical accessory is not in contact with the first infrared beam B, it indicates that the height of the mechanical accessory does not meet the lower limit requirement, then the first infrared transmitter sends a signal 0 to the first manipulator through the signal processing module, and the first manipulator grabs and pushes the mechanical accessory to the first slide to be placed in the first rework area; When the mechanical part is transferred from the first station to the second screening station, the bottom of the mechanical part contacts the conveyor belt and is aligned with the second infrared beam A. If any other position of the mechanical part body contacts the second infrared beam B, it indicates that the height of the mechanical part does not meet the upper limit requirement. Then, the second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical part to the second slide to be placed in the second rework area. If any other position of the mechanical part body does not contact the second infrared beam B, it indicates that the height of the mechanical part meets the upper limit requirement. When the mechanical parts pass through the first screening station and the second screening station and are transferred to the third screening station, the image recognition module obtains the image information of the mechanical parts, and sends the obtained image information to the signal processing module, and the signal processing module extracts the height value of the mechanical parts and compares it with the second height tolerance range; If the height value of the mechanical parts meets the height range value, they will pass through the third screening station and fall into the qualified product area; If the height value of the mechanical accessory is lower than the height range value, the third robot grabs and pushes the mechanical accessory to the third slideway to be placed in the first rework area; If the height value of the mechanical accessory is higher than the height range value, the third robot will grab and push the mechanical accessory to the fourth slide to place it in the second rework area.

9. The method for high-grade screening of mechanical parts based on infrared and image recognition according to claim 1, characterized in that: In step (2), when the second height tolerance range [Hmin, Hmax] is an arc difference, Turn on the first infrared transmitter, the second infrared transmitter and the image recognition module; determine the first tolerance range [H1B, H2B] according to the standard height H of the mechanical parts and the upper and lower limits of the height tolerance corresponding to the first / second level accuracy grade of GB / T1972 determined by the thickness information t; determine the second height tolerance range [Hmin, Hmax], that is, the arc difference range, according to the design requirements of the mechanical parts; When the mechanical accessory is transported to the first screening station through the conveyor belt, the bottom of the mechanical accessory keeps in contact with the conveyor belt and is aligned with the first infrared beam A. If any other position of the body of the mechanical accessory is in contact with the first infrared beam B, it indicates that the height of the mechanical accessory meets the lower limit requirement, then the first infrared transmitter sends a signal 1 to the first manipulator through the signal processing module, and the first manipulator does not take any action. If any other position of the body of the mechanical accessory is not in contact with the first infrared beam B, it indicates that the height of the mechanical accessory does not meet the lower limit requirement, then the first infrared transmitter sends a signal 0 to the first manipulator through the signal processing module, and the first manipulator grabs and pushes the mechanical accessory to the first slide to be placed in the first rework area; When the mechanical part is transferred from the first station to the second screening station, the bottom of the mechanical part contacts the conveyor belt and is aligned with the second infrared beam A. If any other position of the mechanical part body contacts the second infrared beam B, it indicates that the height of the mechanical part does not meet the upper limit requirement. Then, the second infrared transmitter sends a signal 1 to the second manipulator through the signal processing module, and the second manipulator grabs and pushes the mechanical part to the second slide to be placed in the second rework area. If any other position of the mechanical part body does not contact the second infrared beam B, it indicates that the height of the mechanical part meets the upper limit requirement. When the mechanical parts are transmitted to the third screening station after passing through the first screening station and the second screening station, the image recognition module obtains the image information of the mechanical parts, extracts the thickness value t and the height value H of the mechanical parts from the image information, calculates the arc difference ΔH, and then compares the arc difference ΔH with the arc difference range of the product; If the arc difference value of the mechanical parts meets the arc difference range value, they will pass through the third screening station and fall into the qualified product area; If the arc difference of the mechanical accessory is lower than the height range, the third robot grabs and pushes the mechanical accessory to the third slideway to be placed in the first rework area; If the arc difference of the mechanical accessory is higher than the height range value, the third robot grabs and pushes the mechanical accessory to the fourth slide to be placed in the second rework area.

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