Prefabricated parts conveying equipment with detection function

Abstract

The present invention relates to the technical field of prefabricated production, and in particular to a prefabricated conveying device with a detection function. The alignment block designed by the present invention can play a guiding role when loading and stacking prefabricated parts, thereby improving efficiency and accuracy. During stacking, the alignment block can fall off during the stacking process without manual disassembly. The designed alignment block and guide rail work together to ensure that the prefabricated parts are always in the correct position when passing through the detection mechanism, preventing small offsets from affecting the detection results. The designed detection mechanism can not only measure the damage area of ​​the corners of the prefabricated parts, the groove area and the groove depth changes, but also measure the flatness of the conventional surface of the prefabricated parts, and detect cracks and defects in the prefabricated parts. The designed image recognition component can identify the exact position of the auxiliary positioning component in advance through image recognition, and fine-tune the concave-convex detection component according to the recognition result, so that the detection rod can smoothly enter the prefabricated groove under the guidance of the auxiliary positioning component for detection.

Description

Technical Field

[0001] The invention relates to the technical field of prefabricated part production, and in particular to a prefabricated part conveying device with a detection function. Background Art

[0002] With the rapid development of social economy and the continuous improvement of people's living standards, people have put forward higher and higher requirements for the aesthetics and practicality of new housing construction, the quality and speed of the renovation and reinforcement of old communities, etc. Prefabricated buildings have the advantages of fast construction speed, stable and reliable quality, energy saving and environmental protection, etc. At the same time, they can shorten the construction period, improve the safety level of buildings, resolve excess production capacity, and adapt to the scale and standardization requirements of residential industrialization. It is an important direction for future development. Prefabricated concrete structure is a concrete structure formed by assembling, connecting, combining and casting precast concrete components as the main components.

[0003] A lot of manpower is required in the quality inspection and transportation process, so it is very important to improve the degree of automation of the quality inspection and transportation process. Although there are many concrete quality inspection and transportation methods, the degree of automation is still not high. Therefore, it is very necessary to design a highly automated equipment that can be used for prefabricated parts transportation and inspection. Summary of the invention

[0004] In view of the deficiencies mentioned in the above technical background, an object of the present invention is to provide a preform conveying device with a detection function.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A prefabricated part conveying device with a detection function comprises a conveying guide rail, a conveying mechanism is arranged on the conveying guide rail, a detection mechanism is arranged on the side of the conveying mechanism, and a stacking mechanism is arranged at one end of the detection mechanism;

[0007] The transport mechanism includes a transport vehicle for transporting the prefabricated parts;

[0008] The detection mechanism includes an image detection component and a concave-convex detection component, which are used to perform quality detection on the conveyed preforms;

[0009] The image detection component is used to detect the surface quality of the preform and assist the concave-convex detection component in fine-tuning the position;

[0010] The concave-convex detection component is used to measure the groove depth and the concave-convex condition in the groove;

[0011] The stacking mechanism is used for stacking the preforms transported to a set position.

[0012] As a further description of the solution of the present invention, alignment blocks are provided at the four corners of the transport vehicle, and an auxiliary positioning component is provided on the side of the front end of the transport vehicle.

[0013] As a further description of the solution of the present invention, a guiding inclined surface is provided on the upper side of the alignment block, a supporting component is provided at a position near the inner side of the bottom of the alignment block, a fixing groove is provided at the bottom of the supporting component, the fixing groove cooperates with the fixing block on the transport vehicle, an alignment plate is provided on the lower surface of the supporting component, a rounded corner is provided at the bottom of the alignment plate, and lifting rings are provided on both sides of the alignment block;

[0014] The auxiliary positioning assembly is provided with an adjusting rod, a side of the guide plate away from the transport vehicle is provided with a rounded corner, a side of the guide plate is provided with a guide block, an upper side of the guide block close to the transport vehicle is provided with an alignment plane, the alignment plane is flush with the upper surface of the prefabricated part, and an inclined surface is provided on the upper side of the guide block close to the transport vehicle, and a rounded corner is provided at the end of the inclined surface.

[0015] As a further description of the scheme of the present invention, the detection mechanism includes a frame arranged on the side of the transport vehicle, two transverse guide rails are arranged on the frame, an image detection component is arranged on the transverse guide rail near the bottom, and a concave-convex detection component is arranged on the transverse guide rail near the top, the conveying guide rail is arranged directly below the frame, and the conveying guide rail cooperates with the wheels of the transport vehicle;

[0016] The image detection component is provided with an image lifting platform, on which a camera facing vertically downward is provided, and the camera can move in three-dimensional space.

[0017] As a further description of the scheme of the present invention, a concave-convex lifting platform is provided on the concave-convex detection component, a concave-convex detection box is provided on the concave-convex lifting platform, a plurality of linearly distributed pressure detection points are provided near the lower part of the concave-convex detection box, a pressure sensor is provided in the pressure detection point, a mounting plate is provided on the lower surface of the concave-convex detection box, a plurality of movable grooves are opened on the mounting plate, and a detection rod is provided in the movable groove.

[0018] As a further description of the solution of the present invention, the working steps of the device are as follows:

[0019] S1. The transport vehicle transports the demoulded prefabricated parts to the testing agency;

[0020] S2, the detection mechanism adjusts the image detection component to obtain the original image, identifies the position of the auxiliary positioning component, and performs image processing;

[0021] S3, the concave-convex detection component fine-adjusts the position of the concave-convex detection box according to the position of the auxiliary positioning component;

[0022] S4, the image detection component detects the surface quality, and the concave-convex detection component detects the groove depth;

[0023] S5. Determine whether the test result is qualified.

[0024] As a further description of the scheme of the present invention, the S2 working steps are as follows:

[0025] S21, calibrate the initial position of the camera, select a standard part as a calibration target, the thickness of the standard part is d 0 , adjust the camera height. When the auxiliary positioning component of the transport mechanism enters the camera shooting range, the camera can completely shoot the upper surface of the prefabricated part and record the camera height h at this time. 0 ;

[0026] S22, obtaining the thickness d of the preform to be tested;

[0027] S23. Calculate the height h of the adjusted camera according to the following formula:

[0028] h*d 0 =h 0 *d.

[0029] As a further description of the scheme of the present invention, the S3 working steps are as follows:

[0030] S31, calibrate the initial position of the auxiliary positioning component, and obtain the horizontal distance x between the auxiliary positioning component and the concave-convex detection component when the first picture of the standard part taken by the camera is obtained. 0 and the vertical distance y 0 , and record the height z of the auxiliary positioning component at this time 0 ;

[0031] S32, when obtaining the first picture of the prefabricated part to be inspected taken by the camera, the horizontal distance x between the auxiliary positioning component and the concave-convex detection component 1 and the vertical distance y 1 ;

[0032] S33, calculate the height z of the auxiliary positioning component after adjustment according to the following formula 1 :

[0033] z 1 *(x 0 2 +y 0 2 )=z 0 *(x 1 2 +y 1 2 ).

[0034] Beneficial effects of the present invention:

[0035] 1. The alignment block designed in the present invention can play a guiding role when loading and stacking prefabricated parts, improving efficiency and accuracy. During stacking, the alignment block can fall off during the stacking process without manual disassembly. The designed alignment block and guide rail work together to ensure that the prefabricated parts are always in the correct position when passing through the detection mechanism, preventing small offsets from affecting the detection results.

[0036] 2. The image recognition component designed in the present invention can identify the exact position of the auxiliary positioning component in advance through image recognition, and fine-tune the concave-convex detection component according to the recognition result, so that the detection rod can smoothly enter the prefabricated groove under the guidance of the auxiliary positioning component for detection, and detect the groove depth and undulation.

[0037] 3. The detection mechanism designed in the present invention can not only measure the groove area, groove depth change, and preform corner damage area, but also measure the flatness of the conventional surface of the preform, and by adjusting the camera height and position, control the size of the photo pixel, which is used to detect cracks and defects in the preform. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 It is a schematic diagram of the structure of the present invention;

[0040] Figure 2 It is a schematic diagram of the structure of the transport mechanism;

[0041] Figure 3 It is a schematic diagram of the structure of the positive block;

[0042] Figure 4 It is a structural schematic diagram of the auxiliary positioning component;

[0043] Figure 5 is a cross-sectional schematic diagram of an auxiliary positioning assembly;

[0044] Figure 6 It is a schematic diagram of the structure of the testing organization;

[0045] Figure 7 It is a schematic diagram of the structure of the image detection component;

[0046] Figure 8 It is a structural schematic diagram of a concave-convex detection component;

[0047] Fig. 9 It is a schematic diagram of the internal structure of the concave-convex detection box;

[0048] Fig.10 It is a schematic diagram of the prefabricated parts when they are stacked;

[0049] Fig.11 It is a structural schematic diagram of the concave-convex detection component.

[0050] Description of the numbers in the figure:

[0051] 1. Transport mechanism; 11. Transport vehicle; 12. Alignment block; 121. Guide slope; 122. Support component; 1221. Fixing groove; 123. Alignment plate; 124. Lifting ring; 13. Auxiliary positioning assembly; 131. Adjustment rod; 132. Guide plate; 133. Guide block; 1331. Alignment plane; 1332. Inclined surface; 14. Prefabricated part; 2. Detection mechanism; 21. Frame; 211. Longitudinal lead screw nut pair; 22. Horizontal lead screw nut pair; 23. Image detection assembly; 231. Image lifting platform; 232. Camera; 24. Concavo-convex detection assembly; 241. Concavo-convex lifting platform; 242. Concavo-convex detection box; 2421. Pressure detection point; 2422. Pressure sensor; 243. Mounting plate; 2431. Movable groove; 244. Detection rod. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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.

[0054] like Figure 1-10 As shown, a preform conveying device with a detection function comprises a conveying rail, a conveying mechanism 1 is provided on the conveying rail, a detection mechanism 2 is provided on the side of the conveying mechanism 1, and a stacking mechanism is provided at one end of the detection mechanism 2;

[0055] The transport mechanism 1 comprises a transport vehicle 11 for transporting prefabricated parts 14;

[0056] The detection mechanism 2 includes an image detection component 23 and a concave-convex detection component 24, which are used to perform quality detection on the conveyed preform 14;

[0057] The image detection component 23 is used to detect the surface quality of the preform and assist the concave-convex detection component 24 in fine-tuning the position;

[0058] The concave-convex detection component 24 is used to measure the groove depth and the concave-convex condition in the groove;

[0059] The stacking mechanism is used to stack the preforms 14 transported to a set position.

[0060] It should be noted that the stacking mechanism is not an innovation of the present invention and is not shown in the figure. The device is connected to an external control center, and functions such as image processing, device control, and data interaction are controlled by the control center, which is not shown in the attached figure.

[0061] like Figure 1 , 2 The transport mechanism 1 shown includes a transport vehicle 11, and alignment blocks 12 are arranged at the four corners of the transport vehicle 11. A prefabricated part 14 is placed on the transport vehicle 11. The alignment blocks 12 are used to stabilize the prefabricated part 14 to prevent the prefabricated part 14 from shifting during transportation. An auxiliary positioning component 13 is arranged on the side of the front end of the transport vehicle 11, which can play a role in positioning and guiding when it is necessary to detect the concave and convex depth of the grooved rough surface of the prefabricated part.

[0062] like Figure 3 , 4 As shown in Figures 5 and 6, the upper side of the alignment block 12 is provided with a guiding slope 121. When the demoulded preform 14 is placed on the transport vehicle 11, the guiding slope 121 can play a guiding role. A support component 122 is provided at the bottom of the alignment block 12 near the inner side. A fixing groove 1221 is provided at the bottom of the support component 122. The fixing groove 1221 cooperates with the fixing block on the transport vehicle 11 to stabilize the position of the alignment block 12 during transportation. An alignment plate 123 is provided on the lower surface of the support component 122. The bottom of the alignment plate 123 is provided with a rounded corner. When in use, the alignment plate 123 is pressed against the side of the transport vehicle 11. At this time, the fixing groove 1221 cooperates with the fixing block on the transport vehicle 11. Lifting rings 124 are provided on both sides of the alignment block 12 to facilitate the auxiliary lifting of the preform 14 during subsequent stacking.

[0063] The auxiliary positioning assembly 13 is provided with an adjusting rod 131, and the position of the guide plate 132 can be adjusted by rotating the adjusting rod 131 so that the guide plate 132 can face the groove on the preform 14. The side of the guide plate 132 away from the transport vehicle 11 is provided with a rounded corner, and the side of the guide plate 132 is provided with a guide block 133. The guide block 133 is provided with an alignment plane 1331 on the upper side close to the transport vehicle 11. The alignment plane 1331 is flush with the upper surface of the preform 14, and the guide block 133 is provided with an inclined surface 1332 on the upper side close to the transport vehicle 11, and the end of the inclined surface 1332 is provided with a rounded corner.

[0064] like Figure 1 , 6 As shown, the detection mechanism 2 includes a frame 21 arranged on the side of the transport vehicle 11, two sets of longitudinal screw nut pairs 211 are arranged on the frame 21, two transverse screw nut pairs 22 are arranged on the two longitudinal screw nut pairs 211, an image detection component 23 is arranged on the transverse screw nut pair 22 near the front side, and a concave-convex detection component 24 is arranged on the transverse screw nut pair 22 near the rear side, and a guide rail 25 is arranged directly below the frame 21. The guide rail 25 cooperates with the wheels of the transport vehicle 11 to ensure that the transport vehicle 11 will not be slightly deflected when passing through the detection mechanism, thereby affecting the detection result.

[0065] like Figure 7 As shown, an image lifting platform 231 is provided on the image detection component 23 , and a camera 232 facing vertically downward is provided on the image lifting platform 231 .

[0066] like Figure 8 , 9 As shown, a concave-convex lifting platform 241 is provided on the concave-convex lifting platform 241, a concave-convex detection box 242 is provided on the concave-convex detection box 242, a plurality of linearly distributed pressure detection points 2421 are provided near the lower part of the concave-convex detection box 242, a pressure sensor 2422 is provided in the pressure detection point 2421, a mounting plate 243 is provided on the lower surface of the concave-convex detection box 242, a plurality of movable grooves 2431 are opened on the mounting plate 243, a detection rod 244 is provided in the movable groove 2431, the detection rod 244 can slide up and down in the movable groove 2431, and move slightly laterally, and the size of the pressure sensor 2422 is slightly larger than the movable groove 2431 to prevent the groove from being slightly deformed during the maintenance process of the preform 14 and affecting the detection result.

[0067] The stacking mechanism includes a crane arranged on the side of the detection mechanism 2, and the crane can be installed on a mobile trolley. A hook mounting platform is arranged at the end of the crane arm, and a replaceable hook is installed at the lower end of the mounting platform.

[0068] During stacking, the hook lifts the preform 14 vertically through the rope, and the alignment block 12 is lifted together with the preform 14. During stacking, with the cooperation of the alignment plate 123 and the guiding slope 121, the lifted preform 14 and the preform 14 below can be more easily aligned. After alignment, as the upper preform 14 descends, the alignment plate 123 below the upper alignment block 12 descends along the guiding slope 121, squeezing the lower alignment block 12 outward, causing the lower alignment block 12 to fall off.

[0069] The working steps of the device are as follows:

[0070] S1, the transport vehicle 11 transports the demoulded preform 14 to the testing mechanism 2;

[0071] S2, the detection mechanism 2 adjusts the image detection component 23 to obtain the original image, identifies the position of the auxiliary positioning component 13, and performs image processing;

[0072] The specific process of step S2 includes:

[0073] First, the initial position of the camera 232 is calibrated, and a standard part is selected as a calibration target. The thickness of the standard part is d 0 , adjust the height of the camera 232. When the auxiliary positioning assembly 13 of the transport mechanism 1 enters the shooting range of the camera 232, the camera 232 can completely shoot the upper surface of the preform 14, and record the height h of the camera 232 at this time. 0 ;

[0074] Then, the thickness d of the preform 14 to be inspected is obtained;

[0075] Finally, the height h of the adjusted camera 232 is calculated according to the following formula:

[0076] h*d 0 =h 0 *d;

[0077] S3, the concave-convex detection component 24 fine-adjusts the position of the concave-convex detection box 242 according to the position of the auxiliary positioning component 13;

[0078] The specific process of step S3 is:

[0079] First, the initial position of the auxiliary positioning component 13 is calibrated, and the horizontal distance x between the auxiliary positioning component 13 and the concave-convex detection component 24 is obtained when the first picture of the standard part taken by the shooting camera 232 is obtained. 0 and the vertical distance y 0 , and record the height z of the auxiliary positioning component 13 at this time 0 ;

[0080] Then, when the first image of the preform 14 to be inspected is obtained by the camera 232, the horizontal distance x between the auxiliary positioning component 13 and the concave-convex detection component 24 is 1 and the vertical distance y 1 ;

[0081] Finally, the height z of the auxiliary positioning assembly 13 after adjustment is calculated according to the following formula: 1 :

[0082] z 1 *(x 0 2 +y 0 2 )=z 0 *(x 1 2 +y 12 );

[0083] S4, the image detection component 23 detects the surface quality, and the concave-convex detection component 24 detects the groove depth;

[0084] S5. Determine whether the test result is qualified.

[0085] like Figure 1 The figure shows the working flow of the detection mechanism 2 of the equipment. The detection mechanism detects whether the rough surface groove area and edge damage of the preform 14 are qualified in the following way:

[0086] Before starting the inspection, the position of the camera 232 is first adjusted according to the size of the preform 14 to ensure that the shooting width of the camera 232 is greater than the width of the upper surface of the preform 14. When the auxiliary positioning component 13 of the transport mechanism 1 enters the camera shooting range, the camera 232 starts to take the first picture and pre-process the picture. Since the thickness of the guide block 133 of the auxiliary positioning component 13 is a known fixed size, the number of pixels occupied by the thickness of the guide block 133 is obtained through feature extraction, and then the real and accurate size represented by the pixels of the photo is calculated. Through image processing, the photo is converted into a grayscale image, and then through resampling, the size represented by a single pixel value of the photo reaches more than 1mm to prevent small cracks and defects from being identified as grooves during feature extraction. Feature extraction is performed based on the characteristics of huge grayscale value changes at the junction of the groove and the normal surface, and the total number of pixels occupied by the groove is extracted to calculate the proportion of the groove area to the surface of the preform 14. The damaged corner area of ​​the preform 14 is extracted based on the characteristics that the damaged corner is located at the edge of the preform 14 and the grayscale value of the damaged corner is greatly different from the grayscale value of the normal preform 14 surface, and then the qualification of the preform is judged according to industry standards.

[0087] The detection mechanism 2 detects whether the groove depth on the rough surface of the preform 14 is qualified by the following method:

[0088] According to the preprocessing result of the first picture taken by the camera 232, the accurate position of the auxiliary positioning component 13 is determined. Before the concave-convex detection component 24 starts detection, the position of the concave-convex detection component 24 is fine-tuned according to the position of the auxiliary positioning component 13, so that the detection rod 244 enters the groove of the preform 14 through the guidance of the guide plate 132 and the guide block 133. When the detection rod 244 passes through the alignment plane 1331, the pressure sensor 2422 records the pressure value at this time as a reference value. When the detection rod 244 moves in the groove subsequently, the detection rod 244 and the pressure sensor 2422 are in contact, and the pressure change value is recorded. The groove depth and undulation are obtained by calculation, and then the groove is judged to be qualified with reference to the industry standard.

[0089] The working steps of the detection mechanism 2 are as follows:

[0090] A1. Adjust the position of camera 232;

[0091] A2, the image detection component 23 assists the accurate position of the positioning component 13 according to image recognition;

[0092] A3, fine-tune the position of the concave-convex detection box 242;

[0093] A4, the image detection component 23 obtains image information and performs feature extraction to extract the groove area and the damaged area of ​​the corners;

[0094] A5. The concave-convex detection component 24 measures the groove depth and undulation.

[0095] The specific working method of the device is as follows:

[0096] After the preform 14 is demoulded, it is loaded onto the transport vehicle 11. The alignment block 12 on the transport vehicle 11 can guide the preform 14 to be placed in the correct position and prevent the preform 14 from shifting during transportation. The transport vehicle 11 enters the detection mechanism 2 along the guide rail 25. The image detection component 23 takes a photo of the auxiliary positioning component 13, calculates the specific size represented by the pixel value through image preprocessing, and identifies the specific position of the positioning guide plate 132. Then, the position of the concave-convex detection component 24 is fine-tuned according to the specific position of the guide plate 132 to ensure that the detection rod 244 enters the groove under the guidance of the guide plate 132 and the guide block 133, and the groove depth and undulation are calculated through the readings of the pressure sensor 2422.

[0097] The image detection component 23 extracts features from the image to obtain the area occupied by the groove and the degree of damage to the edges and corners, and determines whether the prefabricated part is qualified.

[0098] The feature extraction method is as follows:

[0099]

[0100] Where:

[0101] f represents pixel;

[0102] x represents the x-direction coordinate value of the pixel in the image;

[0103] y represents the y-direction coordinate value of the pixel in the image;

[0104] t represents the gray value at the valley position in the gray histogram.

[0105] The image is cropped into two parts, one part is a 10cm wide box for extracting the damaged area of ​​the corners, and the other part is a rectangle for extracting the area occupied by the grooves. The cropped image is feature extracted according to the characteristics of the huge change in grayscale value at the junction of the grooves and the normal surface, the total number of pixels occupied by the grooves is extracted, and the proportion of the groove area to the surface of the preform 14 is calculated. The damaged area of ​​the corners is extracted based on the characteristics that the damaged part of the preform 14 is located at the edge of the preform 14 and the grayscale value of the damaged part and the grayscale value of the normal preform 14 surface vary greatly, and then the preform is judged whether it is qualified according to the set standard threshold.

[0106] In the above two images, the corresponding positions when f(x, y)=1 are the groove part and the damaged part.

[0107] As a further description of the scheme of the present invention, the above-mentioned detection mechanism 2 can adjust the height of the camera 232 so that the size represented by the photo pixel reaches 0.1mm, and then determine whether the cracks on the concrete surface exceed the national regulations (0.2mm-0.3mm) through feature extraction, and determine whether the quality of the concrete is qualified. The concave-convex detection component 24 can set the bottom of the detection rod 244 to a ball form to reduce friction. The concave-convex detection component 24 can also be used to detect the flatness of the non-rough surface of the prefabricated part.

[0108] The device can check the surface quality of the preform 14 during transportation, avoid the influence of personal factors during manual inspection, and improve the inspection efficiency. The designed alignment block 12 can play a guiding role when the preform 14 is loaded and stacked, improving efficiency and accuracy. During stacking, the alignment block 12 can fall off during the stacking process without manual disassembly. The designed alignment block 12 and the guide rail 25 work together to ensure that the preform 14 is always in the correct position when passing through the inspection mechanism 2, preventing a small offset from affecting the inspection result.

[0109] The image recognition component 23 can identify the exact position of the auxiliary positioning component 13 in advance through image recognition, and fine-tune the concave-convex detection component 23 according to the recognition result, so that the detection rod 244 can smoothly enter the groove of the preform 14 under the guidance of the auxiliary positioning component 13, perform detection, and detect the groove depth and undulation.

[0110] The detection mechanism 2 can not only measure the groove area, groove depth change, and damaged area of ​​the corners of the preform 14, but also measure the flatness of the conventional surface of the preform, and by adjusting the height and position of the camera 233, control the size of the photo pixels, which is used to detect cracks and defects in the preform 14.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0112] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A prefabricated part conveying device with a detection function, characterized in that: It comprises a conveying guide rail, a conveying mechanism (1) is provided on the conveying guide rail, a detection mechanism (2) is provided on the side of the conveying mechanism (1), and a stacking mechanism is provided at one end of the detection mechanism (2); The transport mechanism (1) comprises a transport vehicle (11) for transporting prefabricated parts (14); The detection mechanism (2) comprises an image detection component (23) and a concave-convex detection component (24), which are used to perform quality detection on the transported preform (14); The image detection component (23) is used to detect the surface quality of the preform and assist the concave-convex detection component (24) in fine-tuning the position; The concave-convex detection component (24) is used to measure the groove depth and the concave-convex condition in the groove; The stacking mechanism is used to stack the preforms (14) transported to a set position; The transport vehicle (11) is provided with alignment blocks (12) at the four corners, and an auxiliary positioning component (13) is provided on the front side of the transport vehicle (11); The detection mechanism (2) comprises a frame (21) arranged on the side of the transport vehicle (11), two transverse guide rails (22) are arranged on the frame (21), an image detection component (23) is arranged on the transverse guide rail (22) near the bottom, and a concave-convex detection component (24) is arranged on the transverse guide rail (22) near the top, the transport guide rail is arranged directly below the frame (21), and the transport guide rail cooperates with the wheels of the transport vehicle (11); An image lifting platform (231) is arranged on the image detection component (23), and a camera (232) facing vertically downward is arranged on the image lifting platform (231), and the camera (232) can move in a three-dimensional space; The concave-convex detection component (24) is provided with a concave-convex lifting platform (241), a concave-convex detection box (242) is provided on the concave-convex lifting platform (241), a plurality of linearly distributed pressure detection points (2421) are provided near the lower portion of the concave-convex detection box (242), a pressure sensor (2422) is provided in the pressure detection point (2421), a mounting plate (243) is provided on the lower surface of the concave-convex detection box (242), a plurality of movable grooves (2431) are provided on the mounting plate (243), and a detection rod (244) is provided in the movable groove (2431).

2. The preform conveying device with detection function according to claim 1, characterized in that: The upper side surface of the alignment block (12) is provided with a guiding inclined surface (121); a support component (122) is provided at a position close to the inner side surface of the bottom of the alignment block (12); a fixing groove (1221) is provided at the bottom of the support component (122); the fixing groove (1221) cooperates with the fixing block on the transport vehicle (11); an alignment plate (123) is provided on the lower surface of the support component (122); a rounded corner is provided at the bottom of the alignment plate (123); and lifting rings (124) are provided on two side surfaces of the alignment block (12); The auxiliary positioning assembly (13) is provided with an adjustment rod (131); a side of the guide plate (132) away from the transport vehicle (11) is provided with a rounded corner; a side of the guide plate (132) is provided with a guide block (133); an upper side of the guide block (133) close to the transport vehicle (11) is provided with an alignment plane (1331); the alignment plane (1331) is flush with the upper surface of the preform (14); an upper side of the guide block (133) close to the transport vehicle (11) is provided with an inclined surface (1332); and a rounded corner is provided at the end of the inclined surface (1332).

3. A working method of a preform conveying device with a detection function according to any one of claims 1 to 2, characterized in that: The working method steps are as follows: S1, a transport vehicle (11) transports the demoulded preform (14) to a testing institution (2); S2, the detection mechanism (2) adjusts the image detection component (23) to obtain the original image, identifies the position of the auxiliary positioning component (13), and performs image processing; S3, the concave-convex detection component (24) finely adjusts the position of the concave-convex detection box (242) according to the position of the auxiliary positioning component (13); S4, the image detection component (23) detects the surface quality, and the concave-convex detection component (24) detects the groove depth; S5. Determine whether the test result is qualified.

4. The working method of the preform conveying device with detection function according to claim 3 is characterized in that: The S2 working steps are as follows: S21, calibrating the initial position of the camera (232), selecting a standard part as a calibration target, the thickness of the standard part being , adjusting the height of the camera (232); when the auxiliary positioning component (13) of the transport mechanism (1) enters the shooting range of the camera (232), the camera (232) can completely shoot the upper surface of the prefabricated part (14), and recording the height of the camera (232) at this time. ; S22, obtaining the thickness of the preform (14) to be tested ; S23, calculate the height of the adjusted camera (232) according to the following formula :

5. The working method of the preform conveying device with detection function according to claim 4, characterized in that: The S3 working steps are as follows: S31, calibrating the initial position of the auxiliary positioning component (13), and obtaining the horizontal distance between the auxiliary positioning component (13) and the concave-convex detection component (24) when the first picture of the standard part is taken by the shooting camera (232). and vertical distance , and record the height of the auxiliary positioning component (13) at this time ; S32, when obtaining the first picture of the prefabricated part (14) to be inspected taken by the shooting camera (232), the horizontal distance between the auxiliary positioning component (13) and the concave-convex detection component (24) and vertical distance ; S33, calculate the height of the auxiliary positioning component (13) after adjustment according to the following formula :

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