Plate six-surface dynamic and static mixed detection system

Abstract

The invention discloses a plate six-surface dynamic and static mixed detection system which comprises an equipment main frame and a base bracket, a first conveying belt and a second conveying belt are sequentially arranged on the base bracket from front to back, a working bin of the equipment main frame is arranged above the first conveying belt, and a background module is arranged between the first conveying belt and the second conveying belt. A sixth camera assembly is arranged on the base bracket; a first camera assembly and a second camera assembly are sequentially and fixedly arranged on the lower portion of the working bin in the front-back direction in the plate conveying direction, a long sliding table assembly and a first servo motor are fixedly arranged on the top of the working bin, and a sliding part of the long sliding table assembly is fixedly connected with a fifth camera assembly. A second linear module and a third servo motor for driving the second linear module are fixedly arranged in the working bin, and a moving part of the second linear module can horizontally move in the width direction of the plate and is fixedly connected with a third camera assembly; a fourth camera assembly is fixedly connected to the fixing part on one side of the conveying belt, and the efficiency of detecting the multiple side faces of the plate is improved under the condition that the precision of plate size detection is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of visual inspection technology, and in particular relates to plate inspection technology equipment, specifically a plate six-side dynamic and static inspection system. Background Art

[0002] With the development and maturity of random machine vision inspection technology, the detection of plate size and defects through machine vision has become a development trend in the field of plate inspection technology. In traditional plate inspection technology, the inspection of plates includes the front and back surfaces of the plates. However, the plates are hexahedral structures, and there may be defects on each surface of the plates. Traditional inspection machines can only meet the requirements of double-sided inspection, but cannot observe the six surfaces of the plates. Patent CN107966102A discloses a six-sided inspection device for plate production, which sets CCD cameras at corresponding positions on the front, back, top, bottom, left, and right sides of the plate to obtain images of the six surfaces of the plate, and then obtain the contour parameters of the plate by calculation. However, this patent is a static detection method, that is, when the upper and lower surfaces of the plate are detected, the conveyor belt stops running and the plate is stationary. This results in the CCD cameras on the upper, lower, left and right sides being fixedly set in the middle position of the belt conveyor mechanism. During the image acquisition process, since the distance between the CCD camera and the plate and the relative position with the plate are fixed, the shooting range of the CCD camera is limited. When the length of the plate is long, the image acquired by the CCD camera cannot cover the entire surface of the plate, resulting in a detection blind spot, and the obtained parameters are prone to deviation values. Chinese patent CN 112362667 A discloses an improved six-sided detection device for plate production, which uses a four-sided rotating detection mechanism to drive the camera to achieve the purpose of detecting the four surfaces of the plate with a single camera, thereby reducing costs. When these two devices detect the plate, the plate is static. Static detection of the plate is conducive to image capture and has high image accuracy, but its disadvantage is that it causes low plate detection efficiency. During the plate detection process, both plate detection accuracy and detection efficiency must be taken into account. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that when current equipment detects plates, the plates are all static, resulting in low plate detection efficiency and failure to meet plate detection requirements.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a six-sided dynamic and static mixed inspection system for a plate, comprising a main frame of the equipment and a base bracket, the upper part of the main frame of the equipment is provided with a working chamber, the base bracket runs through the lower part of the main frame of the equipment, and the base bracket is provided with a first conveyor belt and a second conveyor belt in sequence in front and back, the working chamber is arranged above the first conveyor belt, and there is a working distance between the first conveyor belt and the second conveyor belt and a background module is provided, the base bracket is provided with a sixth camera assembly for shooting the back image of the plate and below the background module, and a sixth light source assembly for fill light toward the background module is provided on the side of the sixth camera assembly; the lower part of the working chamber is fixedly provided with a first camera assembly for shooting the front and side images of the plate and a second camera assembly for shooting the rear side images of the plate in sequence in the front and back direction of the plate conveying direction, and a camera assembly for shooting the front and side images of the plate when shooting is fixedly provided next to the first camera assembly A first light source assembly for fill light, a second light source assembly for fill light to the front side of the plate when shooting is fixedly arranged next to the second camera assembly, a long slide assembly for horizontally and linearly sliding along the conveying direction and a first servo motor for driving the long slide assembly for linear motion are fixedly arranged on the top of the working chamber, a fifth camera assembly for capturing the top surface image of the plate and a fifth light source assembly for fill light to the top surface of the plate when shooting are fixedly connected to the sliding portion of the long slide assembly; a second linear module and a third servo motor for driving the second linear module are fixedly arranged in the working chamber, the moving portion of the second linear module can move horizontally along the width direction of the plate and is fixedly connected to a third camera assembly and a third light source assembly for capturing an image of one side of the plate; a fourth camera assembly and a fourth light source assembly for capturing an image of the other side of the plate are fixedly connected to the fixed portion on one side of the conveyor belt.

[0005] Compared with the prior art, the beneficial effect of the present invention is that the conveyor belt stops running only when the top surface of the plate is detected, and the plate remains static to achieve the goal of high-precision imaging of the top surface of the plate, while the conveyor belt does not stop moving when detecting the front, back, left, right, side and back of the plate, and the plate is in a dynamic state. Therefore, while ensuring the accuracy of plate size detection, the efficiency of multi-side detection of the plate is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0007] Figure 2 It is a partial enlarged view of the present invention.

[0008] Figure 3 This is the installation diagram of the fifth camera assembly of the present invention.

[0009] Figure 4 It is a schematic structural diagram of the fifth camera assembly of the present invention.

[0010] Figure 5 Schematic diagram of the structure of the third camera assembly of the present invention.

[0011] Figure 6 Schematic diagram of the structure of the fourth camera assembly of the present invention.

[0012] Figure 7 It is a schematic diagram of the installation of the background components of the present invention.

[0013] Figure 8 Schematic diagram of the structure of the sixth camera assembly of the present invention.

[0014] Fig. 9 This is a schematic diagram of the overall structure of the system according to the third embodiment of the present invention.

[0015] Fig.10 It is a structural schematic diagram of the plate straightening assembly of the present invention. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. It should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two components. In this embodiment, the directions such as "up", "down", "left", "right", "front", and "back" mentioned are understood in terms of the drawings in the specification or the actual working posture of the equipment. The definitions of "first, second", etc. do not refer to quantities, but are used to distinguish different components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0017] The front in this embodiment is the direction in which the plates are transported out, and the rear in this embodiment is the direction in which the plates are transported in. This embodiment is understood by referring to this direction standard.

[0018] Existing plate inspection equipment inspects plates when the plates are static, resulting in low plate inspection efficiency and failing to meet plate inspection efficiency requirements. This embodiment aims to provide a six-sided dynamic and static mixed inspection system for plates, which is used to improve plate inspection efficiency while taking into account inspection accuracy.

[0019] Example 1, Reference Figure 1-Figure 6 A six-sided dynamic and static mixed inspection system for plates includes an equipment main frame 1 and a base bracket 2. The equipment main frame 1 is constructed of steel materials of various shapes. The equipment main frame 1 needs to ensure that its structure has sufficient strength and stability to ensure stable operation of the installed equipment parts.

[0020] The upper part of the main frame 1 of the equipment is provided with a working chamber, which is used to install equipment parts and provide space for plate detection. In this embodiment, the working chamber is divided into two front and rear working chamber sections according to function. The first working chamber section 1-1 is used to install camera components and supporting parts for shooting images of the top surface of the plate, and the second working chamber section 1-2 is used to install camera components and supporting parts for shooting images of the front and rear sides of the plate.

[0021] The lower part of the main frame 1 of the equipment has a make way passage, the base bracket 2 passes through the make way passage at the lower part of the main frame 1 of the equipment, the base bracket 2 is provided with a first conveyor belt 3 and a second conveyor belt 3-1 in sequence front and back, and the working bin is arranged above the first conveyor belt 3.

[0022] There is a working distance between the first conveyor belt 3 and the second conveyor belt 3-1 and a background module is provided. The sixth camera assembly 11 for photographing the back image of the plate and below the background module is provided on the base bracket 2. In this embodiment, there is a working distance between the first conveyor belt 3 and the second conveyor belt 3-1 and a background module 1-7 is provided. The sixth camera assembly 11 for photographing the back image of the plate is provided on the base bracket 1. With the cooperation of the background module 1-7, the sixth camera assembly 11 images the back image of the plate.

[0023] like Figure 7 The background module 1-7 includes a first bracket 1-71, a second bracket 1-72, a background belt bracket 1-73, a background belt 1-74 and a shading plate 1-75. The left side of the first conveyor belt 3 and the left side of the second conveyor belt 3-1 are respectively fixedly connected to the two ends of the first bracket 1-71 that spans the working distance. The right side of the first conveyor belt 3 and the right side of the second conveyor belt 3-1 are fixedly connected to the two ends of the second bracket 1-72 that spans the working distance. The first bracket and the second bracket are respectively fixedly connected to the two ends of the background belt bracket 1-73. The background belt bracket is arranged above the working distance to fix the background belt and to shield the light, and does not hinder the transmission of the plate. The width of the background belt bracket The closer to the working spacing, the better the shading effect, which provides a good background environment for line scanning. The lower side of the background belt bracket 1-73 is provided with a background belt 1-74, and the upper side of the background belt bracket 1-73 is provided with a shading plate 1-75. The background belt adopts a blue leather background belt, and the background belt bracket 1-73 adopts a single-sided sealed groove profile, which has a more stable supporting effect. The setting of the shading plate further improves the shading effect, which can reduce the material consumption of the background belt bracket and reduce costs; preferably, the width of the shading plate is greater than the working spacing distance between the first conveyor belt 3 and the second conveyor belt 3-1, and the downward projection area of ​​the shading plate can cover the working spacing area, thereby achieving better shading effect.

[0024] Specifically, Figure 8The sixth camera assembly 11 includes a slide, an angle adjuster, a connecting plate, a camera seat and a line scan camera. The slide is fixedly mounted on the base bracket, the angle adjuster is fixed on the slide, one end of the connecting plate is fixed on the angle adjuster, the camera seat is fixed on the other end of the connecting plate, the line scan camera is arranged on the camera seat, the slide can be manually adjusted up and down in height, the angle adjuster adopts a manual arc angle adjuster with angle scale lines and high precision. This structure can adjust the height and angle of the sixth camera assembly with high precision to meet the plate detection requirements under different environments.

[0025] Two sixth camera assemblies 11 are arranged side by side on the base bracket 1. The sixth camera assembly 11 is arranged below the first conveyor belt 3 or the second conveyor belt 3-1 to prevent wood chips on the conveyor belt from falling directly onto the line scan camera, thereby reducing imaging interference to the camera.

[0026] The lower part of the working chamber is fixedly provided with a first camera assembly 7 for shooting the front and side images of the plate and a second camera assembly 8 for shooting the rear and side images of the plate in sequence along the conveying direction of the plate. A first light source assembly for supplementing the front and side images of the plate during shooting is fixedly provided next to the first camera assembly 7. The first camera assembly 7, the second camera assembly 8, the first light source assembly and the second light source assembly are all installed in the second working chamber section 1-2. A better installation method is: it includes two connecting rods, one connecting rod is fixedly installed on the front side of the main frame 1 of the equipment along the left and right directions, and two first camera brackets are installed on the same connecting rod, and the first camera assembly 7 is installed on each first camera bracket; the other connecting rod is fixedly installed on the rear side of the main frame 1 of the equipment along the left and right directions, and two second camera brackets are installed on the same connecting rod, and the second camera assembly 8 is installed on each second camera bracket. This installation method can achieve the purpose of detecting plates with a larger width. The first camera assembly 7 and the second camera assembly 8 perform dynamic line scanning imaging on the front and rear sides of the plate in the second working chamber section 1-2. Preferably, the first camera assembly 7 and the first light source assembly are integrated devices, and the second camera assembly 8 and the second light source assembly are integrated devices, and both use camera assemblies with their own light sources, which can simplify the structure and have a high degree of intelligence.

[0027] A long slide assembly 4 that slides horizontally and linearly along the conveying direction and a first servo motor 5 that drives the long slide assembly 4 to move linearly are fixedly provided on the top of the working bin. The sliding portion of the long slide assembly 4 is fixedly connected with a fifth camera assembly 6 for capturing the image of the top surface of the plate and a fifth light source assembly for supplementing the top surface of the plate during shooting. Specifically, the long slide assembly 4, the fifth camera assembly 6 and the fifth light source assembly are all installed in the first working bin section 1-1, and static line scanning imaging of the plate is performed in the first working bin section 1-1. Since the first working bin section 1-1 is installed with a heavy long slide assembly 4 and a first servo motor 5, the frame of the first working bin section 1-1 should adopt a gantry structure as much as possible to ensure that the frame strength of the first working bin section 1-1 is large enough to ensure reliable and stable operation of the equipment.

[0028] In this embodiment, in the second working chamber section, the first camera assembly 7 and the second camera assembly 8 are fixed, and the first conveyor belt drives the plate to move. The first camera assembly 7 and the second camera assembly 8 perform dynamic line scanning imaging of the front and rear sides of the plate during the plate conveying process. In the second working chamber section, the first conveyor belt stops running, and the plate is stationary on the first conveyor belt; driven by the first servo motor 5, the long slide assembly 4 performs a long-distance horizontal movement along the conveying direction, which drives the fifth camera assembly 6 and the fifth light source assembly to move synchronously, and the fifth light source assembly synchronously provides fill light, and the fifth camera assembly 6 moves from the front side of the plate to the back side of the plate to perform static line scanning imaging of the top surface of the plate.

[0029] More preferably, the fifth camera assembly 6 includes a slide mounting frame 6-4, a first linear module 6-1, a second servo motor 6-3, an angular position adjuster 6-2, a camera seat 6-5 and a line scan camera 6-6, the upper portion of the slide mounting frame 6-4 is fixedly mounted on the sliding portion of the long slide assembly 4, the first linear module 6-1 is vertically mounted on the slide mounting frame 6-4 and its moving portion can move up and down, the second servo motor 6-3 is fixedly connected to the first linear module 6-1, the moving portion of the first linear module 6-1 is fixedly connected to the angular position adjuster 6-2 via a connecting plate, the angular position adjuster 6-2 is fixedly connected to the camera seat 6-5 via a connecting plate, and the line scan camera 6-6 is fixed on the connecting camera seat 6-5; the fifth light source assembly is fixedly mounted on the lower portion of the slide mounting frame 6-4 and its height is lower than that of the line scan camera, the slide mounting frame 6-4 is formed by connecting a plurality of metal parts of different shapes, and the structure should be ensured to have sufficient strength to ensure the stability and durability of the line scan module. The height of the line scan camera can be adjusted by the up and down movement of the first linear module 6-1, and the angle of the line scan camera can be adjusted by the angle adjuster 6-2. The angle adjuster is a manual arc angle table, which is an existing technology to ensure that the line scan mechanism can perform plate inspection for different situations and different types of plates, thereby improving the applicability of the equipment.

[0030] More preferably, the fifth light source assembly includes a rotating connector 6-7 and a light source unit 6-8, a rotating connector 6-7 is installed on both sides of the light source unit 6-8, and the light source unit 6-8 is horizontally connected to the lower part of the slide mounting frame 6-4 through two rotating connectors 6-7. The rotating connector 6-7 is conventional technology, and the rotating connector 6-7 is used to adjust the fill light angle of the light source unit 6-8.

[0031] The working chamber is fixed with a second linear module 10-1 and a third servo motor driving the second linear module 10-1, which is specifically arranged in the second working chamber section; the moving part of the second linear module 10-1 can move horizontally along the width direction of the plate and is fixedly connected with a third camera assembly 10 and a third light source assembly 10-4 for photographing a side image of the plate; the fixed part on one side of the first conveyor belt is fixedly connected with a fourth camera assembly 9 and a fourth light source assembly 9-3 for photographing another side image of the plate. Specifically, the main frame 1 of the equipment fixes the second linear module 10-1 through a crane arm, the moving part of the second linear module 10-1 can move horizontally along the width direction of the plate and is fixedly connected with a third camera assembly 10 for photographing a side image of the plate through a third camera bracket 10-2, and the third camera bracket 10-2 is connected with a third light source assembly 10-4 through a first light source bracket 10-3. The fixed part on one side of the first conveyor belt is connected to a fourth camera assembly 9 for photographing the other side of the plate through a fourth camera bracket 9-1, and the fourth camera bracket 9-1 is connected to a fourth light source assembly 9-3 through a second light source bracket 9-2.

[0032] In this example, the fourth camera assembly 9 is fixed, and line scanning imaging is performed on one side of the plate being calibrated. When the plate is calibrated, the distance between the fourth camera assembly 9 and the side changes very little, and the line scanning camera generally has a certain wide angle and automatic focusing function. When the distance changes little, the fourth camera can be fixed without affecting the accuracy of the detection. The other side of the plate will change with the model of the plate, and the distance between the side of the plate and the third camera assembly 10 will change. This change exceeds the wide angle range and focusing distance of the camera. Therefore, the system will drive the third servo motor according to the instruction, and the third servo motor drives the second linear module 10-1 to move horizontally left and right, adjust the distance between the third camera assembly 10 and the side of the plate, and always maintain the best line scanning distance to ensure the accuracy of the detection.

[0033] In this embodiment, in the second bin section, the first camera assembly 7, the second camera assembly 8, the third camera assembly 10 and the fourth camera assembly 9 are fixed, and the first conveyor belt drives the plate to move. The first camera assembly 7, the second camera assembly 8, the third camera assembly 10 and the fourth camera assembly 9 perform dynamic line scanning imaging of the front, back, left and right sides of the plate during the plate conveying process. The first conveyor belt of this device stops running only when detecting the top surface of the plate, and does not stop moving when detecting the front and back sides of the plate. Therefore, while ensuring the accuracy of plate size detection, the efficiency of multi-side detection of the plate is improved.

[0034] In this embodiment, the first camera assembly to the sixth camera assembly are all electrically connected to the computer drive device, the first light source assembly to the sixth light source assembly are all electrically connected to the computer drive control device, and the first conveyor belt 3, the second conveyor belt 3-1 and the motor are all electrically connected to the computer drive control device. The computer drive control device serves as the driving center of the detection system and the control center for issuing, receiving and processing instructions. In this embodiment, it mainly completes the control and driving of the motor, the first conveyor belt 3, and the second conveyor belt 3-1 to work according to instructions, controls the light source assembly to fill light, and controls the camera assembly to start shooting. With the cooperation of the light source assembly, the camera assembly collects image information of the six sides of the plate and transmits it to the computer drive control device, which analyzes and processes it, thereby detecting the size and surface defects of the plate, and adopts conventional and mature visual inspection procedures for product size and surface defects. The computer-driven control equipment includes existing equipment such as a host, a PLC controller, and a motor driver. The internal structure of the computer-driven control equipment is not the creative point of the present invention, and is a prior art or conventional technology. This embodiment will not be described here in detail. A plurality of pairs of photoelectric sensors are conventionally arranged on the first conveyor belt 3 and the second conveyor belt 3-1. The photoelectric sensors sense the position information of the plate and feed it back to the host. The host controls the camera assembly to scan and shoot according to the program sequence.

[0035] In the present application, the division method of the working compartment is not limited to embodiment one and embodiment two. The division of the working compartment is mainly to allow the dynamic detection components to be integrated and installed together and the static detection components to be integrated and installed together, to complete the detection goals in their respective working areas, to simplify the structure of the equipment main frame 1 and the zero firmware installation, and to make the plate detection process more efficient.

[0036] Embodiment 2: Based on embodiment 1, a plate aligning component is provided on the second conveyor belt 3 - 1 , and the plate aligning component is controlled by a computer-driven device to calibrate the orientation of the plate.

[0037] Specifically, the plate straightening assembly includes a push rod assembly 1-64 and a guide member 1-63. The linear module mounting frame 1-61 is fixedly connected to the side of the base bracket 1. The third linear module 1-62 and a motor for driving the linear module to move linearly are fixedly connected to the linear module mounting frame 1-61. The guide member 1-63 is fixedly arranged on one side of the second conveyor belt 3-1 along the plate conveying direction and its side facing the middle of the second conveyor belt 3-1 is used to straighten the plate. The push rod assembly 1-64 is fixedly connected to the third linear module moving part and is arranged above the second conveyor belt 3-1. Under the force applied by the third linear module, the push rod assembly 1-64 pushes the plate to move on the second conveyor belt 3-1 so that one side of the plate lightly touches the guide member.

[0038] The push rod assembly 1-64 includes an adapter 1-641, a push rod 1-642 and a rotating member 1-643. The push rod is fixedly connected to the moving part of the third linear module through the adapter. A plurality of rotating members are fixedly installed on the lower side of the push rod along the length direction of the push rod, and the rotating members can rotate around the central axis in the vertical direction. The vertical distance between the rotating member and the second conveyor belt 3-1 is less than the thickness of the plate to ensure that the plate can be pushed. Preferably, the rotating member is cylindrical and a bearing and a matching rotating shaft are fixed in the middle. The rotating shaft is installed on the lower side of the push rod through a fixing member, and the fixing member can be a nut or a bearing nesting member, which is a conventional technology.

[0039] In the present invention, the linear module is an automation upgrade unit following the linear guide, linear motion module, and ball screw linear transmission mechanism. The linear motion of the load can be realized through the combination of various units, making the automation of light loads more flexible and the positioning more precise. The linear module is a well-known technology and will not be described in detail here.

[0040] In this structure, the rotating member of the push rod assembly contacts the plate, and the plate moves with the conveyor belt, and the plate drives the rotating member to rotate, and the rotating member converts the friction force into rotational force, thereby reducing the scratches of the rotating member on the plate. Preferably, the rotating member is made of rubber material or plastic, which can reduce the scratches on the plate.

[0041] After placing the plate on the second conveyor belt 3-1, the position of the plate is calibrated so that the plate enters the plate detection equipment in a standard position, thereby reducing the difficulty of plate detection and the complexity of the detection equipment, reducing the detection cost and improving the detection accuracy.

[0042] Embodiment 3: Based on Embodiment 2, a plate identification code scanning component 12 is provided at the entrance of the second conveyor belt 3-1. The plate identification code scanning component 12 is controlled by a computer-driven device to collect identification code information and transmit it to a computer for analysis to obtain plate model and parameters. It can cooperate with a plate straightening component for adaptive straightening. The control method is as follows: The plate self-adaptive straightening control method of the plate detection equipment comprises the following steps: Step 1: Obtain the parameters of the plate, which at least include length L, width and weight. Plates of different models have different parameters. The plate parameters are obtained by the plate identification code scanning component in Example 2 and the system is set. It should be noted that the length L, width and weight N in the plate parameters are not the actual size and weight of the plate. The purpose of plate detection is to verify whether the actual size of the plate is consistent with the preset parameters.

[0043] Step 2. According to the preset friction coefficient μ and the weight parameter N of the plate, the friction force calculation formula F = μNg, g is the gravity coefficient, and the friction force of the plate on the conveyor belt is estimated. The preset torque required to be output by the motor is calculated based on the friction force. Here, the torque output of the motor is estimated by the torque transmission principle. This technology is existing technology and will not be elaborated here.

[0044] Step 3: The computer-driven control device calculates the initialization position of the push rod assembly according to the width of the plate. The calculation method of the initialization position of the push rod assembly is: the sum of the width of the plate and the width redundancy, and the width redundancy is a system setting parameter.

[0045] Step 4: The computer-driven control device calculates the delay time T of the regular start according to the length L of the plate and the speed S of the conveyor belt, and completes the system setting; the formula is as follows: ,in, is the adjustment coefficient, ranging from 0.6 to 0.96. is the distance between the photoelectric sensor and the conveyor belt entrance; The theoretical value of can be 1, but the width redundancy causes the push rod assembly to take a certain amount of time to move from the initialization position to the side of the plate, while the speed of the conveyor belt is constant, which will cause the plates to be straightened only after all of them enter the conveyor belt, which is not conducive to the next step of the process. Therefore, the present invention needs to control the straightening of all the plates before they enter the conveyor belt. The straightening has high stability and does not interfere with the next step.

[0046] Step 5: The computer control device controls the motor to drive the linear module according to the calculated initialization position of the push rod assembly, thereby driving the push rod assembly to move to the initialization position.

[0047] Step 6: From the moment of receiving the position signal of the photoelectric sensor, the computer-driven control device controls the motor according to the delay time T of the regular start, and drives the push rod assembly to move toward the plate.

[0048] Step 7. The computer-driven control device controls the motor output torque according to the preset torque, and determines whether the push rod assembly pushes the plate according to the change in motor power; if it does, the plate is straightened; if it does not, the motor output torque is controlled according to the product of the preset multiple and the preset torque until the plate is pushed to lightly touch the guide part, and when the photoelectric sensor is not received, the push rod assembly is driven back to the initialization position.

[0049] The preset torque multiples are 1.2 times, 1.5 times and 1.8 times, and the output torque increases step by step. First, use one times the torque to tentatively push the plate, and then increase the output torque step by step until the plate can be pushed. This reduces the risk of damage to the plate and improves the working stability of the equipment.

[0050] The orientation of the plate is calibrated and corrected so that the plate enters the plate detection equipment in a standard orientation, thereby reducing the difficulty of plate detection and the complexity of the detection equipment, reducing the detection cost and improving the detection accuracy.

[0051] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

[0052] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A six-sided dynamic and static mixed inspection system for plates, characterized in that: The device comprises a main frame of the device and a base bracket, wherein the upper part of the main frame of the device is provided with a working chamber, the base bracket runs through the lower part of the main frame of the device, the base bracket is provided with a first conveyor belt and a second conveyor belt in sequence in front and back, the working chamber is arranged above the first conveyor belt, a working distance is provided between the first conveyor belt and the second conveyor belt and a background module is provided, the base bracket is provided with a sixth camera assembly for photographing the back image of the plate and below the background module, and a sixth light source assembly for filling light toward the background module is provided on the side of the sixth camera assembly; the lower part of the working chamber is provided with a first camera assembly for photographing the front and side images of the plate and a second camera assembly for photographing the rear and side images of the plate in sequence in front and back along the conveying direction of the plate, and a first light source for filling light to the front and side of the plate when photographing is fixedly provided next to the first camera assembly A second light source assembly is fixedly provided next to the second camera assembly for supplementing the front side of the plate when shooting; a long slide assembly which slides horizontally and linearly along the conveying direction and a first servo motor which drives the long slide assembly to move linearly are fixedly provided on the top of the working bin; a fifth camera assembly for shooting the top surface image of the plate and a fifth light source assembly for supplementing the top surface of the plate when shooting are fixedly connected to the sliding portion of the long slide assembly; a second linear module and a third servo motor which drives the second linear module are fixedly provided in the working bin; a moving portion of the second linear module can move horizontally along the width direction of the plate and is fixedly connected to a third camera assembly and a third light source assembly for shooting one side image of the plate; a fourth camera assembly and a fourth light source assembly for shooting the other side image of the plate are fixedly connected to the fixed portion on one side of the conveyor belt.

2. A six-sided dynamic and static mixed inspection system for plates as claimed in claim 1, characterized in that: The fifth camera assembly includes a slide mounting frame, a first linear module, a second servo motor, an angular position adjuster, a camera seat and a line scan camera. The upper part of the slide mounting frame is fixedly mounted on the sliding part of the long slide assembly. The first linear module is vertically mounted on the slide mounting frame and its moving part can move up and down. The second servo motor is fixedly connected to the first linear module. The moving part of the first linear module is fixedly connected to the angular position adjuster through a connecting plate. The angular position adjuster is fixedly connected to the camera seat through a connecting plate. The line scan camera is fixed on the connecting camera seat. The fifth light source assembly is fixedly mounted on the lower part of the slide mounting frame and its height is lower than that of the line scan camera.

3. A six-sided dynamic and static mixed inspection system for plates as claimed in claim 1, characterized in that: The fifth light source assembly includes a rotating connector and a light source unit. A rotating connector is installed on both sides of the light source unit. The light source unit is horizontally connected to the lower part of the slide mounting frame through two rotating connectors. The rotating connector is used to adjust the fill light angle of the light source unit.

4. A six-sided dynamic and static mixed inspection system for plates as claimed in claim 1, characterized in that: The background module includes a first bracket, a second bracket, a background belt bracket, a background belt and a shading plate. The left side of the first conveyor belt and the left side of the second conveyor belt are connected by the first bracket spanning the working distance. The right side of the first conveyor belt and the right side of the second conveyor belt are connected by the second bracket spanning the working distance. The first bracket and the second bracket are respectively fixedly connected to the two ends of the background belt bracket. The background belt is provided on the lower side of the background belt bracket, and the shading plate is provided on the upper side of the background belt bracket.

5. A six-sided dynamic and static mixed inspection system for plates as claimed in claim 1, characterized in that: The working chamber is divided into two working chamber sections according to function, wherein the first working chamber section is used to install the fifth camera assembly for capturing the top surface image of the plate, and the second working chamber section is used to install the first camera assembly and the second camera assembly for capturing the front, back and side images of the plate.

6. A six-side dynamic and static mixed inspection system for plates as described in any one of claims 1 to 5, characterized in that: The second conveyor belt is provided with a plate aligning assembly, which is used to calibrate the orientation of the plate. The plate aligning assembly includes a push rod assembly and a guide member. The side of the base bracket is fixedly connected to a linear module mounting frame, and the linear module mounting frame is fixedly connected to a third linear module and a motor for driving the linear module to move linearly. The guide member is fixedly arranged on one side of the second conveyor belt body along the plate conveying direction and its side facing the middle direction of the second conveyor belt body is used to align the plate. The push rod assembly is fixedly connected to the third linear module moving part and is arranged above the second conveyor belt body. Under the force applied by the third linear module, the push rod assembly pushes the plate to move on the second conveyor belt so that one side of the plate lightly touches the guide member.

7. A six-sided dynamic and static mixed inspection system for plates as claimed in claim 6, characterized in that: A plate identification code scanning component is provided at the entrance of the second conveyor belt, and the plate identification code scanning component is used to collect identification code information and transmit it to a computer for analysis to obtain plate model and parameters.

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