Composite plate surface smoothness detection device and detection system

Abstract

The present invention discloses a surface smoothness detection device and detection system for composite plates, and relates to the technical field of plate detection. The present invention includes a first roller conveyor line for conveying composite plates; a loading robot, a smoothness detection mechanism, and a unloading robot are sequentially arranged along the conveying direction of the first roller conveyor line; the smoothness detection mechanism includes a top frame mounted on a frame, on which a roughness detector is arranged; and a detection and lifting mechanism for lifting the composite plates is also arranged directly below the top frame. The present invention is provided with a detection and lifting mechanism corresponding to the position of the smoothness detection mechanism below the first roller conveyor line. When in use, the detection and lifting mechanism lifts the composite plates on the first roller conveyor line, so that the bottom and side surfaces of the composite plates are separated from the working surface of the first roller conveyor line and remain stationary.

Description

Technical Field

[0001] The present invention belongs to the technical field of plate detection, and in particular relates to a composite plate surface smoothness detection device and a composite plate surface smoothness detection system. Background Art

[0002] Solid wood, plastic, composite, and steel panels are essential raw materials in industrial production. In recent years, as demand for panels continues to grow, so too have the demands for surface quality. In the production of high-value-added products, such as automotive panels, home appliance panels, and gas cylinder steel, surface quality requirements are even more stringent, primarily focusing on the panel's performance characteristics, such as wear resistance, fatigue strength, hardness, corrosion resistance, and surface roughness.

[0003] For example, CN112461186A discloses a plate surface roughness detection mechanism based on automated production, a feeding system and an unloading system, and a roughness detection system; the roughness detection system includes a frame, a plurality of conveying rollers are arranged on the frame, an L-shaped arm is arranged on one side of the frame, a roughness detector is arranged on the top of the L-shaped arm, and a marking spraying device is arranged on the inner side of the L-shaped arm; it also includes an electric control system, the electric control system includes a controller and a power supply; the controller is connected to the power supply, the marking spraying device, the feeding system and the unloading system; in this invention, the frame and the conveying rollers form a roller conveyor line. When the surface roughness of the plate is detected by the roughness detection system, but the plate needs to be controlled to be stationary, the roller conveyor line needs to be controlled to stop running. In practice, this type of detection requires continuous control of the roller conveyor line to start-stop-start-stop; long-term operation will affect the service life of the roller conveyor line, and since the start and stop of the roller conveyor line takes a long time, it will also affect the detection efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a composite board surface smoothness detection device and detection system, wherein a detection and lifting mechanism corresponding to the position of the smoothness detection mechanism is provided below the first roller conveyor line, thereby solving the related problems raised by the existing background technology.

[0005] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides a device for detecting the surface smoothness of a composite plate, comprising a first roller conveyor line for conveying the composite plate; the first roller conveyor line comprises a frame and a roller; a loading robot, a smoothness detection mechanism, and a unloading robot are sequentially arranged along the conveying direction of the first roller conveyor line; the smoothness detection mechanism comprises a top frame mounted on the frame, and a roughness detector is arranged on the top frame; and a control unit is further included, the control unit being connected to the loading robot, the unloading robot, and the smoothness detection mechanism;

[0007] A detection and lifting mechanism for lifting the composite board is also provided directly below the top frame; the detection and lifting mechanism includes at least two lifting units and a stop unit; the lifting unit includes a lifting mechanism A, and a roller assembly A is provided on the top of the lifting mechanism A; the stop unit includes an L-shaped plate installed on the output end side of a lifting mechanism A located at the end; the ends of the roller assembly A and the L-shaped plate can both protrude from the roller gap of the first roller conveyor line; and a buffer belt is provided on the inner side wall of the L-shaped plate.

[0008] As a preferred technical solution of the present invention, the loading robot and the unloading robot are both arranged at the end positions of the first roller conveyor line; a second roller conveyor line is respectively provided on both sides of the end of the first roller conveyor line, and the unloading robot selectively grabs the composite plate from the first roller conveyor line and places it on the second roller conveyor line; a mobile device carrying the composite plate is respectively provided on both sides of the head end of the first roller conveyor line.

[0009] As a preferred technical solution of the present invention, position detection units for detecting the position of the composite plate are provided on both inner side walls of the frame below the smoothness detection mechanism; the position detection unit includes a base plate with a T-shaped slide groove on the upper surface, and the length direction of the T-shaped slide groove is perpendicular to the conveying direction of the first roller conveyor line; a slider is provided in the T-shaped slide groove, and a telescopic module A is provided at the end of the T-shaped slide groove for driving the slider to slide freely along the length direction of the T-shaped slide groove, and a push plate with a pressure sensor is provided at the end of the telescopic module A; the top of the slider is connected to a block protruding from the working surface of the first roller conveyor line, and a guide portion is provided at the end of the block close to the composite plate; a buffer layer A is provided at the end of the slider close to the telescopic module A.

[0010] As a preferred technical solution of the present invention, it also includes a camera arranged above the frame for detecting the position of the composite plate on both sides of the smoothness detection mechanism; and the frames located on both sides of the smoothness detection mechanism are also provided with adjustment mechanisms for adjusting the position of the composite plate; the adjustment mechanism includes two adjustment units arranged on both sides of the first roller conveyor line, and the adjustment unit includes a plurality of adjustment modules arranged at equal intervals along the length direction of the first roller conveyor line; the adjustment module includes a telescopic module B horizontally installed on the frame, and the telescopic module B is equipped with a guide wheel structure; the axial direction of the guide wheel structure is perpendicular to the surface of the composite plate.

[0011] As an optimal technical solution of the present invention, it also includes three groups of lifting and lowering mechanisms respectively arranged on the first roller conveyor line, and the three groups of lifting and lowering mechanisms are respectively installed at the positions of the loading robot, the smoothness detection mechanism and the unloading robot; the lifting and lowering mechanism includes at least two lifting and lowering units; the lifting and lowering unit includes a roller assembly B that can protrude from the roller gap of the first roller conveyor line, and at least two guide columns are connected to the bottom of the roller assembly B, and the bottom end of the guide column is cooperated with a guide tube A, and the bottom end of the guide tube A is connected to the guide tube B, and the bottom end of the guide column is inserted into the guide tube B and is sleeved with a damping block A that dampes the sliding along the guide tube B; a lifting mechanism B is provided in the guide tube B, the end of which is extended and rests on the end face of the guide column, and drives the guide column to move upward.

[0012] As a preferred technical solution of the present invention, a stop mechanism is also provided at the end of the first roller conveyor line, and the stop mechanism includes a horizontally arranged stop plate, and a buffer layer B is provided on the side of the stop plate close to the composite plate. The end of the first roller conveyor line is provided with a vertically upward side plate, and a telescopic mechanism A connected to the stop plate is provided on one side of the side plate.

[0013] As a preferred technical solution of the present invention, the telescopic mechanism A includes at least two sleeves installed on the side panels, and a movable rod with a damping layer arranged on the circumferential side is arranged in the sleeve, and the end of the movable rod is connected to the stop plate; the side plate is also provided with a telescopic mechanism B whose extended rear end is pressed against the stop plate and drives the stop plate to move in the horizontal direction; a magnetic block A is provided at the end of the telescopic mechanism B, and a magnetic block B cooperating with the magnetic block A is provided in contact with the telescopic mechanism B; when the telescopic mechanism B is fully retracted, the side of the stop plate is pressed against the end face of the sleeve.

[0014] As a preferred technical solution of the present invention, an inverted U-shaped frame is further provided on the frame between the feeding robot and the smoothness detection mechanism, and a plurality of dust cleaning nozzles are provided on the bottom side of the U-shaped frame.

[0015] A composite plate surface smoothness detection system includes a control unit, wherein a signal output end of the control unit is connected to a first roller conveyor line for conveying composite plates, a loading robot and an unloading robot for transporting and transferring composite plates, a detection and lifting mechanism for lifting composite plates, a position detection unit for detecting the position of composite plates, an adjustment mechanism for adjusting the position of composite plates on the first roller conveyor line, and a lifting and lowering mechanism and a stop mechanism; a signal input end of the control unit is connected to a smoothness detection mechanism for detecting the surface smoothness of composite plates, a position detection unit for detecting the position of composite plates, and cameras for detecting the position of composite plates located on both sides of the smoothness detection mechanism.

[0016] The detection method based on the above detection system includes the following steps:

[0017] The three lifting and lowering mechanisms are marked as lifting and lowering mechanism A, lifting and lowering mechanism B and lifting and lowering mechanism C in sequence along the conveying direction of the first roller conveyor line;

[0018] Step 1: Based on camera recognition, the loading robot grasps the composite sheet on the mobile device and places it on the first roller conveyor line. At the same time, the loading robot is adjusted to control the length direction of the composite sheet to be perpendicular or parallel to the conveying direction of the first roller conveyor line; before the loading robot is controlled to place the composite sheet on the first roller conveyor line, the top surface of the lifting and lowering mechanism A is controlled to protrude from the working surface of the first roller conveyor line;

[0019] Step 2: The composite sheet is conveyed along the first roller conveyor line. Before being moved to the position of the smoothness detection mechanism, the camera is used to detect whether the composite sheet is deflected. If so, the position of the composite sheet is adjusted by controlling the adjustment mechanism.

[0020] Step 3: When the composite plate enters the bottom of the smoothness detection mechanism, the position detection unit detects whether the composite plate has reached the detection position. When it is determined that the composite plate has reached the detection position, the detection lifting mechanism is controlled to lift the composite plate; then the smoothness detection mechanism is used for detection;

[0021] Step 4: After the inspection is completed, the inspection lifting mechanism is controlled to retract, and the top surface of the lifting and lowering mechanism B is controlled to protrude out of the working surface of the first roller conveyor line;

[0022] Step 5: Based on the camera's recognition that the composite sheet has moved to the end position of the first roller conveyor line, the top surface of the lifting and lowering mechanism C is controlled to protrude out of the working surface of the first roller conveyor line. After it is recognized that the composite sheet does not move, the stop mechanism is controlled to push the composite sheet against the first roller conveyor line for a distance. Then, the unloading robot grabs the composite sheet from the first roller conveyor line and places it on the corresponding second roller conveyor line according to the smoothness detection results.

[0023] The present invention has the following beneficial effects:

[0024] The present invention is provided with a detection and lifting mechanism corresponding to the position of the smoothness detection mechanism below the first roller conveyor line. When in use, the detection and lifting mechanism lifts the composite plate located on the first roller conveyor line so that the bottom side surface of the composite plate is separated from the working surface of the first roller conveyor line and remains stationary.

[0025] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a schematic structural diagram of the smoothness detection device of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the detection and lifting mechanism of the present invention;

[0029] Figure 3 It is a partial structural diagram of the smoothness detection device of the present invention;

[0030] Figure 4 Schematic diagram of the structure of the position detection unit of the present invention;

[0031] Figure 5 for Figure 4 A top view of

[0032] Figure 6 Adjust the mechanism layout diagram for the present invention;

[0033] Figure 7 Schematic diagram of the structure of the stop mechanism of the present invention;

[0034] Figure 8 for Figure 7 Cross-sectional view at AA in the middle;

[0035] Figure 9 This is a schematic diagram of the lifting and lowering mechanism structure of the present invention;

[0036] Figure 10 for Figure 9 The main view;

[0037] Figure 11 for Figure 10Cross-sectional view at AA in the middle;

[0038] Figure 12 This is a schematic diagram of the adjustment module structure of the present invention. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] See also Figure 1 and 3 The present invention is a device for detecting the surface smoothness of a composite plate. When in use, the composite plate 100 is placed on a first roller conveyor line 1 for conveyance, and a smoothness detection mechanism 3 is provided on the first roller conveyor line 1. Specifically, the smoothness detection mechanism 3 includes a top frame installed on a frame, and a roughness detector is provided on the top frame.

[0042] Of course, it is understandable that in order to keep the composite sheet 100 in a stationary state during the detection process, the present invention is provided with a detection lifting mechanism corresponding to the position of the smoothness detection mechanism 3 below the first roller conveyor line 1. When in use, the detection lifting mechanism completes the lifting of the composite sheet 100 located on the first roller conveyor line 1, so that the bottom side of the composite sheet 100 is separated from the working surface of the first roller conveyor line 1 and remains stationary.

[0043] Specifically, such as Figure 2The detection and lifting mechanism includes three lifting units and a stop unit; the lifting unit includes a lifting mechanism A33, and a roller assembly A34 is provided on the top of the lifting mechanism A33; the stop unit includes an L-shaped plate 35 installed on the output end side of a lifting mechanism A33 at the end; and a buffer belt 36 is provided on the inner side wall of the L-shaped plate 35; when the detection and lifting mechanism is used for lifting, when the lifting mechanism A33 is controlled to extend, the ends of the roller assembly A34 and the L-shaped plate 35 can both protrude from the roller gap of the first roller conveyor line 1. At this time, the bottom side of the composite plate 100 is separated from the working surface of the first roller conveyor line 1; due to inertia, the composite plate 100 will continue to move a distance on the roller assembly A34 and then abut against the side wall of the L-shaped plate 35. The setting of the buffer belt 36 is used to avoid damage to the end face of the composite plate 100 caused by collision, and the buffer belt 36 is used to form a blocking and limiting effect.

[0044] In order to facilitate automated testing, Figure 1 A loading system consisting of a loading robot 2 and a mobile device 6 is provided at the head end of the first roller conveyor line 1, and the two mobile devices 6 are respectively provided on both sides of the first roller conveyor line 1; a unloading system consisting of two second roller conveyor lines 5 and an unloading robot 4 is provided at the end of the first roller conveyor line 1, and the two second roller conveyor lines 5 are respectively provided on both sides of the first roller conveyor line 1, and the smoothness detection mechanism 3 is located between the loading system and the unloading system.

[0045] When the present invention is used, Figure 1 , composite panels 100 are stacked on the mobile device 6. When in use, the loading robot 2 grabs the composite panels 100 stacked on the mobile device 6 and places them on the first roller conveyor line 1. The unloading robot 4 selectively grabs the composite panels 100 from the first roller conveyor line 1 and places them on the second roller conveyor line 5.

[0046] Specifically, in order to perform corresponding automatic control on the automated detection, a control unit is further included, which is connected to the loading robot 2, the unloading robot 4, and the smoothness detection mechanism 3. During the entire detection process, the first roller conveyor line 1 remains in an open state.

[0047] Specifically, in the present invention, the first roller conveyor line 1 and the second roller conveyor line 5 have the same structure, and both include a frame, rollers, a bracket, a driving device and other components.

[0048] It is understandable that in order to facilitate the control of the lifting mechanism to lift up at the appropriate time point, the present invention also provides position detection units for detecting the position of the composite board 100 on both inner side walls of the frame. The position detection units are installed below the smoothness detection mechanism 3.

[0049] Specifically, the present invention provides a Figure 4-5 , a position detection unit, which includes a base plate 37 with a T-shaped slide groove 371 on the upper surface, the base plate 37 is welded to the inner side wall of the frame, and a slider 372 is provided in the T-shaped slide groove 371, and a telescopic module A373 is provided at the end of the T-shaped slide groove 371 to drive the slider 372 to slide freely along the length direction of the T-shaped slide groove 371, and a push plate 374 with a pressure sensor is provided at the end of the telescopic module A373; the top of the slider 372 is connected to a stopper 375 protruding from the working surface of the first roller conveyor line 1, and a guide portion 376 is provided at one end of the stopper 375 close to the composite plate 100. Based on the design of the position detection unit, when the composite plate 100 moves to the corresponding position, the end of the composite plate 100 will contact On the guide part 376, under the action of the guide part 376, the stop block 375 will be controlled to move along the length direction of the T-shaped slide groove 371 toward the side close to the telescopic module A373 until the pressure sensor contacts the slider 372. This indicates that the composite board 100 has moved to the corresponding position, that is, it is necessary to control the lifting mechanism to lift it up; at the same time, a buffer layer A377 is set at one end of the slider 372 close to the telescopic module A373. The buffer layer A377 not only reduces the damage that may be caused to the pressure sensor by the rapid movement of the slider 372, but also reduces the distance that the slider 372 rebounds after hitting the push plate 374, thereby avoiding the slider 372 hitting the side of the composite board 100 again after rebounding and causing damage to the composite board 100.

[0050] Since the composite plate 100 is easily affected by collisions and the initial placement position of the composite plate 100 during the actual transportation process, it is easy for the composite plate 100 to deviate when it is about to move to the position of the smoothness detection mechanism 3. Therefore, a possible implementation manner also includes a camera arranged above the frame, which takes a whole picture of the first roller conveyor line 1 to obtain an image, and analyzes the position of the composite plate 100 on the first roller conveyor line 1 and the deviation phenomenon; when deviation occurs, the implementation manner also includes an adjustment mechanism for adjusting the position of the composite plate 100 located on the first roller conveyor line 1 and the conveying direction.

[0051] Specifically; the adjustment mechanism includes two adjustment units provided on both sides of the first roller conveyor line 1, the adjustment unit includes a plurality of adjustment modules provided along the length direction of the first roller conveyor line 1 at equal intervals; such as Figure 12 The adjustment module includes a telescopic module B30 mounted horizontally on the frame, and the telescopic module B30 is equipped with a guide wheel structure 301; the axial direction of the guide wheel structure 301 is perpendicular to the surface of the composite plate 100; when in use, Figure 6 When the composite plate 100 is detected to be deviated, there are three adjustment modules on both sides of the composite plate 100.

[0052] The three adjustment modules on the deviation side are marked as P1, P2, and P3, respectively, and the three adjustment modules on the other side are marked as P10, P20, and P30, respectively. P1, P2, and P3, as well as P10, P20, and P30, are all arranged along the conveying direction of the first roller conveyor line 1. The specific adjustments are as follows:

[0053] Control P3 and P10 to extend synchronously, and control the width of the channel formed between P3 and P10 to be about 1 cm wider than the composite board 100; then control P20, P30 and P2 to extend, and control P3 and P10 to extend again, and control the width of the channel formed by the five adjustment modules above to be about 0.2 cm wider than the composite board 100; by adjusting the elongation length of P2 and P3 as well as P10, P20 and P30, the position of the composite board 100 on the first roller conveyor line 1 is adjusted, that is, the distance between the two sides of the composite board 100 and the frame is adjusted; based on the adjustment and detection of the distance, in this implementation, it is also necessary to slowly drive the corresponding slider 372 through the telescopic module A373 to slide, and control the distance between the two sliders 372 to be about 1 cm narrower than the composite board 100, to ensure that when the composite board 100 passes between the two sliders 372, the two ends of the composite board 100 are respectively and simultaneously against the stop block 375.

[0054] It should be noted that, in some other possible embodiments, in order to facilitate the control of the composite panel 100 to fall smoothly onto the first roller conveyor line 1 or be smoothly picked up from the first roller conveyor line 1, three sets of lifting and lowering mechanisms are also provided below the first roller conveyor line 1. The three sets of lifting and lowering mechanisms are respectively installed at the positions of the loading robot 2, the smoothness detection mechanism 3 and the unloading robot 4, and used in conjunction with each other.

[0055] A possible implementation of a lifting and lowering mechanism provided by the present invention is as follows: Figure 9-11 , which includes two lifting and lowering units; the lifting and lowering unit includes a roller assembly B7 that can be extended from the roller gap of the first roller conveyor line 1, and at least two guide columns 71 are connected to the bottom of the roller assembly B7. The bottom ends of the guide columns 71 are fitted with guide tubes A72, and the bottom ends of the guide tubes A72 are connected to guide tubes B73. The bottom ends of the guide columns 71 are inserted into the guide tubes B73 and are fitted with damping blocks A74 that slide along the guide tubes B73. The guide tubes B73 are provided with lifting mechanisms B75 whose ends extend outwards and abut against the end faces of the guide columns 71, thereby driving the guide columns 71 to move upward.

[0056] During use, when it is necessary to conveniently control the composite sheet 100 to fall smoothly onto the first roller conveyor line 1, before the composite sheet 100 falls, the lifting and lowering unit is controlled to rise until the roller assembly B7 supports the bottom side of the composite sheet 100, and then the external force that keeps the composite sheet 100 in a high position is released. At this time, under the coordinated action of the damping block A74 and the guide tube B73, the lifting and lowering unit as a whole slowly descends until its bottom side contacts the first roller conveyor line 1. At this time, transportation occurs under the action of the first roller conveyor line 1. The external force mentioned above includes the grasping of the loading robot 2 and the lifting force of the detection lifting mechanism.

[0057] At the same time, based on this implementation method, Figure 7-8 A stop mechanism 8 may be further provided at the end of the first roller conveyor line 1. The stop mechanism 8 includes a horizontally arranged stop plate 80. A buffer layer B801 is provided on the side of the stop plate 80 close to the composite sheet 100. A vertically upward side plate 81 is provided at the end of the first roller conveyor line 1. A telescopic mechanism A82 connected to the stop plate 80 is provided on one side of the side plate 81. The telescopic mechanism A82 includes at least two sleeves 83 installed on the side plate 81. A movable rod 84 with a damping layer 841 provided on the circumferential side is provided in the sleeve 83. The end of the movable rod 84 is connected to the stop plate 80, and a sleeve 83 is installed. There is a telescopic structure 87 that drives the movable rod 84 to move along the length direction of the sleeve 83; in the initial state, the telescopic structure 87 drives the movable rod 84 to extend in the length direction of the sleeve 83, and then controls the telescopic structure 87 to restore its original state; then when the composite plate 100 contacts the stop plate 80, accompanied by inertia and the action of the first roller conveyor line 1, it will continue to move and control the movable rod 84 to move along the length direction of the sleeve 83 until the movable rod 84 completes the maximum depth of contraction in the sleeve 83. At this time, the unloading robot 4 can be controlled to grab the composite plate 100 from the first roller conveyor line 1.

[0058] Of course, in order to control the composite plate 100 to be smoothly picked up from the first roller conveyor line 1, a lifting and lowering mechanism is set under the stop mechanism 8; when the camera recognizes that the composite plate 100 is about to move to the position of the stop mechanism 8, the lifting and lowering mechanism is first controlled to extend until the working surface of the lifting and lowering mechanism is coplanar with the working surface of the first roller conveyor line 1; when it is detected that the front end of the composite plate 100 passes through the front end of the lifting and lowering mechanism, that is, when the composite plate 100 completes full coverage of the lifting and lowering mechanism, the lifting and lowering mechanism is controlled to extend until its working surface is higher than the working surface of the first roller conveyor line 1.

[0059] At the same time, before controlling the unloading manipulator 4 to grab the composite plate 100 from the first roller conveyor line 1, in order to avoid the end surface of the composite plate 100 from contacting the stop plate 80 and causing friction during the grabbing movement; Figure 7 In this scheme, the side plate 81 is also provided with a telescopic mechanism B85 with a protruding rear end resting on the stop plate 80 and driving the stop plate 80 to move in the horizontal direction; a magnetic block A851 is provided at the end of the telescopic mechanism B85, and the stop plate 80 is in contact with the telescopic mechanism B85 and is provided with a magnetic block B802 that cooperates with the magnetic block A851; when the telescopic mechanism B85 is fully retracted, the side surface of the stop plate 80 rests on the end face of the sleeve 83; the telescopic mechanism B85 controls the movement of the stop plate 80 to push the composite plate 100 on the corresponding lifting and lowering mechanism to move in the opposite direction of the conveying direction of the first roller conveyor line 1, and then controls the telescopic mechanism B85 to retract, and uses the cooperation of the magnetic block A851 and the magnetic block B802 to drive the stop plate 80 to detach from the end face of the composite plate 100, and then continues to control the telescopic mechanism B85 to retract. At this time, the magnetic block A851 and the magnetic block B802 detach downward under the action of force.

[0060] It should be noted that, in some other possible implementations, an inverted U-shaped frame 9 is further provided on the frame between the loading robot 2 and the smoothness detection mechanism 3 , and a plurality of dust cleaning nozzles are provided on the bottom side of the U-shaped frame 9 .

[0061] A composite plate surface smoothness detection system includes a control unit, a signal output end of the control unit is connected to a first roller conveyor line 1 for conveying a composite plate 100, a loading robot 2 and a unloading robot 4 for transporting and transferring the composite plate 100, a detection and lifting mechanism for lifting the composite plate 100, a position detection unit for detecting the position of the composite plate 100, an adjustment mechanism for adjusting the position of the composite plate 100 on the first roller conveyor line 1, and a lifting and lowering mechanism and a stop mechanism 8; the signal input end of the control unit is connected to a smoothness detection mechanism 3 for detecting the surface smoothness of the composite plate, a position detection unit for detecting the position of the composite plate 100, and cameras for detecting the position of the composite plate 100 located on both sides of the smoothness detection mechanism 3.

[0062] The detection method based on the above detection system includes the following steps:

[0063] The three lifting and lowering mechanisms are marked as lifting and lowering mechanism A, lifting and lowering mechanism B and lifting and lowering mechanism C in sequence along the conveying direction of the first roller conveyor line 1;

[0064] Step 1: Based on camera recognition, the loading robot 2 grabs the composite sheet 100 located on the mobile device 6 and places it on the first roller conveyor line 1. At the same time, the loading robot 2 is adjusted to control the length direction of the composite sheet 100 to be perpendicular or parallel to the conveying direction of the first roller conveyor line 1; before the loading robot 2 is controlled to place the composite sheet 100 on the first roller conveyor line 1, the top surface of the lifting and lowering mechanism A is controlled to protrude from the working surface of the first roller conveyor line 1;

[0065] Step 2: The composite sheet 100 is conveyed along the first roller conveyor line 1. Before moving to the position of the smoothness detection mechanism 3, the camera is used to detect whether the composite sheet 100 is deflected. If so, the position of the composite sheet 100 is adjusted by controlling the adjustment mechanism.

[0066] Step 3: When the composite sheet 100 enters the bottom of the smoothness detection mechanism 3, the position detection unit detects whether the composite sheet 100 has reached the detection position. When it is determined that the composite sheet 100 has reached the detection position, the detection lifting mechanism is controlled to lift the composite sheet 100; then the smoothness detection mechanism 3 is used for detection;

[0067] Step 4: After the inspection is completed, the inspection lifting mechanism is controlled to retract, and at the same time, the top surface of the lifting and lowering mechanism B is controlled to protrude out of the working surface of the first roller conveyor line 1;

[0068] Step 5. Based on the camera recognition that the composite sheet 100 moves to the end position of the first roller conveyor line 1, the top surface of the lifting and lowering mechanism C is controlled to protrude from the working surface of the first roller conveyor line 1. After it is recognized that the composite sheet 100 does not move, the stop mechanism 8 is controlled to push the composite sheet 100 against the first roller conveyor line 1 for a distance, and then the unloading robot 4 grabs the composite sheet 100 from the first roller conveyor line 1 according to the smoothness detection result and places it on the corresponding second roller conveyor line 5.

[0069] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0070] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A composite plate surface smoothness detection device, characterized by: It comprises a first roller-type conveyor line (1) for conveying composite panels (100); The first roller conveyor line (1) comprises a frame and a roller; A loading robot (2), a smoothness detection mechanism (3), and a unloading robot (4) are sequentially arranged along the conveying direction of the first roller conveyor line (1); The smoothness detection mechanism (3) comprises a top frame mounted on a frame, and a roughness detector is provided on the top frame; A detection and lifting mechanism for lifting the composite plate (100) is also provided directly below the top frame; The detection lifting mechanism includes at least two lifting units and a stop unit; The lifting unit includes a lifting mechanism A (33), and a roller assembly A (34) is provided on the top of the lifting mechanism A (33); the stopping unit includes an L-shaped plate (35) installed on the output end side of the lifting mechanism A (33) at the end; the ends of the roller assembly A (34) and the L-shaped plate (35) can both protrude from the roller gap of the first roller conveyor line (1); and the inner side wall of the L-shaped plate (35) is provided with a buffer belt (36); It also includes a control unit, the control unit being connected to a loading robot (2), a unloading robot (4), and a smoothness detection mechanism (3); Position detection units for detecting the position of the composite plate (100) are provided on both inner side walls of the frame below the smoothness detection mechanism (3); The position detection unit comprises a base plate (37) with a T-shaped slide groove (371) provided on its upper surface, wherein the length direction of the T-shaped slide groove (371) is perpendicular to the conveying direction of the first roller conveyor line (1); A slider (372) is provided in the T-shaped slide groove (371), and a telescopic module A (373) is provided at the end of the T-shaped slide groove (371) for driving the slider (372) to slide freely along the length direction of the T-shaped slide groove (371), and a push plate (374) equipped with a pressure sensor is provided at the end of the telescopic module A (373); a stopper (375) protruding from the working surface of the first roller conveyor line (1) is connected to the top of the slider (372), and a guide portion (376) is provided at one end of the stopper (375) close to the composite plate (100); a buffer layer A (377) is provided at one end of the slider (372) close to the telescopic module A (373).

2. A composite plate surface smoothness detection device according to claim 1, characterized in that: The loading manipulator (2) and the unloading manipulator (4) are both arranged at the end of the first roller conveyor line (1); A second roller conveyor line (5) is provided on both sides of the end of the first roller conveyor line (1), and the unloading robot (4) selectively grabs the composite plate (100) from the first roller conveyor line (1) and places it on the second roller conveyor line (5); A mobile device (6) carrying a composite plate (100) is provided on both sides of the head end of the first roller conveyor line (1).

3. A composite plate surface smoothness detection device according to claim 2, characterized in that: It also includes a camera arranged above the frame for detecting the position of the composite plate (100) located on both sides of the smoothness detection mechanism (3); and an adjustment mechanism for adjusting the position of the composite plate (100) is also arranged on the frame located on both sides of the smoothness detection mechanism (3); The adjustment mechanism comprises two adjustment units arranged on both sides of the first roller conveyor line (1), the adjustment unit comprising a plurality of adjustment modules arranged at equal intervals along the length direction of the first roller conveyor line (1); the adjustment module comprises a telescopic module B (30) horizontally mounted on a frame, the telescopic module B (30) being mounted with a guide wheel structure (301); the axial direction of the guide wheel structure (301) being perpendicular to the surface of the composite plate (100).

4. The composite plate surface smoothness detection device according to claim 1, characterized in that: It also includes three sets of lifting and lowering mechanisms respectively arranged on the first roller conveyor line (1), and the three sets of lifting and lowering mechanisms are respectively installed at the positions of the loading manipulator (2), the smoothness detection mechanism (3) and the unloading manipulator (4); The lifting and lowering mechanism includes at least two lifting and lowering units; the lifting and lowering unit includes a roller assembly B (7) that can be extended from the roller gap of the first roller conveyor line (1); the bottom of the roller assembly B (7) is connected to at least two guide columns (71); the bottom ends of the guide columns (71) are fitted with guide tubes A (72); the bottom ends of the guide tubes A (72) are connected to guide tubes B (73); the bottom ends of the guide columns (71) are inserted into the guide tubes B (73) and are fitted with damping blocks A (74) that slide along the guide tubes B (73); The guide tube B (73) is provided with a lifting mechanism B (75) whose end extends outward and abuts against the end surface of the guide column (71) to drive the guide column (71) to move upward.

5. The composite plate surface smoothness detection device according to claim 4, characterized in that: A stop mechanism (8) is further provided at the end of the first roller conveyor line (1), the stop mechanism (8) comprising a horizontally arranged stop plate (80), a buffer layer B (801) being provided on a side of the stop plate (80) close to the composite plate (100), and a vertically upward side plate (81) being provided at the end of the first roller conveyor line (1), a telescopic mechanism A (82) connected to the stop plate (80) being provided on one side of the side plate (81).

6. The composite plate surface smoothness detection device according to claim 5, characterized in that: The telescopic mechanism A (82) comprises at least two sleeves (83) mounted on the side plates (81), wherein a movable rod (84) with a damping layer (841) provided on the circumference thereof is provided in the sleeves (83), and the end of the movable rod (84) is connected to the stop plate (80); The side plate (81) is also provided with a telescopic mechanism B (85) whose extended rear end abuts against the stop plate (80) and drives the stop plate (80) to move in the horizontal direction; a magnetic block A (851) is provided at the end of the telescopic mechanism B (85); the stop plate (80) and the telescopic mechanism B (85) are in contact with each other and are provided with a magnetic block B (802) that cooperates with the magnetic block A (851); When the telescopic mechanism B (85) is fully retracted, the side surface of the stop plate (80) abuts against the end surface of the sleeve (83).

7. The composite board surface smoothness detection device according to claim 1, characterized in that: An inverted U-shaped frame (9) is also provided on the frame between the feeding manipulator (2) and the smoothness detection mechanism (3), and a plurality of dust cleaning nozzles are provided on the bottom side of the U-shaped frame (9).

8. A composite board surface smoothness detection system, characterized in that: The invention comprises a control unit, wherein a signal output end of the control unit is connected to a first roller conveyor line (1) for conveying a composite plate (100), a loading robot (2) and a unloading robot (4) for transporting and transferring the composite plate (100), a detection and lifting mechanism for lifting the composite plate (100), a position detection unit for detecting the position of the composite plate (100), an adjustment mechanism for adjusting the position of the composite plate (100) on the first roller conveyor line (1), and a lifting and lowering mechanism and a stop mechanism (8); The signal input end of the control unit is connected to a smoothness detection mechanism (3) for detecting the surface smoothness of the composite plate, a position detection unit for detecting the position of the composite plate (100), and cameras for detecting the position of the composite plate (100) located on both sides of the smoothness detection mechanism (3); The detection method based on the detection system includes the following steps: The three lifting and lowering mechanisms are marked as lifting and lowering mechanism A, lifting and lowering mechanism B and lifting and lowering mechanism C in sequence along the conveying direction of the first roller conveyor line (1); Step 1: Based on camera recognition, the composite plate (100) located on the mobile device (6) is grabbed and placed on the first roller conveyor line (1) by the loading robot (2), and the loading robot (2) is adjusted to control the length direction of the composite plate (100) to be perpendicular or parallel to the conveying direction of the first roller conveyor line (1); before the loading robot (2) is controlled to place the composite plate (100) on the first roller conveyor line (1), the top surface of the lifting and lowering mechanism A is controlled to protrude from the working surface of the first roller conveyor line (1); Step 2: The composite plate (100) is conveyed along the first roller conveyor line (1), and before being moved to the position of the smoothness detection mechanism (3), a camera is used to detect whether the composite plate (100) is deflected; if so, the position of the composite plate (100) is adjusted by controlling the adjustment mechanism; Step 3: When the composite plate (100) enters below the smoothness detection mechanism (3), the position detection unit detects whether the composite plate (100) has reached the detection position. When it is determined that the composite plate (100) has reached the detection position, the detection lifting mechanism is controlled to lift the composite plate (100); and then the smoothness detection mechanism (3) performs the detection. Step 4: After the detection is completed, the detection lifting mechanism is controlled to retract, and at the same time, the top surface of the lifting and lowering mechanism B is controlled to protrude from the working surface of the first roller conveyor line (1); Step 5: Based on the camera recognition that the composite plate (100) moves to the end position of the first roller conveyor line (1), the top surface of the lifting and lowering mechanism C is controlled to protrude from the working surface of the first roller conveyor line (1). After it is recognized that the composite plate (100) does not move, the stop mechanism (8) is controlled to push the composite plate (100) against the first roller conveyor line (1) for a distance, and then the unloading robot (4) grabs the composite plate (100) from the first roller conveyor line (1) according to the smoothness detection result and places it on the corresponding second roller conveyor line (5).

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