Nut appearance detection device

Abstract

The invention discloses a nut appearance detection device which comprises a machine frame, a feeding position and a discharging position are arranged on the machine frame, and a detection mechanism, a sorting mechanism and a robot are arranged between the feeding position and the discharging position. A secondary positioning mechanism and a transfer mechanism are arranged beside the feeding position, the secondary positioning mechanism comprises a supporting seat, a positioning seat is arranged on the supporting seat, and a positioning groove is formed in the positioning seat; the blanking positions comprise a qualified product blanking position and a plurality of unqualified product blanking positions, and the unqualified product blanking positions are mutually independent; the sorting mechanism is provided with a sorting disc, and the sorting disc is provided with sorting positions, wherein the number of the sorting positions is the same as that of the discharging positions. In this way, the feeding disc loaded with the to-be-detected product can be transferred to the secondary positioning mechanism from the feeding position to be positioned, the position of the feeding disc is straightened, and the robot can grab the product for feeding in a high-precision and high-stability mode. In addition, unqualified products meeting the standard can be reworked to obtain qualified products, and waste is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of product detection, and in particular to a nut appearance detection device. Background Art

[0002] Many products need to undergo various quality inspections, such as appearance defect inspection for nuts. Currently, such inspections are generally completed through appearance inspection equipment. Existing appearance inspection equipment of this type usually includes loading and unloading mechanisms, inspection mechanisms, flipping mechanisms, etc., and the products to be inspected are transferred between the mechanisms through special manipulators or multi-axis robots. If the inspection involves multiple parts, multiple sets of inspection mechanisms are generally set up, and the material transfer of the products to be inspected is achieved through the material transfer mechanism between adjacent inspection mechanisms. In this way, automated batch inspection can be achieved, greatly improving the efficiency of inspection. However, the current appearance inspection equipment usually has the following disadvantages: First, multiple loading trays are placed on the rack in a stacked manner, and there is a certain position deviation between the loading trays, which may cause the robot to have deviations when grabbing the product. This deviation will cause the product to be grasped unsteadily and affect the grabbing efficiency; second, the unloading after the inspection is completed is generally divided into qualified products and unqualified products. However, there are many unqualified products, and some unqualified products cannot be repaired and can only be scrapped. However, some unqualified products only have minor defects and can become qualified products after rework. If they are directly scrapped, it will obviously cause waste. Summary of the invention

[0003] In view of the defects of the prior art, the present invention provides a nut appearance inspection device which has a more reasonable design, is more stable and reliable in catching products, has a higher efficiency, and can distinguish different types of defective products.

[0004] In order to solve the above technical problems, the present invention adopts the following technical scheme: a nut appearance inspection device, comprising a frame, a loading position and a unloading position are arranged on the frame, a detection mechanism, a sorting mechanism and a robot for transferring products are arranged between the loading position and the unloading position, characterized in that: a secondary positioning mechanism and a transfer mechanism for transferring the loading tray to the secondary positioning mechanism are arranged next to the loading position, and a loading robot is arranged between the secondary positioning mechanism and the detection mechanism; the secondary positioning mechanism comprises a support seat, a positioning seat is arranged on the support seat, and a positioning groove for accommodating the loading tray is provided in the positioning seat; the unloading position comprises a qualified product unloading position and a plurality of unqualified product unloading positions, and each unqualified product unloading position is independent of each other; a sorting tray is arranged on the sorting mechanism, and the sorting tray is provided with sorting positions of the same number as the unloading positions, and each sorting position is used to accommodate a lower tray.

[0005] Furthermore, the positioning groove on the positioning seat is a semi-enclosed structure, and a positioning push block is arranged at a corner position of the positioning seat, the positioning push block is connected to a positioning cylinder, and the positioning cylinder is installed on the bottom surface of the positioning seat; a raised guard edge is arranged on the positioning seat opposite to the positioning push block, and the positioning groove is formed by the guard edge. After the loading tray is placed in the positioning groove, the positioning push block is driven by the positioning cylinder to push the loading tray toward the guard edge to realize secondary positioning of the loading tray.

[0006] Furthermore, a guide rail is arranged on the support seat, and at least two independent positioning seats are arranged on the guide rail. Each positioning seat has the same structure and is connected to a driving device.

[0007] Furthermore, the guide rails include multiple ones, a positioning seat is installed on one guide rail, and the guide rails are parallel to each other; the driving device adopts a motor, the motor is connected to a driving wheel, a synchronous belt is arranged on the driving wheel, and the other end of the synchronous belt is arranged on a driven wheel to form a circulating operation structure; each positioning seat is respectively connected to the synchronous belt to form a structure that can perform reciprocating motion, and each positioning seat is staggered from each other.

[0008] Furthermore, the transfer mechanism includes a moving module and a plate grabbing manipulator, the moving module is suspended above the loading position and the secondary positioning mechanism, and the plate grabbing manipulator is installed on the moving module through a lifting cylinder.

[0009] Furthermore, the sorting tray on the sorting mechanism includes a first sorting tray and a second sorting tray, and the first sorting tray and the second sorting tray are separated into the same number of sorting positions by dividing strips. In this way, the two sorting trays are used alternately to improve the efficiency of sorting; a sorting robot is arranged between the sorting mechanism and the detection mechanism, and a material unloading robot is arranged between the unloading position and the sorting mechanism.

[0010] Furthermore, the first sorting tray is installed on a first linear module and is fixedly assembled with a supporting rail, and the second sorting tray is installed on a second linear module; the two linear modules are parallel to each other, and the first linear module is higher than the second linear module, so that the position of the first sorting tray is located above the second sorting tray to form a structure with two layers running up and down, and the first sorting tray and the second sorting tray are aligned with each other in the vertical direction.

[0011] Preferably, the dividing bar is in a cross-shaped structure, which divides the sorting tray into four sorting positions, one of which is a qualified grade, and the remaining three are unqualified grades for different defect types; extrusion blocks are respectively arranged at the four corners of the sorting tray, each extrusion block is connected to an extrusion cylinder, and the extrusion cylinder is installed on the bottom surface of the sorting tray to form a structure for squeezing the lower trays on the sorting tray towards the middle.

[0012] Preferably, there are four unloading positions, namely the first unloading position, the second unloading position, the third unloading position and the fourth unloading position, wherein the first unloading position is used to accommodate the unloading tray containing qualified products, the second unloading position, the third unloading position and the fourth unloading position are respectively used to accommodate the unloading trays containing unqualified products of different defect types; an empty tray position for placing empty trays is also provided next to the first unloading position.

[0013] In some cases, the detection mechanism includes multiple groups to perform more targeted detection items, such as the hole end face, rear end face, internal thread, foreign matter in the hole, hole side, skirt, slot, nose end face, side plane, etc. of the nut. A material transfer mechanism is set between adjacent detection mechanisms to achieve product transfer. If necessary, a flipping mechanism can be set between at least two adjacent detection mechanisms to flip the product so that the other side can be tested.

[0014] The present invention sets a secondary positioning mechanism at the loading station, transfers the loading tray containing the product to be tested from the loading position to the secondary positioning mechanism for positioning, and aligns the loading tray, so that the robot can grab the product with high precision and high stability for loading. In addition, a number of unloading positions are set at the unloading station to correspond to qualified products and different types of unqualified products, respectively, to achieve accurate classification, and then according to the set rules, unqualified products that meet the standards can be reworked to obtain qualified products, thereby avoiding waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is the coordination structure diagram of the transfer mechanism and the secondary positioning mechanism;

[0017] Figure 3 It is the structural diagram of the secondary positioning mechanism;

[0018] Figure 4 This is the matching structure diagram of the loading tray and the positioning seat;

[0019] Figure 5 The three-dimensional structural diagram of the sorting mechanism;

[0020] Figure 6 This is a side structural diagram of the sorting mechanism;

[0021] Figure 7 This is the coordination structure diagram of the unloading tray and the sorting tray.

[0022] In the figure, 1 is a frame, 11 is a loading position, 12 is an empty tray position, 13 is a first unloading position, 14 is a second unloading position, 15 is a third unloading position, 16 is a fourth unloading position, 2 is a transfer mechanism, 21 is a mobile module, 22 is a tray grabbing manipulator, 3 is a secondary positioning mechanism, 31 is a support seat, 32 is a positioning seat, 321 is a rib, 33 is a motor, 34 is a driving wheel, 35 is a driven wheel, 36 is a synchronous belt, 37 is a guide rail, 38 is a fixed The push block, 39 is the positioning cylinder, 41 is the loading robot, 42 is the sorting robot, 43 is the unloading robot, 51 is the detection mechanism, 52 is the material moving mechanism, 6 is the turning mechanism, 7 is the sorting mechanism, 71 is the first sorting tray, 72 is the second sorting tray, 73 is the first linear module, 74 is the second linear module, 75 is the supporting rail, 76 is the extrusion block, 77 is the extrusion cylinder, 78 is the dividing strip, 8 is the loading tray, and 9 is the unloading tray. DETAILED DESCRIPTION

[0023] In this embodiment, refer to Figure 1-Figure 7 The nut appearance inspection device comprises a frame 1, on which a loading position 11 and a lowering position are arranged. The loading position 11 can be set to more than two so as to be interchangeable and improve efficiency. A detection mechanism 51, a sorting mechanism 7 and a robot for transferring products, especially a multi-axis robot, are arranged between the loading position 11 and the unloading position; a secondary positioning mechanism 3 and a transfer mechanism 2 for transferring the loading tray 8 to the secondary positioning mechanism 3 are arranged next to the loading position 11, and a loading robot 41 is arranged between the secondary positioning mechanism 3 and the detection mechanism 51; the secondary positioning mechanism 3 includes a support seat 31, and a positioning seat 32 is arranged on the support seat 31, and the positioning seat 32 has a positioning groove for accommodating the loading tray 8; the unloading position includes a qualified product unloading position and a plurality of unqualified product unloading positions (i.e., NG positions), and each unqualified product unloading position is independent of each other; a sorting tray is arranged on the sorting mechanism 7, and the sorting tray is provided with sorting positions of the same number as the unloading positions, and each sorting position is used to accommodate a lower material tray 9 for placing products in different states.

[0024] The positioning groove on the positioning seat 32 is a semi-enclosed structure, and a positioning push block 38 is arranged at one corner of the positioning seat 32 (if the positioning groove is a square structure, the push block 38 is arranged at one of the corners; if the positioning groove is a circular structure, the push block 38 can be arranged continuously by the positioning seat 32. This embodiment adopts a square structure), and the positioning push block 38 is connected to the positioning cylinder 39, and the positioning cylinder 39 is installed on the bottom surface of the positioning seat 32; a raised rib 321 is arranged on the positioning seat 32 opposite the positioning push block 38, and the rib 321 forms a positioning groove. After the loading tray 8 is placed in the positioning groove, the positioning push block 38 is driven by the positioning cylinder 39 to push the loading tray 8 toward the rib 321. When it can no longer be pushed, the secondary positioning of the loading tray 8 is realized, and it is now the precise material picking position, so that the loading robot 41 can accurately and stably grab the product to be tested from the loading tray 8 and send it to the testing mechanism 51.

[0025] A guide rail 37 is disposed on the support seat 31 , and at least two independent positioning seats 32 are disposed on the guide rail 37 . Each positioning seat 32 has the same structure and is connected to a driving device.

[0026] The guide rails 37 include a plurality of rails (two in the present embodiment), a positioning seat 32 is mounted on one guide rail 37, and the guide rails 37 are parallel to each other; the driving device uses a motor 33, the motor 33 is connected to a driving wheel 34, a synchronous belt 36 is arranged on the driving wheel 34, and the other end of the synchronous belt 36 is arranged on a driven wheel 35 to form a circulating operation structure; each positioning seat 32 is respectively connected to the synchronous belt 36 to form a structure capable of reciprocating motion, and each positioning seat 32 is staggered from each other to achieve alternating operation, thereby improving work efficiency.

[0027] The transfer mechanism 2 includes a mobile module 21 and a tray grabbing manipulator 22. The mobile module 21 is suspended above the material loading position 11 and the secondary positioning mechanism 3. The tray grabbing manipulator 22 is installed on the mobile module 21 through a lifting cylinder. Under the control of the lifting cylinder, the tray grabbing manipulator 22 grabs the topmost loading tray 8 from the material loading position 11, and then moves to the position aligned with the positioning seat 32 through the mobile module 21 to put down the loading tray 8, and then the empty tray on another positioning seat 32 can be grabbed and put into the material position for placing empty trays.

[0028] The sorting trays on the sorting mechanism 7 include a first sorting tray 71 and a second sorting tray 72, and the first sorting tray 71 and the second sorting tray 72 are separated into the same number of sorting positions by dividing strips 78. The two sorting trays are used alternately to improve the efficiency of sorting; a sorting robot 42 is arranged between the sorting mechanism 7 and the detection mechanism 51, and the sorting robot 42 grabs the products that have been inspected on the terminal detection mechanism 51 and puts them into the unloading tray 9 of the corresponding sorting position; a unloading robot 43 is arranged between the unloading position and the sorting mechanism 7, and the unloading robot 43 transfers the unloading tray 9 on each sorting position together with the products thereon to the corresponding unloading position.

[0029] The first sorting tray 71 is mounted on a first linear module 73 and fixedly assembled with a support rail 75, and the second sorting tray 72 is mounted on a second linear module 74; the two linear modules are parallel to each other, and the first linear module 72 is higher than the second linear module 74, so that the first sorting tray 71 is located above the second sorting tray 72 to form a structure of upper and lower layers, and the first sorting tray 71 and the second sorting tray 72 are aligned with each other in the vertical direction. In this way, the size of the entire sorting mechanism can be reduced while achieving alternating operation, thereby reducing the space occupied on the rack 1.

[0030] The dividing bar 78 is in a cross-shaped structure, which divides the sorting tray into four sorting positions, one of which is a qualified position, and the remaining three are unqualified positions for different defect types, such as top surface NG, side surface NG, and bottom surface NG; extrusion blocks 76 are respectively arranged at the four corners of the sorting tray, and each extrusion block 76 is connected to an extrusion cylinder 77, and the extrusion cylinder 77 is installed on the bottom surface of the sorting tray to form a structure for squeezing each unloading tray 9 on the sorting tray toward the middle, thereby realizing the positioning of the unloading tray 9, and its realization principle and function are similar to the positioning process of the secondary positioning mechanism 2.

[0031] There are four material unloading positions, namely the first material unloading position 13, the second material unloading position 14, the third material unloading position 15 and the fourth material unloading position 16, wherein the first material unloading position 13 is used to accommodate the material unloading tray 9 with qualified products, the second material unloading position, the third material unloading position and the fourth material unloading position can be used to accommodate the material unloading tray 9 with top surface NG, side surface NG and bottom surface NG products respectively; next to the first material unloading position 13, there is also an empty tray position 12 for placing an empty tray.

[0032] In the case of multiple-item detection, the detection mechanism 51 is set to multiple groups to perform more targeted detection items, such as the hole end face, rear end face, internal thread, foreign matter in the hole, hole side, skirt, slot, nose end face, side plane, etc. of the nut. A material transfer mechanism 52 is set between adjacent detection mechanisms 51 to achieve product transfer. If necessary, a flipping mechanism 6 can be set between at least two groups of adjacent detection mechanisms 51 to flip the product so that the other side can be detected. Of course, the detection mechanism 51, the material transfer mechanism 52, and the flipping mechanism 6 can all be directly implemented using existing technologies, which will not be described in detail here.

[0033] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A nut appearance inspection device, comprising a frame, a loading position and a unloading position are arranged on the frame, and a detection mechanism, a sorting mechanism and a robot for transferring products are arranged between the loading position and the unloading position, characterized in that: A secondary positioning mechanism and a transfer mechanism for transferring the loading tray to the secondary positioning mechanism are arranged next to the loading position, and a loading robot is arranged between the secondary positioning mechanism and the detection mechanism; the secondary positioning mechanism includes a support seat, a positioning seat is arranged on the support seat, and a positioning groove for accommodating the loading tray is provided in the positioning seat; the unloading position includes a qualified product unloading position and a plurality of unqualified product unloading positions, and each unqualified product unloading position is independent of each other; a sorting tray is arranged on the sorting mechanism, and the sorting tray is provided with sorting positions of the same number as the unloading positions, and each sorting position is used to accommodate a lower material tray; The positioning groove on the positioning seat is a semi-enclosed structure, and a positioning push block is arranged at a corner position of the positioning seat, the positioning push block is connected to a positioning cylinder, and the positioning cylinder is installed on the bottom surface of the positioning seat; a raised rib is arranged on the positioning seat opposite to the positioning push block, and the positioning groove is formed by the rib, and after the loading tray is placed in the positioning groove, the positioning push block is driven by the positioning cylinder to push the loading tray toward the rib to realize secondary positioning of the loading tray.

2. A nut appearance inspection device according to claim 1, characterized in that: A guide rail is arranged on the support seat, and at least two independent positioning seats are arranged on the guide rail. The positioning seats have the same structure and are all connected with a driving device.

3. A nut appearance inspection device according to claim 2, characterized in that: The guide rails include multiple ones, one of which is equipped with a positioning seat, and the guide rails are parallel to each other; the driving device uses a motor, the motor is connected to a driving wheel, a synchronous belt is arranged on the driving wheel, and the other end of the synchronous belt is arranged on a driven wheel to form a circulating operation structure; each positioning seat is respectively connected to the synchronous belt to form a structure that can perform reciprocating motion, and each positioning seat is staggered.

4. A nut appearance inspection device according to claim 1, characterized in that: The transfer mechanism comprises a moving module and a plate grabbing manipulator, the moving module is suspended above the material loading position and the secondary positioning mechanism, and the plate grabbing manipulator is installed on the moving module through a lifting cylinder.

5. A nut appearance inspection device according to claim 1, characterized in that: The sorting trays on the sorting mechanism include a first sorting tray and a second sorting tray, and the same number of sorting positions are separated by dividing strips on the first sorting tray and the second sorting tray; a sorting robot is arranged between the sorting mechanism and the detection mechanism, and a material unloading robot is arranged between the material unloading position and the sorting mechanism.

6. A nut appearance inspection device according to claim 5, characterized in that: The first sorting tray is installed on a first linear module and is fixedly assembled with a supporting rail, and the second sorting tray is installed on a second linear module; the two linear modules are parallel to each other, and the first linear module is higher than the second linear module, so that the first sorting tray is located above the second sorting tray to form a structure with two layers running up and down, and the first sorting tray and the second sorting tray are aligned with each other in the vertical direction.

7. A nut appearance inspection device according to claim 5, characterized in that: The dividing bar is in a cross-shaped structure, which divides the sorting tray into four sorting positions, one of which is a qualified grade, and the remaining three are unqualified grades for different defect types; extrusion blocks are respectively arranged at the four corners of the sorting tray, and each extrusion block is connected to an extrusion cylinder, which is installed on the bottom surface of the sorting tray to form a structure for squeezing the lower trays on the sorting tray towards the middle.

8. A nut appearance inspection device according to claim 7, characterized in that: There are four material unloading positions, namely the first material unloading position, the second material unloading position, the third material unloading position and the fourth material unloading position. The first material unloading position is used to accommodate the material unloading tray containing qualified products, and the second material unloading position, the third material unloading position and the fourth material unloading position are respectively used to accommodate the material unloading trays containing unqualified products of different defect types; an empty tray position for placing empty trays is also provided next to the first material unloading position.

9. A nut appearance inspection device according to claim 1, characterized in that: The detection mechanism comprises a plurality of groups, a material moving mechanism is arranged between adjacent detection mechanisms, and a turning mechanism is arranged between at least two adjacent detection mechanisms.

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