A defective product rejection device based on machine vision

Abstract

The present invention discloses a defective product rejection device based on machine vision, which relates to the technical field of product inspection; it comprises: a chain conveyor mechanism for conveying products, one side of the chain conveyor mechanism is provided with a manipulator mechanism for grabbing products, and the other side of the chain conveyor mechanism is provided with a visual inspection mechanism for inspecting products; the chain conveyor mechanism comprises: a conveying platform, a chain conveyor assembly is installed on the conveying platform; positioning members, the positioning members are equidistantly distributed on the plate body of the chain conveyor assembly. The present invention can use the chain conveyor mechanism to transport products in an orderly manner, use the visual inspection mechanism to collect and inspect images, and qualified products are transported to the next station in the process by the manipulator mechanism, and unqualified products are discharged along with the chain conveyor mechanism, thereby achieving the purpose of rejecting defective products, with a high degree of automation and guaranteed inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of product detection, and in particular to a defective product rejection device based on machine vision. Background Art

[0002] In modern manufacturing, product quality control is a crucial link. With the rapid development of automation technology, machine vision systems are increasingly used in quality control. Machine vision systems can quickly and accurately detect defects on the surface or size of products, such as scratches, cracks, deformation, etc., thereby automatically classifying and rejecting products. However, existing defect detection equipment usually has the following problems:

[0003] Inaccurate positioning: The product may shift position during the conveying process, causing the visual inspection system to be unable to accurately capture the area to be inspected, thus affecting the inspection effect and accuracy;

[0004] Low detection efficiency: Some equipment takes a long time to locate and detect products, which reduces the overall efficiency of the production line.

[0005] After searching, the application scheme of Chinese patent application No. 201711024815.3 discloses a sorting robot for linear output of forming machine parts, including a linear output frame, a sorting robot, an electromagnet, a gantry and a linear output conveyor belt. The bottom side of the linear output frame is welded on the support frame, and conveying rollers are installed at both ends of the linear output frame. A linear output conveyor belt is installed between the conveying rollers, and the linear output conveyor belt is convenient for linear output and transmission of forming machine parts; the bottom of the robot mounting plate is hinged with a sorting robot through a pin shaft, and tension springs are installed on both sides of the outside of the sorting robot, and the other end of the tension spring is fixed on the robot mounting plate. The sorting robot in the above-mentioned document has the following shortcomings: it cannot reliably and automatically position the product well, and the electromagnet structure has great limitations and needs to be improved. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a defective product rejection device based on machine vision.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A defective product rejection device based on machine vision comprises: a chain conveyor mechanism for conveying products, a manipulator mechanism for grabbing products is arranged on one side of the chain conveyor mechanism, and a visual inspection mechanism for inspecting products is arranged on the other side of the chain conveyor mechanism;

[0009] The chain conveying mechanism comprises:

[0010] A conveying platform, wherein a chain plate conveying assembly is installed on the conveying platform;

[0011] Positioning pieces, which are evenly distributed on the plate body of the chain conveyor assembly; a positioning part is provided on one side of the conveyor platform, and the positioning part cooperates with the positioning piece to position the product;

[0012] The manipulator mechanism comprises:

[0013] A first mounting frame, the first mounting frame is mounted on an outer wall of one side of the conveying platform;

[0014] The mechanical arm is installed on the first mounting frame, and a mechanical claw is installed at one end of the mechanical arm.

[0015] As a preferred embodiment of the present invention: the positioning portion includes:

[0016] A support assembly, the support assembly is installed on one side of the conveyor platform;

[0017] A hollow frame, the hollow frame is installed on the supporting assembly, and a first arc-shaped plate is arranged at one end of the hollow frame;

[0018] The positioning member comprises:

[0019] The slide plate and the chain plate conveyor assembly have openings equidistantly arranged on the plate body, a guide frame is arranged on one side of the bottom of the opening, and the slide plate is mounted on the guide frame;

[0020] The second curved plate, a guide column is fixed on one side of the bottom of the second curved plate, the guide column is horizontally slidably connected to the inner wall of the slide plate, and the slide plate and the second curved plate are connected by a first spring; the second curved plate is adapted to the first curved plate, and when the first curved plate contacts the second curved plate, the two are combined into a closed-loop structure, the shape of the space inside the closed loop is adapted to the size of the product, and the space inside the closed loop is slightly larger than the size of the product.

[0021] As a preferred embodiment of the present invention: both ends of the first curved plate and both ends of the second curved plate are provided with conductive sheets, the defective product rejection device further comprises a control module, the two conductive sheets on the first curved plate are electrically connected to the control module, and the two conductive sheets on the second curved plate are connected via internal wires;

[0022] When the first curved plate contacts the second curved plate, the conductive sheet on the first curved plate contacts the conductive sheet on the second curved plate and conducts the circuit. Based on the change of the electrical signal, the control module controls the chain conveyor assembly to suspend operation and controls the visual inspection mechanism to perform product inspection.

[0023] The first arc plate and the second arc plate are provided with grooves adapted to the mechanical claws.

[0024] As a preferred embodiment of the present invention: the support assembly includes:

[0025] A base, which is installed on one side of the conveyor platform;

[0026] The guide slide is fixed on the base, a ball head rod is fixed on one end of the hollow frame, and the ball head rod is slidably connected to the inner wall of the guide slide;

[0027] A vertical bracket is arranged on one side of the conveying platform, a lifting slider is connected to the vertical bracket for sliding up and down, and a limit block is detachably installed on the vertical bracket;

[0028] A slide rod, the slide rod is horizontally slidably connected to the inner wall of the lifting slider, one end of the slide rod is fixed to the hollow frame, and the bottom of the lifting slider and the top of the base are connected by a second spring;

[0029] The toggle part is arranged on one side of the guide slideway and is used for toggle the hollow frame to move.

[0030] As a preferred embodiment of the present invention: the visual detection mechanism includes:

[0031] A lifting slide, the lifting slide is installed on the base;

[0032] A lifting seat, the lifting seat is slidably connected to the lifting slideway, and a control unit for controlling the movement of the lifting seat is installed in the lifting slideway;

[0033] An electric telescopic cylinder is installed on a lifting seat, a support arm is fixed to the output end of the electric telescopic cylinder, and an image acquisition module is installed at one end of the support arm;

[0034] The toggle part is installed at the bottom of the lifting seat.

[0035] As a preferred embodiment of the present invention: the toggle portion includes:

[0036] An L-shaped bracket is installed at the bottom of the lifting seat, and a telescopic plate is installed at one end of the L-shaped bracket close to the hollow frame through a third spring, and the bottom surface of the telescopic plate is an inclined structure;

[0037] First rollers, a plurality of first rollers are movably mounted on the inclined structure on the bottom surface of the telescopic plate, and the positions of the first rollers are adapted to the hollow frame;

[0038] The top of the guide slide extends in a direction away from the lifting slide.

[0039] As a preferred embodiment of the present invention: a straightening assembly is installed on the conveying platform, and the straightening assembly includes:

[0040] A second mounting frame, wherein two second mounting frames are symmetrically mounted on both sides of the conveying platform;

[0041] A connecting frame, the connecting frame is mounted on the second mounting frame;

[0042] A connecting rod is installed on the connecting frame, one end of the connecting rod is provided with a guide inclined plate, two guide inclined plates form an octagonal structure, and a plurality of second rollers are installed on one adjacent side of the guide inclined plates.

[0043] As a preferred embodiment of the present invention: the connecting frame is slidably connected to the second mounting frame up and down, the inner wall of one side of the connecting frame is threadedly connected with a first fixing knob for fixing the connecting frame to the second mounting frame, the connecting rod is slidably connected to the inner wall of the connecting frame, and the connecting frame is threadedly connected with a second fixing knob for fixing the connecting rod.

[0044] As a preferred embodiment of the present invention: the slide plate is connected to the inner wall of the guide frame by sliding up and down, a support frame is fixed on the inner side of the conveying platform, and a roller is installed on the end of the second curved plate close to the support frame through a wheel frame, and the roller rolls on the surface of the support frame; the support frame is recessed downward near the straightening assembly, and when the second curved plate moves to the straightening assembly, the top surface of the second curved plate drops to a position not higher than the top surface of the plate body of the chain conveying assembly.

[0045] As a preferred embodiment of the present invention: arc-shaped air cavities are arranged inside the first arc plate and the second arc plate, and matching air ports are arranged at the ends of the first arc plate and the second arc plate. When the first arc plate and the second arc plate are in contact, the two arc-shaped air cavities are connected through the air ports, and evenly distributed air holes are opened on the arc surfaces adjacent to one side of the first arc plate and the second arc plate, and the air holes are connected to the arc-shaped air cavities, and the interior of the hollow frame is connected to the arc-shaped air cavity of the first arc plate; the hollow frame is connected to an air pressure generating device through an air pipe.

[0046] The beneficial effects of the present invention are:

[0047] 1. The present invention arranges a chain conveyor mechanism, a manipulator mechanism and a visual inspection mechanism, so that the chain conveyor mechanism can be used to transport products in an orderly manner, and the visual inspection mechanism can be used to collect and inspect images. Qualified products are transported to the next workstation in the process by the manipulator mechanism, and unqualified products are transported and discharged along with the chain conveyor mechanism, thereby achieving the purpose of eliminating defective products, having a high degree of automation and ensuring inspection efficiency.

[0048] 2. The present invention provides a positioning portion and a positioning piece, so that when the product is placed on the chain conveyor assembly for conveying, as the chain conveyor assembly conveys, the second arc plate contacts the first arc plate, and when the first arc plate contacts the second arc plate, the two are combined into a closed-loop structure, and the spatial shape inside the closed loop is adapted to the size of the product, so that the product can be reliably positioned for visual inspection; in addition, because the space inside the closed loop is slightly larger than the size of the product, it can be convenient for subsequent robot arms to grasp it, thereby improving practicality.

[0049] 3. The present invention can timely determine whether the product is in place by setting structures such as conductive sheets, so as to facilitate detection and processing. Since the second arc plate is movable, a certain reaction time is provided, which can avoid the situation where the structure is stuck and improve reliability.

[0050] 4. The present invention provides a visual inspection mechanism, which can, after the product is positioned, utilize the electric telescopic cylinder to extend the support arm so that the image acquisition module is located directly above the product, utilize the control unit of the lifting slide to drive the lifting seat to move downward, so that the image acquisition module is closer to the product to acquire images, and perform image analysis through the analysis module of the defective product rejection device.

[0051] 5. In the present invention, when the lifting seat moves downward, the first roller on the bottom surface of the telescopic plate contacts the hollow frame. Since the bottom surface of the telescopic plate is an inclined structure and the first roller is provided, the telescopic plate can be compressed into the L-shaped bracket based on the reverse force, thereby passing through the hollow frame to the bottom of the hollow frame, and the telescopic plate is extended based on the rebound force of the third spring; when the detection is completed, the control unit controls the lifting seat to reset upward, at this time, the top surface of the telescopic plate lifts the hollow frame upward, thereby achieving the avoidance of the first arc-shaped plate; as it is lifted to a certain height, under the guidance of the guide slide, the hollow frame moves in the direction away from the lifting slide, thereby making the hollow frame detach from the telescopic plate, and the hollow frame is reset based on the rebound force of the second spring, so as to facilitate the next detection.

[0052] 6. The present invention can guide and pre-position the product by providing structures such as guide inclined plates, so that its movement trajectory is adapted to the position of the first curved plate, thereby improving reliability; by providing structures such as support frames and rollers, the second curved plate can be reliably supported. Since a recess is provided, when the second curved plate moves to the recess, the top surface of the second curved plate drops to a position not higher than the top surface of the chain conveyor assembly plate body, effectively preventing the product from being in an improper position at a certain moment, which would cause the second curved plate and the guide inclined plate to jam or damage the product, thereby improving reliability.

[0053] 7. The present invention provides an air pressure generating device, an arc-shaped air cavity and other structures, and can generate airflow based on the operation of the air pressure generating device according to needs, and finally output the airflow through the air holes of the arc-shaped air cavity, thereby achieving local cleaning and ensuring the reliability of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram of the structure of a defective product rejection device based on machine vision proposed by the present invention;

[0055] Figure 2 This is a structural schematic diagram of a visual inspection mechanism and a manipulator mechanism of a defective product rejection device based on machine vision proposed by the present invention;

[0056] Figure 3 A schematic diagram of the structure of a visual inspection mechanism of a defective product rejection device based on machine vision proposed by the present invention;

[0057] Figure 4 This is a structural schematic diagram of an L-shaped bracket of a defective product rejection device based on machine vision proposed by the present invention moving to the bottom of a hollow frame;

[0058] Figure 5 This is a schematic structural diagram of a first curved plate and a second curved plate of a defective product rejection device based on machine vision proposed by the present invention;

[0059] Figure 6 This is a structural schematic diagram of the first curved plate and the second curved plate of a defective product rejection device based on machine vision proposed by the present invention from another angle;

[0060] Figure 7 This is a schematic diagram of the structure of a support frame of a defective product rejection device based on machine vision proposed by the present invention;

[0061] Figure 8 This is a structural schematic diagram of a guide ramp of a defective product rejection device based on machine vision proposed by the present invention.

[0062] In the figure: 1 conveying platform, 2 second mounting frame, 3 mechanical arm, 4 first mounting frame, 5 chain plate conveying assembly, 6 air pressure generating device, 7 air pipe, 8 guide slide, 9 lifting slide, 10 connecting frame, 11 mechanical claw, 12 electric telescopic cylinder, 13 lifting seat, 14 vertical bracket, 15 support arm, 16 image acquisition module, 17 hollow frame, 18 slide bar, 19 L-shaped bracket, 20 first roller, 21 ball head rod, 22 limit block, 23 second spring, 24 lifting slider, 25 groove, 26 air hole, 27 first arc plate, 28 conductive sheet, 29 second arc plate, 30 opening, 31 first spring, 32 slide plate, 33 guide column, 34 guide frame, 35 roller, 36 support frame, 37 air port, 38 wheel frame, 39 second roller, 40 guide inclined plate, 41 connecting rod, 42 second fixed knob, 43 first fixed knob. DETAILED DESCRIPTION

[0063] The technical solution of the present invention is further described in detail below in conjunction with specific implementation methods.

[0064] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0065] Embodiment 1: A defective product rejection device based on machine vision, such as Figure 1-8 As shown, it includes: a chain conveyor mechanism for conveying products, a manipulator mechanism for grabbing products is arranged on one side of the chain conveyor mechanism, and a visual inspection mechanism for inspecting products is arranged on the other side of the chain conveyor mechanism;

[0066] The chain conveying mechanism comprises:

[0067] A conveying platform 1, on which a chain plate conveying assembly 5 is installed;

[0068] Positioning pieces, which are evenly distributed on the plate body of the chain conveyor assembly 5; a positioning part is provided on one side of the conveyor platform 1, and the positioning part and the positioning piece cooperate to position the product;

[0069] The manipulator mechanism comprises:

[0070] A first mounting frame 4, the first mounting frame 4 is mounted on an outer wall of one side of the conveying platform 1;

[0071] A mechanical arm 3, the mechanical arm 3 is mounted on a first mounting frame 4, and a mechanical claw 11 is mounted on one end of the mechanical arm 3;

[0072] By setting up a chain conveyor mechanism, a robot mechanism and a visual inspection mechanism, the chain conveyor mechanism can be used to transport products in an orderly manner, and the visual inspection mechanism can be used to collect and inspect images. Qualified products are transported to the next workstation in the process by the robot mechanism, and unqualified products are transported and discharged along with the chain conveyor mechanism, thereby achieving the purpose of eliminating defective products. The degree of automation is high and the inspection efficiency is guaranteed.

[0073] In order to facilitate reliable positioning of the product; Figure 3-6 As shown, the positioning portion includes:

[0074] A support assembly, the support assembly is installed on one side of the conveying platform 1;

[0075] A hollow frame 17, the hollow frame 17 is mounted on the support assembly, and a first arc plate 27 is provided at one end of the hollow frame 17;

[0076] The positioning member comprises:

[0077] The slide plate 32, the plate body of the chain plate conveying assembly 5 is provided with openings 30 at equal intervals, a guide frame 34 is provided on one side of the bottom of the opening 30, and the slide plate 32 is mounted on the guide frame 34;

[0078] A second curved plate 29, a guide column 33 is fixed to one side of the bottom of the second curved plate 29, the guide column 33 is horizontally slidably connected to the inner wall of the slide plate 32, and the slide plate 32 and the second curved plate 29 are connected by a first spring 31; the second curved plate 29 is adapted to the first curved plate 27, and when the first curved plate 27 and the second curved plate 29 are in contact, the two are combined into a closed loop structure, and the space shape inside the closed loop is adapted to the size of the product, and the space inside the closed loop is slightly larger than the size of the product;

[0079] By providing the positioning part and the positioning member, when the product is placed on the chain conveyor assembly 5 for conveying, as the chain conveyor assembly 5 is conveyed, the second arc plate 29 contacts the first arc plate 27, and when the first arc plate 27 contacts the second arc plate 29, the two are combined into a closed-loop structure, and the spatial shape inside the closed loop is adapted to the size of the product, so that the product can be reliably positioned for visual inspection; in addition, because the space inside the closed loop is slightly larger than the size of the product, it can be convenient for subsequent robot arms to grasp it, thereby improving practicality.

[0080] In order to facilitate the control of the chain conveyor assembly 5 and other structures; Figure 5 As shown, both ends of the first curved plate 27 and both ends of the second curved plate 29 are provided with conductive sheets 28, and the defective product rejection device further includes a control module, the two conductive sheets 28 on the first curved plate 27 are electrically connected to the control module, and the two conductive sheets 28 on the second curved plate 29 are connected through internal wires;

[0081] When the first curved plate 27 contacts the second curved plate 29, the conductive sheet 28 on the first curved plate 27 contacts the conductive sheet 28 on the second curved plate 29 and conducts the circuit. Based on the change of the electrical signal, the control module controls the chain conveyor assembly 5 to suspend operation and controls the visual inspection mechanism to perform product inspection.

[0082] The first arc plate 27 and the second arc plate 29 are provided with grooves 25 adapted to the mechanical claw 11;

[0083] By providing structures such as the conductive sheet 28, it is possible to promptly determine whether the product is in place, so as to facilitate detection and processing. Since the second arc plate 29 is movable, a certain reaction time is provided, which can avoid the situation where the structure is stuck and improve reliability.

[0084] In order to be able to control the movement of the first curved plate 27 after detection, to avoid; Figure 3 , Figure 4 As shown, the support assembly includes:

[0085] A base, which is installed on one side of the conveying platform 1;

[0086] The guide slide 8 is fixed on the base, and a ball head rod 21 is fixed on one end of the hollow frame 17, and the ball head rod 21 is slidably connected to the inner wall of the guide slide 8;

[0087] A vertical bracket 14 is disposed on one side of the conveying platform 1. A lifting slider 24 is slidably connected to the vertical bracket 14. A limit block 22 is detachably installed on the vertical bracket 14.

[0088] A slide bar 18, the slide bar 18 is horizontally slidably connected to the inner wall of the lifting slider 24, one end of the slide bar 18 is fixed to the hollow frame 17, and the bottom of the lifting slider 24 and the top of the base are connected by a second spring 23;

[0089] The toggle part is arranged at one side of the guide slide 8 and is used to toggle the hollow frame 17 to move.

[0090] In order to facilitate detection; Figure 3 , Figure 4 As shown, the visual detection mechanism includes:

[0091] A lifting slide 9, wherein the lifting slide 9 is installed on the base;

[0092] A lifting seat 13, the lifting seat 13 is connected to the lifting slide 9 by sliding up and down, and a control unit for controlling the movement of the lifting seat 13 is installed in the lifting slide 9;

[0093] An electric telescopic cylinder 12, which is mounted on a lifting seat 13, a support arm 15 is fixed to the output end of the electric telescopic cylinder 12, and an image acquisition module 16 is mounted on one end of the support arm 15;

[0094] The shifting part is installed at the bottom of the lifting seat 13 .

[0095] In order to synchronously drive the first curved plate 27 to avoid; Figure 4 As shown, the toggle portion includes:

[0096] An L-shaped bracket 19 is installed at the bottom of the lifting seat 13. A telescopic plate is installed at one end of the L-shaped bracket 19 close to the hollow frame 17 through a third spring, and the bottom surface of the telescopic plate is an inclined structure;

[0097] First rollers 20, a plurality of first rollers 20 are movably mounted on the inclined structure of the bottom surface of the telescopic plate, and the positions of the first rollers 20 are adapted to the hollow frame 17;

[0098] The top of the guide slide 8 extends in a direction away from the lifting slide 9;

[0099] By setting up a visual inspection mechanism, after the product is positioned, the electric telescopic cylinder 12 can be used to extend the support arm 15 so that the image acquisition module 16 is located directly above the product. The control unit of the lifting slide 9 can be used to drive the lifting seat 13 to move downward, so that the image acquisition module 16 is closer to the product to collect images, and the image analysis is performed by the analysis module of the defective product rejection device;

[0100] When the lifting seat 13 moves downward, the first roller 20 on the bottom surface of the telescopic plate contacts the hollow frame 17. Since the bottom surface of the telescopic plate is an inclined structure and the first roller 20 is provided, the telescopic plate can be compressed into the L-shaped bracket 19 based on the reverse force, so that it passes through the hollow frame 17 and reaches the bottom of the hollow frame 17, and the telescopic plate extends out based on the rebound force of the third spring; when the detection is completed, the control unit controls the lifting seat 13 to reset upward. At this time, the top surface of the telescopic plate lifts the hollow frame 17 upward, thereby achieving the avoidance of the first arc plate 27; as it is lifted to a certain height, under the guidance of the guide slide 8, the hollow frame 17 moves in the direction away from the lifting slide 9, thereby causing the hollow frame 17 to detach from the telescopic plate, and the hollow frame 17 is reset based on the rebound force of the second spring 23 to facilitate the next detection.

[0101] In order to better pre-position the product; Figure 1 , Figure 7 , Figure 8 As shown, a straightening assembly is installed on the conveying platform 1, and the straightening assembly includes:

[0102] A second mounting frame 2, wherein two second mounting frames 2 are symmetrically mounted on both sides of the conveying platform 1;

[0103] A connecting frame 10, the connecting frame 10 is installed on the second mounting frame 2;

[0104] A connecting rod 41, the connecting rod 41 is mounted on the connecting frame 10, one end of the connecting rod 41 is provided with a guide inclined plate 40, the two guide inclined plates 40 form an octagonal structure, and a plurality of second rollers 39 are installed on adjacent sides of the guide inclined plates 40;

[0105] By providing structures such as the guide inclined plate 40 , the product can be guided for pre-positioning so that its movement trajectory is adapted to the position of the first arc-shaped plate 27 , thereby improving reliability.

[0106] In order to facilitate the adjustment of the position of the guide ramp 40; Figure 7 , Figure 8 As shown, the connecting frame 10 is slidably connected to the second mounting frame 2 up and down, and the inner wall of one side of the connecting frame 10 is threadedly connected with a first fixing knob 43 for fixing the connecting frame 10 on the second mounting frame 2, and the connecting rod 41 is slidably connected to the inner wall of the connecting frame 10, and the connecting frame 10 is threadedly connected with a second fixing knob 42 for fixing the connecting rod 41.

[0107] In order to avoid the structure from getting stuck; Figure 7 As shown, the slide plate 32 is connected to the inner wall of the guide frame 34 by sliding up and down, a support frame 36 is fixed on the inner side of the conveying platform 1, and a roller 35 is installed on the end of the second curved plate 29 close to the support frame 36 through a wheel frame 38, and the roller 35 rolls on the surface of the support frame 36; the support frame 36 is concave downward near the straightening assembly, and when the second curved plate 29 moves to the straightening assembly, the top surface of the second curved plate 29 drops to a position not higher than the top surface of the plate body of the chain plate conveying assembly 5;

[0108] By providing structures such as a support frame 36 and a roller 35, the second curved plate 29 can be reliably supported. Since a recess is provided, when the second curved plate 29 moves to the recess, the top surface of the second curved plate 29 drops to a position not higher than the top surface of the plate body of the chain conveyor assembly 5, thereby effectively preventing the product from being in an improper position at a certain moment, causing the second curved plate 29 and the guide inclined plate 40 to jam or damage the product, thereby improving reliability.

[0109] Embodiment 2: A defective product rejection device based on machine vision, such as Figure 1 , Figure 5 , Figure 6 As shown, in order to facilitate cleaning of the structure; this embodiment makes the following improvements on the basis of embodiment 1: the first arc plate 27 and the second arc plate 29 are provided with an arc-shaped air cavity inside, and the ends of the first arc plate 27 and the second arc plate 29 are provided with matching air ports 37. When the first arc plate 27 and the second arc plate 29 are in contact, the two arc-shaped air cavities are connected through the air ports 37. The arc surfaces adjacent to one side of the first arc plate 27 and the second arc plate 29 are provided with evenly distributed air holes 26, and the air holes 26 are connected to the arc-shaped air cavity, and the inside of the hollow frame 17 is connected to the arc-shaped air cavity of the first arc plate 27; the hollow frame 17 is connected to the air pressure generating device 6 through the air pipe 7;

[0110] By providing structures such as the air pressure generating device 6 and the arc-shaped air cavity, the air pressure generating device 6 can be used to generate airflow according to demand, and the airflow is finally output from the air holes 26 of the arc-shaped air cavity to achieve local cleaning and ensure the reliability of detection.

[0111] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A defective product rejection device based on machine vision, characterized in that: include: A chain conveyor mechanism for conveying products, wherein a manipulator mechanism for grabbing products is provided on one side of the chain conveyor mechanism, and a visual inspection mechanism for inspecting products is provided on the other side of the chain conveyor mechanism; The chain conveying mechanism comprises: A conveying platform (1), wherein a chain plate conveying assembly (5) is installed on the conveying platform (1); Positioning pieces, the positioning pieces are equidistantly distributed on the plate body of the chain conveyor assembly (5); a positioning portion is provided on one side of the conveyor platform (1), and the positioning portion and the positioning piece cooperate to position the product; The manipulator mechanism comprises: A first mounting frame (4), the first mounting frame (4) being mounted on an outer wall of one side of the conveying platform (1); A mechanical arm (3), the mechanical arm (3) being mounted on a first mounting frame (4), and a mechanical claw (11) being mounted on one end of the mechanical arm (3); The positioning portion comprises: A support assembly, the support assembly being mounted on one side of the conveying platform (1); A hollow frame (17), the hollow frame (17) being mounted on the support assembly, and a first arc-shaped plate (27) being provided at one end of the hollow frame (17); The positioning member comprises: A slide plate (32), the plate body of the chain plate conveying assembly (5) is provided with openings (30) at equal intervals, a guide frame (34) is provided on one side of the bottom of the opening (30), and the slide plate (32) is mounted on the guide frame (34); A second curved plate (29), a guide column (33) is fixed to one side of the bottom of the second curved plate (29), the guide column (33) is horizontally slidably connected to the inner wall of the slide plate (32), and the slide plate (32) and the second curved plate (29) are connected via a first spring (31); the second curved plate (29) is adapted to the first curved plate (27), and when the first curved plate (27) and the second curved plate (29) are in contact, the two are combined into a closed loop structure, and the shape of the space inside the closed loop is adapted to the size of the product, and the space inside the closed loop is slightly larger than the size of the product; Conductive sheets (28) are provided at both ends of the first curved plate (27) and both ends of the second curved plate (29), and the defective product rejection device further comprises a control module, the two conductive sheets (28) located on the first curved plate (27) are electrically connected to the control module, and the two conductive sheets (28) located on the second curved plate (29) are connected via internal wires; When the first curved plate (27) contacts the second curved plate (29), the conductive sheet (28) on the first curved plate (27) contacts the conductive sheet (28) on the second curved plate (29) and conducts the circuit; based on the change of the electrical signal, the control module controls the chain conveying assembly (5) to suspend operation and controls the visual inspection mechanism to perform product inspection; The first arc-shaped plate (27) and the second arc-shaped plate (29) are provided with grooves (25) adapted to the mechanical claw (11).

2. The defective product rejection device based on machine vision according to claim 1, characterized in that: The support assembly comprises: A base, the base being mounted on one side of the conveying platform (1); A guide slide (8), the guide slide (8) is fixed on the base, a ball head rod (21) is fixed to one end of the hollow frame (17), and the ball head rod (21) is slidably connected to the inner wall of the guide slide (8); A vertical bracket (14), the vertical bracket (14) being arranged on one side of the conveying platform (1), a lifting slider (24) being connected to the vertical bracket (14) in an upward and downward sliding manner, and a limit block (22) being detachably mounted on the vertical bracket (14); A slide rod (18), the slide rod (18) is horizontally slidably connected to the inner wall of the lifting slider (24), one end of the slide rod (18) is fixed to the hollow frame (17), and the bottom of the lifting slider (24) and the top of the base are connected via a second spring (23); A toggle portion, which is arranged on one side of the guide slideway (8) and is used to toggle the hollow frame (17) to move.

3. The defective product rejection device based on machine vision according to claim 2, characterized in that: The visual inspection mechanism comprises: A lifting slide (9), the lifting slide (9) is installed on the base; A lifting seat (13), the lifting seat (13) is connected to the lifting slideway (9) in an up-and-down sliding manner, and a control unit for controlling the movement of the lifting seat (13) is installed in the lifting slideway (9); An electric telescopic cylinder (12), the electric telescopic cylinder (12) being mounted on a lifting seat (13), a support arm (15) being fixed to an output end of the electric telescopic cylinder (12), and an image acquisition module (16) being mounted at one end of the support arm (15); The toggle portion is installed at the bottom of the lifting seat (13).

4. The defective product rejection device based on machine vision according to claim 3 is characterized in that: The toggle portion comprises: An L-shaped bracket (19), the L-shaped bracket (19) being mounted on the bottom of the lifting seat (13), and a telescopic plate being mounted on one end of the L-shaped bracket (19) close to the hollow frame (17) via a third spring, and the bottom surface of the telescopic plate is an inclined structure; First rollers (20), a plurality of first rollers (20) are movably mounted on the inclined structure on the bottom surface of the telescopic plate, and the positions of the first rollers (20) are adapted to the hollow frame (17); The top of the guide slide (8) extends in a direction away from the lifting slide (9).

5. The defective product rejection device based on machine vision according to claim 4 is characterized in that: The conveying platform (1) is provided with a straightening assembly, the straightening assembly comprising: A second mounting frame (2), wherein two second mounting frames (2) are symmetrically mounted on both sides of the conveying platform (1); A connecting frame (10), the connecting frame (10) being mounted on the second mounting frame (2); A connecting rod (41) is mounted on the connecting frame (10), one end of the connecting rod (41) is provided with a guide inclined plate (40), the two guide inclined plates (40) form an octagonal structure, and a plurality of second rollers (39) are mounted on adjacent sides of the guide inclined plates (40).

6. The defective product rejection device based on machine vision according to claim 5, characterized in that: The connecting frame (10) is slidably connected to the second mounting frame (2) in an up-and-down manner; a first fixing knob (43) for fixing the connecting frame (10) to the second mounting frame (2) is threadedly connected to an inner wall of one side of the connecting frame (10); a connecting rod (41) is slidably connected to the inner wall of the connecting frame (10); and a second fixing knob (42) for fixing the connecting rod (41) is threadedly connected to the connecting frame (10).

7. The defective product rejection device based on machine vision according to claim 6, characterized in that: The slide plate (32) is connected to the inner wall of the guide frame (34) by sliding up and down, a support frame (36) is fixed on the inner side of the conveying platform (1), and a roller (35) is installed on one end of the second curved plate (29) close to the support frame (36) through a wheel frame (38), and the roller (35) rolls on the surface of the support frame (36); the support frame (36) is recessed downward near the straightening assembly, and when the second curved plate (29) moves to the straightening assembly, the top surface of the second curved plate (29) drops to a position not higher than the top surface of the plate body of the chain plate conveying assembly (5).

8. The defective product rejection device based on machine vision according to claim 4, characterized in that: The first curved plate (27) and the second curved plate (29) are provided with curved air cavities inside, and the ends of the first curved plate (27) and the second curved plate (29) are provided with matching air ports (37). When the first curved plate (27) and the second curved plate (29) are in contact, the two curved air cavities are connected through the air ports (37). The curved surfaces adjacent to one side of the first curved plate (27) and the second curved plate (29) are provided with evenly distributed air holes (26), the air holes (26) are connected to the curved air cavities, and the interior of the hollow frame (17) is connected to the curved air cavity of the first curved plate (27); the hollow frame (17) is connected to an air pressure generating device (6) through an air pipe (7).

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