A device and method for detecting surface defects of a cookware

Abstract

The present invention belongs to the technical field of visual inspection machines for cookware, and specifically relates to a device and method for detecting surface defects of cookware, comprising at least two CCD cameras, which are arranged above and below the cookware to detect its upper and lower surfaces; at least one group of symmetrically arranged roller clamps; a conveyor belt; a laser rangefinder locator, one group of which is installed in the middle gap of the conveyor belt, and the other group is arranged between the roller clamps for positioning the detection of the cookware; a detection method, comprising the following steps: step one, placing the cookware; step two, transferring the cookware; step three, clamping the cookware; step four, detecting the cookware; and step five, comprehensive detection. The present invention can clamp the cookware by relative clamping rollers, and can change the clamping position and angle during detection, and at the same time change the position and angle of the cookware relative to the CCD camera, reduce the influence of reflection and occlusion on shooting, so that the cookware can be fully and accurately detected.

Description

Technical Field

[0001] The invention belongs to the technical field of cookware visual inspection, and in particular relates to a cookware surface defect detection device and method. Background Art

[0002] Cookware is an indispensable tool in the kitchen. It is not only related to the efficiency and convenience of cooking, but also directly affects the taste and nutrition retention of food. Most of the cookware used in daily life, especially frying pans, are curved. In the production process, it is inevitable that there will be defects such as bumps and scratches that affect the appearance of the product, or the surface of the coated cookware needs to be tested for defects in the surface coating to prevent defective products from entering the market.

[0003] For the detection of surface defects of such cookware with large curved surfaces, the existing technology generally adopts visual detection to detect, but in the actual detection process, there are the following defects:

[0004] 1. As the cookware is curved and has a large curvature, it is not convenient to clamp it with existing clamps. Not only is the clamping stability poor, but it is also easy to cause secondary damage to the surface of the cookware. Usually, a suction cup clamping method is used, but this placement covers part of the surface of the cookware, making it impossible to detect this position. The cookware needs to be removed for multiple tests, which not only has low detection efficiency, but also easily causes damage to the surface of the cookware by taking it out multiple times.

[0005] 2. The detection method using a suction cup for fixed detection has a relatively single detection position. Since the surface of cookware is generally smooth, it is easy to have reflections. During visual detection, detection is performed at a single position and angle, which can easily result in unclear shots of the reflective position and inaccurate detection. Summary of the invention

[0006] The object of the present invention is to provide a device and method for detecting surface defects of cookware, which can use relative clamping rollers to clamp the cookware, and can change the clamping position and angle during detection, while changing the position and angle of the cookware relative to the CCD camera, thereby reducing the influence of reflection and occlusion on shooting, so that the cookware can be fully and accurately detected.

[0007] The technical solution adopted by the present invention is as follows:

[0008] A device for detecting surface defects of a cookware, comprising:

[0009] At least two CCD cameras are arranged above and below the cookware to detect the upper surface and the lower surface thereof, and the CCD cameras are equipped with optical lenses;

[0010] At least one group of symmetrically arranged roller-type clamps, comprising a clamping roller and a side support arm movably mounted at both ends of the clamping roller to change the clamping distance thereof, the two ends of the clamping roller being symmetrically rotatably connected to a side support seat, the side support arm being rotatably connected to one end of the side support arm close to the clamping roller, the movable support foot being slidably embedded in the side support seat, and a first pressure sensor being mounted on the contact surface between the movable support foot and the side support seat;

[0011] A conveyor belt, used for conveying the pot to be inspected between the CCD camera and the roller-type fixture;

[0012] Laser range finders, one set of which is installed in the middle gap of the conveyor belt to locate the placement of the pot, and the other set is arranged between the roller-type clamps to locate the detection of the pot;

[0013] The roller-type clamp also includes a pushing mechanism for driving the side support arms to move relative to each other and a swinging mechanism for driving the clamping rollers to rotate circumferentially, thereby changing the spacing and angles of the relatively arranged clamping rollers for clamping the cookware, and causing the cookware to change its detection position due to the displacement of the clamping rollers relative to the clamping rollers due to squeezing, and at the same time using the first pressure sensor to measure the relative pressure value to analyze the peripheral curvature of the cookware.

[0014] As a preferred embodiment, the swing mechanism includes a brake motor and a reducer installed on the power output end of the brake motor, the power output end of the reducer is directly connected to a swing support rod, and the swing support rod is rotatably connected to one end of the side support arm away from the movable support foot.

[0015] As a preferred solution, the pushing mechanism includes a symmetrically arranged linear motor and a mover seat arranged on the linear motor, and the reducer is fixedly mounted on the mover seat.

[0016] As a preferred solution, positioning through holes are equidistantly formed on the conveyor belt, and a rubber support ring is integrally formed around the outer periphery of the positioning through holes.

[0017] As a preferred solution, a group of the laser rangefinder locators is provided with at least two, and a circular array matching one of the positioning through holes is arranged directly below the positioning through hole, so as to position the placement of the pot. The laser rangefinder locator is fixedly installed in the parallel gap of the conveyor belt by means of an annular bracket.

[0018] As a preferred solution, another group of the laser rangefinder locators is provided with one, and is vertically installed just above the clamping center of the clamping roller, for determining whether the cookware is located at the center detection position.

[0019] As a preferred solution, it also includes a positioning component, which is arranged at the feeding end of the conveyor belt and is arranged opposite to the installation position of the laser range finder, so as to position and place the pot;

[0020] The positioning assembly includes an adsorption tray for adsorbing the cookware, a vacuum air pump, and a flipping mechanism for flipping the adsorption tray to place the cookware. A ring-shaped tray is fixedly installed on one end of the adsorption tray. A vacuum cavity is provided in the adsorption tray, and a vacuum through hole is provided in the ring-shaped tray area and is connected to the vacuum cavity. The vacuum air pump vacuum end is connected to the vacuum cavity through a universal hose.

[0021] As a preferred solution, the flipping mechanism includes a swing support, a swing support shaft rotatably installed at both ends of the swing support, and a servo motor providing a power source, the end of the adsorption tray away from the annular tray is fixedly installed on the swing support shaft, and the servo motor is connected to the swing support shaft through a synchronous pulley group.

[0022] As a preferred solution, the positioning assembly also includes a limiting support rod fixedly installed on both sides of the swing support for positioning, supporting and limiting the adsorption tray, and a second pressure sensor for monitoring whether the adsorption tray is placed on the top surface is fixedly installed on the top of the limiting support rod.

[0023] A method for detecting surface defects of a cookware is applied to the above-mentioned cookware surface defect detection device, comprising the following steps:

[0024] Step 1: Place the pot: Place the pot to be tested on the conveyor belt, use one of the laser rangefinders to measure the positioning information, and feed it back to the control system to determine whether it is placed accurately; if it is placed accurately, it will be transmitted to the detection end. If there is a deviation, manual intervention will be performed to calibrate the device until the pot can be placed accurately;

[0025] Step 2: Cookware transmission: The cookware is gradually transmitted to the center detection position by using a conveyor belt, and the positioning information is measured by another set of laser range finders, and fed back to the control system to determine whether it is in the center detection position; if it is in the center detection position, the roller clamp is controlled to start; if it is not in the center detection position, the conveyor belt is adjusted or manually intervened until the cookware is in the center detection position;

[0026] Step 3: Clamping the pot: The clamping roller and the side arm are driven to swing downward close to the side of the pot by the swing mechanism, and the side arm is pushed to move relatively by the pushing mechanism to change the distance between the clamping roller and the pot, so as to clamp the pot at the top of the pot in coordination with each other;

[0027] Step 4: pot inspection: After the pot is clamped by the clamping roller at the side in step 3, the pot is lifted up by the cooperation of the swing mechanism and the pushing mechanism, so that the CCD cameras located above and below the pot can clearly take pictures of the upper and lower surfaces of the pot and feed them back to the control system;

[0028] Step 5, comprehensive inspection: On the basis of step 4, the swing mechanism is used again in conjunction with the pushing mechanism to gradually reduce the relative clamping distance of the clamping rollers and change the clamping angle, so that the pot pushes the clamping rollers to rotate under the action of its arc surface and the opposite clamping thrust, and then gradually moves upward relative to the clamping rollers, thereby changing the clamping position of the clamping rollers, so that the CCD camera can take a comprehensive picture of its outer surface. At the same time, the relatively arranged first pressure sensor can feedback the relative pressure information to analyze whether the curvature of the outer surface of the pot is uniform.

[0029] The technical effects achieved by the present invention are:

[0030] The present invention cooperates with a CCD camera and a roller-type clamp, and can relatively clamp the cookware through the symmetrically arranged roller-type clamp. At the same time, the relative clamping distance of the clamping rollers can be changed during the clamping process, and the clamping angle can be changed, so that the cookware pushes the clamping rollers to rotate under the action of its arc surface and the opposite clamping thrust, and then gradually moves upward relative to the clamping rollers, thereby changing the clamping position of the clamping rollers. Compared with the prior art, the cookware surface will not be blocked, so that the CCD camera can fully shoot its outer surface. At the same time, the position and angle of the cookware compared to the CCD camera can be changed, and the influence of reflection and blocking on shooting can be reduced, so that the cookware can be fully and accurately detected.

[0031] The present invention arranges a first pressure sensor between the side support and the movable support foot. When the cookware moves relative to the clamping roller, the relatively arranged first pressure sensor can be used to feed back real-time relative pressure information, and the numerical value set by the object can be analyzed to analyze whether the curvature of the outer surface of the cookware is uniform, thereby achieving two goals at one stroke. In the process of detecting surface defects, it is possible to simultaneously detect whether the shape of the cookware has defects.

[0032] The present invention cooperates with a conveyor belt, a laser rangefinder and a positioning component to accurately position the cookware when it is placed. At the same time, no relative movement will occur due to the inertia of movement during transmission, so that the relative positioning is accurate during detection, thereby ensuring the accuracy of the detection result, reducing the monitoring error and improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment of the present invention;

[0034] Figure 2 is a schematic diagram of the internal structure of an embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram of the main structure of an embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the combined structure of a CCD camera, a roller-type clamp and a laser distance measuring locator in an embodiment of the present invention;

[0037] Figure 5 2 is a schematic diagram of the structure of a roll-type clamp holding a cookware in an embodiment of the present invention;

[0038] Figure 6 is a schematic structural diagram of a roller-type clamp in an embodiment of the present invention;

[0039] Figure 7 is an exploded view of a roller-type clamp according to an embodiment of the present invention;

[0040] Figure 8 Schematic diagram of the combined structure of two sets of symmetrical roller clamps in an embodiment of the present invention;

[0041] Fig. 9 It is a schematic diagram of the partial structure of one end of the conveyor belt feeding in an embodiment of the present invention;

[0042] Fig.10 The present invention Fig. 9 Cross-sectional view of the middle AA section;

[0043] Fig.11 is a schematic diagram of pot positioning of a laser range finder locator in an embodiment of the present invention;

[0044] Fig.12 is a schematic diagram of the structure of a positioning component in an embodiment of the present invention;

[0045] Fig.13 is a structural schematic diagram of the shape change of the positioning component in an embodiment of the present invention;

[0046] Fig.14 It is a partial cross-sectional view of the positioning component in the embodiment of the present invention.

[0047] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0048] 1.CCD camera;

[0049] 11. Optical lens; 12. Support seat;

[0050] 2. Roller type fixture; 21. Clamping roller; 22. Side support; 23. Active support foot; 24. Side support arm; 25. First pressure sensor; 26. Brake motor; 27. Speed ​​reducer; 28. Swing support rod; 29. ​​Linear motor; 210. Mover seat;

[0051] 3. Conveyor belt;

[0052] 31. Positioning through hole; 32. Rubber support ring; 33. Transmission bracket; 34. Driving unit;

[0053] 4. Laser rangefinder locator;

[0054] 41. annular bracket; 42. top bracket;

[0055] 5. Positioning components;

[0056] 51. adsorption tray; 52. annular tray; 53. air extraction cavity; 54. air extraction through hole; 55. vacuum air pump; 56. universal hose; 57. swing support; 58. swing support shaft; 59. servo motor; 510. adjustable bracket; 511. limit support rod; 512. second pressure sensor;

[0057] 6. Check the chassis;

[0058] 61. Side support plate; 62. Shading top plate; 63. Shading side plate; 64. Bottom support plate. DETAILED DESCRIPTION

[0059] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0060] like Figure 1-Figure 14 As shown, a device for detecting surface defects of cookware comprises at least two CCD cameras 1, at least one set of symmetrically arranged roller clamps 2, a conveyor belt 3 for conveying the cookware, and a laser rangefinder locator 4 for locating the cookware.

[0061] Refer to the attached Figure 1-Figure 3In order to install the CCD camera 1, the roller clamp 2, the conveyor belt 3 and the laser rangefinder locator 4, the present embodiment is further provided with a detection chassis 6, the conveyor belt 3 passes through the detection chassis 6 and extends to the other side thereof, the detection chassis 6 is fixedly provided with a side support plate 61 for installing the roller clamp 2 on the upper side of the conveyor belt 3, and is fixedly provided with a bottom support plate 64 for installing the CCD camera 1 on the lower side of the conveyor belt 3, and at the same time, the detection chassis 6 is fixedly provided with a shading top plate 62 for installing the laser rangefinder locator 4 and the CCD camera 1 on its top, and shading side plates 63 are installed on all four sides to form a dark box for detection, and light sources are installed on the shading top plate 62 and the side support plates 61 to supplement the shooting light and reduce the influence of ambient light.

[0062] See attached Figure 1-Figure 3 Among them, positioning holes 31 for placing cookware are equidistantly provided on the conveyor belt 3, and a rubber support ring 32 is integrally formed around the outer periphery of the positioning hole 31 for supporting the cookware. The curved surface structure of the cookware is engaged with the rubber support ring 32, so that the cookware is stably placed thereon and will not be displaced due to inertia, thereby ensuring that the positioning position will not change. At the same time, a transmission bracket 33 for supporting the conveyor belt 3 is provided, and a driving unit 34 for driving the conveyor belt 3 is installed on the transmission bracket 33, thereby driving the conveyor belt 3 to transport the cookware.

[0063] See attached Figure 1 as well as Figure 12-14 In this embodiment, a positioning component 5 is also included, which is arranged at the feeding end of the conveyor belt 3, and includes an adsorption tray 51 for adsorbing the cookware, a vacuum air pump 55 and an adjustable bracket 510. The vacuum air pump 55 is fixedly installed on the top surface of the adjustable bracket 510, so that the vacuum air pump 55 cooperates with the adsorption tray 51 to adsorb the cookware through negative pressure to position it on the conveyor belt 3.

[0064] For details, please refer to the attached Fig.12 and Fig.14 A ring tray 52 is fixedly mounted on one end of the adsorption tray 51, an air extraction cavity 53 is provided in the adsorption tray 51, and an air extraction through hole 54 is provided in the area of ​​the ring tray 52 and connected with the air extraction cavity 53, and then the air extraction end of the vacuum air pump 55 is connected with the air extraction cavity 53 through a universal hose 56, and at the same time, an air inlet (not shown in the figure) connected with the air extraction cavity 53 is provided at the end of the adsorption tray 51 away from the universal hose 56, and an electromagnetic control valve is installed therein, so that after the cookware is turned upside down on the ring tray 52 manually or mechanically, the air extraction cavity 53 can be started at the same time to extract the air between the cookware and the ring tray 52 through the air extraction cavity 53 and the air extraction through hole 54, so that the cookware is horizontally adsorbed on the ring tray 52.

[0065] Furthermore, in order to flip the cookware and place it stably on the rubber support ring 32, a swivel support 57 is fixedly installed on the adjustable bracket 510, and a swivel support shaft 58 is rotatably installed at both ends of the swivel support 57. At the same time, a servo motor 59 providing a power source is installed between the swivel supports 57. By fixing the end of the adsorption tray 51 away from the annular tray 52 on the swivel support shaft 58, and connecting the servo motor 59 to the swivel support shaft 58 through a synchronous pulley group, the servo motor 59 can be used to synchronously flip the adsorption tray 51 and the cookware adsorbed thereon by 180° through the synchronous pulley group, so that the bottom of the cookware is accurately engaged on the rubber support ring 32. After the placement is stable, the vacuum air pump 55 can be closed, and the electromagnetic control valve can be opened at the same time to input air into the exhaust cavity 53 through the air inlet, thereby releasing the negative pressure adsorption state, and the cookware can be separated from the adsorption tray 51 under the action of its own gravity. Thereafter, the adsorption tray 51 can be reset to position and place the next cookware.

[0066] Furthermore, in order to stably control the flipping of the adsorption tray 51, the adjustable bracket 510 is fixedly installed with a limit support rod 511 on both sides of the swing support 57 for positioning, supporting and limiting the adsorption tray 51, and a second pressure sensor 512 is fixedly installed on the top of the limit support rod 511 for monitoring whether the adsorption tray 51 is placed on the top surface; when the second pressure sensor 512 on the side away from the conveyor belt 3 feels pressure, it means that the adsorption tray 51 is reset and the pot can be placed; when the second pressure sensor 512 on the side close to the conveyor belt 3 feels pressure, it means that the adsorption tray 51 is flipped and placed, and the negative pressure adsorption state can be controlled to be released so that the adsorption tray 51 is reset. At the same time, the support of the limit support rod 511 also ensures that the adsorption tray 51 is placed horizontally and stably. At the same time, this inverted flip placement method can use the flat surface of the top of the pot to self-position it, so that it can be placed vertically on the rubber support ring 32 after flipping and placing, avoiding relative displacement of the placement position for subsequent detection.

[0067] Refer to the attached Figure 9-11In order to accurately position the pot, four laser range finders 4 are fixedly installed in a circular array in the parallel gap of the conveyor belt 3 through a ring bracket 41 in cooperation with the positioning assembly 5 and one of the positioning through holes 31, and the ring bracket 41 is fixedly installed on the conveyor bracket 33 so that it is located directly below the positioning through hole 31. When the pot is placed on the rubber support ring 32, the four laser range finders 4 can be used to measure the distance from the outer surface of the pot respectively, and the distance is fed back to the control system. Since the pot is placed vertically and is a round pot, the four sets of data should be consistent; when the deviation of the four sets of data is within a predetermined range, it means that the pot is placed accurately; if the deviation of the four sets of data is large, it means that the pot position is deviated, and manual intervention is performed to calibrate the device until the pot can be placed accurately so that the subsequent pot can be placed accurately. After the pot is placed accurately, the driving unit 34 can be used to drive the conveyor belt 3 to transport the pot to the detection end.

[0068] In other embodiments, the group of laser rangefinder locators 4 is provided with at least two and installed in a circular array for comparative analysis.

[0069] Refer to the attached Figure 3-Figure 5 After the pot is transferred to the inside of the detection box 6, in order to perform secondary positioning, a laser distance measuring locator 4 is vertically installed at the center of the light shielding top plate 62 through the top bracket 42. The laser distance measuring locator 4 is vertically installed just above the clamping center of the roller clamp 2. After the pot reaches the clamping position, the distance from the bottom of the pot can be measured by the laser distance measuring locator 4 and fed back to the control system. Since the bottom of the pot is a circular curved surface, the center of the bottom circle should be the farthest end from the laser distance measuring locator 4 (as shown in the attached figure). Figure 5 As shown), if the measured value is within the preset error value, it means that the pot transportation position is accurate; if the deviation is large, it means that the pot transportation position is deviated. In order not to affect the test result, the conveyor belt 3 can be adjusted or manually intervened until the pot is in the center test position to ensure the accuracy of the test result.

[0070] Refer to the attached Figure 4-Figure 7 In order to clamp and detect the cookware, the present embodiment is symmetrically provided with a group of symmetrically arranged roller-type clamps 2, which include a clamping roller 21 (a rubber roller can be used to avoid damaging the surface of the cookware) and a side support arm 24 movably installed at both ends of the clamping roller 21 to change its clamping distance. The side support seats 22 are symmetrically rotated and connected at both ends of the clamping roller 21. At the same time, the side support arm 24 is rotatably connected to one end of the clamping roller 21 close to the side support arm 24, and the movable support foot 23 is slidably embedded in the side support seat 22. The side support arm 24 can be relatively pushed to rotate relative to the movable support foot 23 to change the relative clamping distance of the clamping roller 21, thereby clamping the cookware.

[0071] In order to automatically adjust the clamping angle and clamping distance of the clamping roller 21, linear motors 29 are symmetrically installed on the side support plate 61, and two groups are symmetrically arranged on the same side. At the same time, a mover seat 210 is arranged on the linear motor 29, and a brake motor 26 is fixedly installed on the mover seat 210. By installing a reducer 27 on the power output end of the brake motor 26, and directly connecting a swing support rod 28 to the power output end of the reducer 27, and then rotating the swing support rod 28 to the end of the side support arm 24 away from the movable support foot 23, the brake motor 26 can be used to drive the clamping roller 21 and the side support arm 24 to swing downward close to the side of the pot through the reducer 27 and the swing support rod 28, and the linear motor 29 can be used to relatively drive the mover seat 210 to push the side support arm 24 to move relatively, so as to change the distance between the clamping roller 21 and the pot, so as to cooperate with each other to clamp the pot on both sides of the top.

[0072] Secondly, the linear motor 29 can be controlled to cooperate with the brake motor 26 to lift the pot upward, so that the CCD camera 1 located above and below the pot can clearly capture the upper and lower surfaces of the pot and feed it back to the control system to analyze whether there are any defects on the surface of the pot through the system.

[0073] Secondly, in order to carry out comprehensive detection, the linear motor 29 can be controlled to cooperate with the brake motor 26 to gradually reduce the relative clamping distance of the clamping roller 21 and change the clamping angle, so that the cookware pushes the clamping roller 21 to rotate under the action of its arc surface and the opposite clamping thrust, and then gradually moves upward relative to the clamping roller 21, thereby changing the clamping position of the clamping roller 21 and not covering only the same clamping position, so that the CCD camera 1 can fully shoot its outer surface and feed back to the control system to complete the clamped and covered part. At the same time, during the relative movement of the cookware, the position and angle relative to the CCD camera 1 will also change, and then the part affected by the reflection will be gradually completed, so that the cookware can be fully detected without omissions.

[0074] Refer to the attached Figure 4-Figure 7In order to assist in the detection, a first pressure sensor 25 is installed on the contact surface between the movable support leg 23 and the side support seat 22, so that when the clamping roller 21 relatively clamps the cookware, it will relatively push the movable support leg 23 and the side support seat 22, thereby squeezing the first pressure sensor 25. The relatively arranged first pressure sensors 25 can feedback relative pressure information. Since the cookware is placed vertically and pushed upward by balancing the clamping force, if the curvature of the outer surface of the cookware is the same, the values ​​of the relatively arranged first pressure sensors 25 should be the same. Therefore, whether the curvature of the outer surface of the cookware is uniform can be analyzed based on the values ​​of the relatively arranged first pressure sensors 25; if the error is greater than the predetermined value, it means that there is a problem with the shape of the cookware and it is defective, otherwise it is a good product, which can assist in detecting the shape of the cookware so as to improve the yield rate entering the market.

[0075] Refer to the attached Figure 8 In other embodiments, in order to stably clamp the cookware and maintain balanced force, two groups of symmetrically arranged roller clamps 2 may be provided and arranged in a circular array around the cookware, so that the cookware can be clamped synchronously from four sides, with higher stability and detection accuracy.

[0076] Refer to the attached Figure 2-Figure 3 In the present embodiment, eight CCD cameras 1 are provided, and an optical lens 11 is installed on the CCD camera 1 so as to clearly photograph the surface of the cookware, and the CCD camera 1 is arranged above and below the cookware so as to detect the upper and lower surfaces of the cookware; and four CCD cameras 1 are fixedly installed on the four corners of the top and bottom of the detection chassis 6 through the support base 12, four of which are fixedly installed on the side support plate 61 by the support base 12, and the other four are fixedly installed on the bottom support plate 64 by the support base 12, and are synchronously tilted toward the central detection position of the cookware, so as to perform a more comprehensive detection of the cookware without omissions.

[0077] like Figure 1-Figure 14 As shown, a method for detecting surface defects of a cookware is used to detect surface defects and shape of a cookware, comprising the following steps:

[0078] Step 1, placing the cookware: after the cookware is turned upside down on the annular tray 52 manually or mechanically, the exhaust cavity 53 can be started at the same time to exhaust the air between the cookware and the annular tray 52 through the exhaust cavity 53 and the exhaust hole 54, so that the cookware is horizontally adsorbed on the annular tray 52, and then the adsorption tray 51 together with the cookware adsorbed thereon is synchronously flipped 180° by the servo motor 59 through the synchronous pulley group, so that the bottom of the cookware is accurately engaged on the rubber support ring 32, and after the placement is stable, the vacuum air pump 55 can be closed, and the electromagnetic control valve can be opened at the same time to input air into the exhaust cavity 53 through the air inlet, thereby releasing the negative pressure adsorption state, and the cookware can be separated from the adsorption tray 51 under the action of its own gravity, and then the adsorption tray 51 can be reset to position the next cookware, and the cookware to be tested can be placed on the conveyor belt 3.

[0079] Secondly, four laser range finders 4 are used to measure the distance from the outer surface of the pot respectively, and the distance is fed back to the control system. Since the pot is placed vertically and is a round pot, the four sets of data should be consistent. When the deviation of the four sets of data is within a predetermined range, it means that the pot is placed accurately. If the deviation of the four sets of data is large, it means that the pot position is deviated. Then, manual intervention is performed to calibrate the device until the pot can be placed accurately so that the subsequent pot can be placed accurately. After the pot is placed accurately, the driving unit 34 can be used to drive the conveyor belt 3 to transport the pot to the detection end.

[0080] Step 2, pot transmission: The pot is gradually transmitted to the central detection position by using the conveyor belt 3, and its distance from the pot bottom is measured by another laser range finder 4 and fed back to the control system. Since the pot bottom is a circular curved surface, the center of its bottom circle should be the farthest end from the laser range finder 4. If the measured value is within the preset error value, it means that the pot is accurately transported. If the deviation is large, it means that the pot transportation position has a deviation, which can be adjusted by the conveyor belt 3 or manually intervened until the pot is in the central detection position;

[0081] Step 3: Clamping the pot: The brake motor 26 is used to drive the clamping roller 21 and the side arm 24 to swing downward close to the side of the pot through the reducer 27 and the swing support rod 28, and the linear motor 29 is used to relatively drive the mover seat 210 to push the side arm 24 to move relatively, so as to change the distance between the clamping roller 21 and the pot, so as to cooperate with each other to clamp the pot on both sides of the top;

[0082] Step 4, pot inspection: After the pot is clamped by the clamping roller 21 at the side in step 3, the linear motor 29 is controlled to cooperate with the brake motor 26 to lift the pot upward, so that the CCD camera 1 located above and below the pot can clearly shoot the upper and lower surfaces of the pot, and feed it back to the control system to analyze whether there are defects on the surface of the pot through the system;

[0083] Step 5, comprehensive inspection: on the basis of step 4, the linear motor 29 is controlled again to cooperate with the brake motor 26, and the relative clamping distance of the clamping roller 21 is gradually reduced, and the clamping angle is changed, so that the cookware pushes the clamping roller 21 to rotate under the action of its arc surface and the opposite clamping thrust, and then gradually moves upward relative to the clamping roller 21, thereby changing the clamping position of the clamping roller 21, and will not only cover the same clamping position, so that the CCD camera 1 can fully shoot its outer surface and feed back to the control system to complete the clamped and covered part. At the same time, in the process of relative movement of the cookware, the position and angle relative to the CCD camera 1 will also change, and then the part affected by the reflection will be gradually completed, so that the cookware can be fully inspected without omission.

[0084] Secondly, the relative pressure information can be fed back through the relatively arranged first pressure sensor 25. Since the cookware is placed vertically and pushed upward by the balanced clamping force, if the curvature of the outer surface of the cookware is the same, the value of the relatively arranged first pressure sensor 25 should be the same. Therefore, whether the curvature of the outer surface of the cookware is uniform can be analyzed based on the value of the relatively arranged first pressure sensor 25. If the error is greater than the predetermined value, it means that there is a problem with the shape of the cookware and it is defective. Otherwise, it is a good product.

[0085] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A cookware surface defect detection device, characterized in that: include: At least two CCD cameras (1) are arranged above and below the cookware to detect the upper surface and the lower surface thereof, and the CCD cameras (1) are equipped with optical lenses (11); At least one group of symmetrically arranged roller clamps (2), comprising a clamping roller (21) and side support arms (24) movably mounted at both ends of the clamping roller (21) to change the clamping distance thereof, the two ends of the clamping roller (21) being symmetrically rotatably connected to side support seats (22), one end of the side support arm (24) close to the clamping roller (21) being rotatably connected to a movable support foot (23), the movable support foot (23) being slidably embedded in the side support seat (22), and a first pressure sensor (25) being mounted on the contact surface between the movable support foot and the side support seat (22); A conveyor belt (3) for conveying the pot to be inspected between the CCD camera (1) and the roller-type clamp (2); Laser distance measuring locators (4), one group of which is installed in the middle gap of the conveyor belt (3) for locating the placement of the pot, and the other group of which is arranged between the roller-type clamps (2) for locating the detection of the pot; The roller-type clamp (2) further comprises a pushing mechanism for driving the side support arm (24) to move relative to each other and a swinging mechanism for driving the clamping roller (21) to rotate circumferentially, thereby changing the spacing and angle of the clamping rollers (21) arranged relatively to each other to clamp the cookware, and causing the cookware to be displaced relative to the clamping rollers (21) due to squeezing to change the detection position, while the first pressure sensor (25) is used to measure the relative pressure value to analyze the peripheral curvature of the cookware; The swing mechanism comprises a brake motor (26) and a reducer (27) mounted on the power output end of the brake motor (26); the power output end of the reducer (27) is directly connected to a swing support rod (28); the swing support rod (28) is rotatably connected to an end of the side support arm (24) away from the movable support foot (23); The pushing mechanism comprises a symmetrically arranged linear motor (29) and a mover seat (210) arranged on the linear motor (29), and the reducer (27) is fixedly mounted on the mover seat (210).

2. A cookware surface defect detection device according to claim 1, characterized in that: Positioning through holes (31) are formed at equal intervals on the conveyor belt (3), and a rubber support ring (32) is integrally formed around the outer periphery of the positioning through hole (31).

3. A cookware surface defect detection device according to claim 2, characterized in that: At least two laser distance measuring locators (4) are provided in a group and matched with one of the positioning through holes (31) in a circular array directly below the positioning through hole (31) for positioning the pot. The laser distance measuring locators (4) are fixedly mounted in the parallel gap of the conveyor belt (3) by means of an annular bracket (41).

4. A cookware surface defect detection device according to claim 3, characterized in that: Another group of the laser distance measuring locators (4) is provided with one, and is vertically mounted just above the clamping center of the clamping roller (21), and is used to determine whether the cookware is located at the center detection position.

5. The cookware surface defect detection device according to claim 1, characterized in that: It also includes a positioning component (5), which is arranged at the feeding end of the conveyor belt (3) and is arranged relative to the installation position of the laser distance measuring locator (4), so as to position and place the pot; The positioning assembly (5) comprises an adsorption tray (51) for adsorbing the cookware, a vacuum air pump (55), and a flipping mechanism for flipping the adsorption tray (51) to place the cookware. An annular tray (52) is fixedly mounted on one end of the adsorption tray (51). An air suction cavity (53) is provided in the adsorption tray (51), and an air suction through hole (54) is provided in the annular tray (52) and is connected to the air suction cavity (53). The air suction end of the vacuum air pump (55) is connected to the air suction cavity (53) via a universal hose (56).

6. The cookware surface defect detection device according to claim 5, characterized in that: The flipping mechanism comprises a swing support (57), a swing support shaft (58) rotatably mounted on both ends of the swing support (57), and a servo motor (59) providing a power source, one end of the adsorption tray (51) away from the annular tray (52) is fixedly mounted on the swing support shaft (58), and the servo motor (59) is connected to the swing support shaft (58) through a synchronous belt pulley set.

7. The cookware surface defect detection device according to claim 6, characterized in that: The positioning assembly (5) further comprises limiting support rods (511) fixedly mounted on both sides of the swing support (57) for positioning, supporting and limiting the adsorption tray (51), and a second pressure sensor (512) for monitoring whether the adsorption tray (51) is placed on the top surface is fixedly mounted on the top of the limiting support rods (511).

8. A method for detecting surface defects of a cookware, applied to the cookware surface defect detection device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: placing the pot: placing the pot to be tested on the conveyor belt (3), using one of the sets of laser range finders (4) to measure the positioning information, and feeding it back to the control system to determine whether it is placed accurately; if it is placed accurately, it is transmitted to the detection end; if there is a deviation, manual intervention is performed to calibrate the device until the pot can be placed accurately; Step 2: Cookware transport: The cookware is gradually transported to the center detection position by using a conveyor belt (3), and positioning information is measured by another set of laser range finders (4), and fed back to the control system to determine whether it is in the center detection position; if it is in the center detection position, the roller clamp (2) is controlled to start; if it is not in the center detection position, the conveyor belt (3) is used to adjust or manually intervene until the cookware is in the center detection position; Step 3: Clamping the pot: the clamping roller (21) and the side support arm (24) are driven by the swing mechanism to swing downward close to the side of the pot, and the side support arm (24) is pushed by the pushing mechanism to move relative to the pot, thereby changing the distance between the clamping roller (21) and the pot, thereby cooperating with each other to clamp the pot at the top; Step 4: pot inspection: after the pot is clamped at the side by the clamping roller (21) in step 3, the pot is lifted upward by cooperating with the swing mechanism and the pushing mechanism, so that the CCD cameras (1) located above and below the pot can clearly capture the upper and lower surfaces of the pot and feed the captured images back to the control system; Step 5: Comprehensive inspection: Based on step 4, the swing mechanism and the push mechanism are used again to gradually reduce the relative clamping distance of the clamping roller (21) and change the clamping angle, so that the cookware pushes the clamping roller (21) to rotate under the action of its arc surface and the opposite clamping thrust, and then gradually moves upward relative to the clamping roller (21), thereby changing the clamping position of the clamping roller (21), so that the CCD camera (1) can take a comprehensive picture of its outer surface. At the same time, the first pressure sensor (25) arranged relatively to it can feedback relative pressure information, so as to analyze whether the curvature of the outer surface of the cookware is uniform.

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