Rivet missing detection device and detection sorting system

Abstract

The invention belongs to the technical field of detection equipment, and provides a rivet missing detection device which comprises a base, a conveying belt, a limiting frame and a top cover, and the conveying belt moves a workpiece within the surrounding range of the limiting frame; the top cover is located above the limiting frame, window shades capable of being unfolded or folded are arranged on the two sides of the top cover, and the top cover, the limiting frame and the window shades unfolded towards the two sides of the limiting frame define a darkroom surrounding the upper portion of a workpiece. A reflecting plate is arranged on the top cover, a light source located below the surrounding range of the limiting frame is arranged on the base, and the light source irradiates a workpiece located in the limiting frame, so that the projection of the workpiece is projected on the reflecting plate; an image acquisition device is arranged on the limiting frame and is used for acquiring a projection image on the reflecting plate and uploading the projection image to an upper computer. The invention further provides a detecting and sorting system with the rivet leakage detecting device. The technical problem that the cost is increased due to the fact that different auxiliary parts need to be manufactured when products of different specifications are detected through existing rivet missing detection equipment is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of detection equipment for products in the production process, and in particular, relates to a missing rivet detection device and a detection and sorting system. Background Art

[0002] With the continuous progress of society and the rapid development of science and technology, the market demand for many products is increasing, and the requirements are getting higher and higher. Therefore, it is necessary to ensure product quality and improve production efficiency to meet market demand. At present, rivets are used on many products, which are prone to misinstallation or missing during the production process, and the processed products need to be inspected. Traditional detection methods are generally divided into two types, including manual naked eye visual detection and rivet hole light transmission detection. For manual naked eye visual detection, the detection results need to be observed by naked eye to see the light leakage. The operator needs to be in an observation state for a long time, which is prone to wrong judgments. Especially when there are other reserved installation holes on the product, visual confusion is very likely to occur, affecting the detection efficiency and stability.

[0003] For rivet hole light transmission detection, the rivet hole light transmission detection has higher stability than manual naked eye visual detection, but it also has the disadvantages of complex detection methods and high costs. Different detection auxiliary carriers need to be made when detecting products of different specifications, which increases production costs.

[0004] Therefore, the missing rivet detection method used in the prior art still has many defects and does not meet the detection requirements on current production lines. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a missing rivet detection device and a detection and sorting system to solve the technical problem that the missing rivet detection equipment in the prior art needs to manufacture different auxiliary parts when detecting products of different specifications, resulting in increased costs.

[0006] To achieve the above purpose, the technical solution adopted in this application is:

[0007] In a first aspect, an embodiment of the present application provides a missing rivet detection device, comprising a base and a conveyor belt, a limit frame and a top cover arranged on the base, wherein the conveyor belt is used to move a workpiece within the surrounding range of the limit frame; the top cover is located above the limit frame, and both sides of the top cover are provided with a blackout curtain that can be unfolded or retracted for movement, and the top cover, the limit frame and the blackout curtain unfolded to both sides of the limit frame together form a darkroom enclosed above the workpiece;

[0008] A reflective plate is provided on the top cover, and a light source is provided on the base below the range surrounded by the limit frame. The light source irradiates the workpiece in the limit frame so that the projection of the workpiece is projected on the reflective plate. An image acquisition device is provided on the limit frame, and the image acquisition device is used to acquire the projection image on the reflective plate and upload it to the host computer.

[0009] In this way, a darkroom above the workpiece is formed by utilizing the top cover, the limit frame, and the blackout curtains extended to both sides of the limit frame. By acquiring images of the workpiece in the darkroom, the contamination of the workpiece by light from the external environment or dust entering from the outside can be effectively eliminated, which is beneficial to improving the clarity and accuracy of the image, thereby improving the accuracy and stability of the detection.

[0010] The structure of the blackout curtain is improved. The blackout curtain includes a cloth curtain, a storage bin, a rotating shaft, and a driving mechanism for driving the rotating shaft to rotate. The storage bin is mounted on the base, and the cloth curtain is wound on the rotating shaft. The rotating shaft is arranged in the storage bin and driven by the driving mechanism to rotate forward and reversely to drive the cloth curtain to unfold or retract. In this way, the blackout curtain can be unfolded only after the workpiece is moved into place, so that a dark room for detecting the workpiece is formed on the conveyor belt, blocking external light from entering the dark room. When the detection is completed, the blackout curtain can automatically reset, so that the workpiece can be easily moved out of the detection area and conveniently taken away.

[0011] In one embodiment, a shading plate is connected to the extended end of the cloth curtain, and the shading plate can move with the cloth curtain. The shading plate can be used as a counterweight on the extended end of the cloth curtain to enable the cloth curtain to be fully unfolded, and can also fill the light leakage gap when the cloth curtain is not fully unfolded, thereby effectively improving the airtightness of the darkroom.

[0012] The structure on the base is improved, and the base is also provided with a movable stopper that can be driven to stand up or reset, and the movable stopper is used to stop the workpiece moved by the conveyor belt to the range surrounded by the limit frame. The movable stopper is used to stop the workpiece, so that the workpiece moves into place in the limit frame, ensuring that the workpiece can stay within the range of the limit frame.

[0013] In one embodiment, a pair of guide blocks protruding toward the center direction of the limit frame are provided on both sides of the base, and the opposite end faces of the pair of guide blocks are guide surfaces for correcting the moving path of the workpiece. The distance between the guide surfaces on the pair of guide blocks gradually decreases toward the direction of the movable stop block, thereby correcting the posture of the workpiece when it arrives in the limit frame.

[0014] The structure of the limit frame is improved, the limit frame has a frame opening for exposing the workpiece, and the limit frame is provided with a plurality of image acquisition devices, which are evenly arranged on the limit frame body surrounding the frame opening. In this way, the projection of the workpiece presented on the reflective board is photographed at multiple angles using the plurality of image acquisition devices, effectively ensuring the integrity of the projection image of the inspected workpiece.

[0015] In the second aspect, the embodiment of the present application also provides a detection and sorting system, including a first loading tray, a second loading tray and a third loading tray, a robot and the missing rivet detection device: the first loading tray, the second loading tray and the third loading tray are respectively used to place workpieces; the robot is configured to extract workpieces from the first loading tray to the missing rivet detection device for detection, and place qualified workpieces on the second loading tray, or place unqualified workpieces on the third loading tray. In this way, the robot is used to replace manual labor to load materials and sort the workpieces after detection, effectively improving work stability and work efficiency.

[0016] The structure of the material loading tray is improved, and the first material loading tray, the second material loading tray and the third material loading tray all include a loading box, and the loading box is provided with a grid for placing workpieces respectively; the material loading tray is also provided with a plurality of separation grooves for placing the loading boxes respectively, and the plurality of separation grooves are arranged in order on the material loading tray along the length direction of the material loading tray. In this way, it is convenient for operators to quickly count the number of workpieces, thereby improving work efficiency.

[0017] In one embodiment, sensing elements are disposed diagonally on both sides of the charging box, and the loading tray is provided with sensing parts located on the side walls of each of the dividing grooves, and the sensing parts are used to perform sensing cooperation with the sensing elements on the charging box. In this way, the sensing elements on the charging box are disposed diagonally, so that the charging box is not affected by the direction, and the chips on the charging box and the sensing parts on the loading tray can be automatically aligned, thereby improving the position adaptability.

[0018] The structure of the robot is improved, and the robot includes a first mechanical arm and a second mechanical arm. The first mechanical arm is configured to transfer the workpiece on the first loading tray to the conveyor belt of the missing rivet detection device; the second mechanical arm is configured to transfer the workpiece removed from the darkroom to the second loading tray or the third loading tray. In this way, the two mechanical arms are used to respectively operate the feeding and sorting of the workpieces, effectively improving the operation efficiency and accuracy.

[0019] The beneficial effects of the missing rivet detection device and the detection and sorting system provided by the present application are: compared with the prior art, the detection and sorting system of the present application utilizes robots to replace human hands to load materials and perform sorting operations on workpieces after detection, thereby effectively improving work stability and work efficiency.

[0020] The missing rivet detection device of the present application includes a conveyor belt, a limit frame and a top cover. Both sides of the top cover are provided with movable blackout curtains that can be unfolded or stored. The light source located below the limit frame illuminates the workpiece so that the projection of the workpiece is illuminated on the reflective plate of the top cover. The image acquisition device provided on the limit frame acquires the image of the projection of the workpiece presented on the reflective plate and uploads it to the host computer. The host computer is used to perform image comparison, so as to quickly determine whether there is a missing rivet part in the workpiece, and effectively improve the detection efficiency.

[0021] The missing rivet detection device of the present application can be applied to workpieces of different specifications for detection, effectively improving the versatility of the device. There is no need to make different detection auxiliary plates according to the rivet position layout of the workpiece, and detection is achieved by using image acquisition and image comparison, effectively reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 A schematic diagram of the three-dimensional structure of the detection and sorting system provided in an embodiment of the present application;

[0024] Figure 2 A top view of the detection and sorting system provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the three-dimensional structure of a missing rivet detection device provided in an embodiment of the present application;

[0026] Figure 4 Schematic diagram of the explosion structure of the missing rivet detection device provided in the embodiment of the present application Figure 1 ;

[0027] Figure 5 A top view of a base provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of the internal structure of a missing rivet detection device provided in an embodiment of the present application;

[0029] Figure 7Schematic diagram of the explosion structure of the missing rivet detection device provided in the embodiment of the present application Figure 2 ;

[0030] Figure 8 Schematic diagram of the three-dimensional structure of the base provided in the embodiment of the present application Figure 1 ;

[0031] Fig. 9 A schematic diagram of the structure between a pair of guide blocks provided in an embodiment of the present application;

[0032] Fig.10 for Figure 8 A partial enlarged schematic diagram of the structure of part A;

[0033] Fig.11 Schematic diagram of the three-dimensional structure of the base provided in the embodiment of the present application Figure 2 ;

[0034] Fig.12 A schematic diagram of the assembly structure of the material loading tray provided in an embodiment of the present application;

[0035] Fig.13 A top view of a charging box provided in an embodiment of the present application.

[0036] Among them, the reference numerals in the figure are:

[0037] 100- missing rivet detection device; 200- workpiece;

[0038] 11-first loading tray; 12-second loading tray; 13-third loading tray; 14-loading box; 141-grid; 142-sensing element; 15-separating groove; 151-notch; 16-separating plate; 17-retaining rib; 18-sensing part;

[0039] 2-robot; 21-first robotic arm; 22-second robotic arm;

[0040] 3-base; 31-light source; 32-wall; 321-limiting groove; 33-movable stopper; 34-guide block; 341-long hole; 35-adjustment hole;

[0041] 4- conveyor belt; 41- first rolling belt; 42- second rolling belt; 43- third rolling belt;

[0042] 5-limiting frame; 50-frame opening; 51-image acquisition device; 52-inclined surface;

[0043] 6-top cover; 61-reflector;

[0044] 7- blackout curtain; 71- cloth curtain; 72- storage compartment; 73- blackout board. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0047] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0049] In traditional rivet missing detection equipment, whether the rivet parts on the workpiece are missing or not is generally determined by manual naked eye detection or rivet hole light transmission detection. Compared with manual naked eye visual detection, rivet hole light transmission detection has higher stability.

[0050] As for the light transmission detection of rivet holes, in the related art, such a light transmission detection device is provided with a detection auxiliary plate, and the detection auxiliary plate has light transmission holes, and these light transmission holes correspond one by one to the parts on the workpiece where rivets are required to be installed. During the detection, the workpiece is laid on the detection auxiliary plate, and the light source is used to illuminate it to determine whether the light transmission hole is blocked. If a rivet is installed at this part of the workpiece, the light transmission hole corresponding to the position on the detection auxiliary plate will be blocked; if a rivet is not installed at this part of the workpiece, the light transmission hole corresponding to the position on the detection auxiliary plate cannot be blocked. In this way, rapid detection is achieved and the efficiency of missing rivet detection is improved.

[0051] It can be seen that the detection auxiliary plate needs to be set according to the layout of the rivet positions on the workpiece to be detected. When this light-transmitting detection device detects workpieces of different specifications, it is necessary to make detection auxiliary plates with different light-transmitting hole layouts for detection, which increases the production cost and is not conducive to practical application.

[0052] Here, the embodiment of the present application provides a novel missing rivet detection device and detection and sorting system, redesigns the light transmission detection mechanism on the device, and uses image comparison to perform missing rivet detection without the need to manufacture different detection auxiliary plates. This effectively solves the problem that traditional missing rivet detection equipment needs to manufacture different detection auxiliary plates according to the layout of rivet positions on the workpiece, resulting in increased production costs. This is now described in detail.

[0053] Please also read Figure 1 and Figure 2 , on a detection and sorting system, including a first loading tray 11, a second loading tray 12, a third loading tray 13, a robot 2 and a missing rivet detection device 100 provided in an embodiment of the present application.

[0054] The first loading tray 11, the second loading tray 12 and the third loading tray 13 are respectively used to place the workpiece 200. The first loading tray 11 is arranged near the input end of the missing rivet detection device 100, and the second loading tray 12 and the third loading tray 13 are arranged near the output end of the missing rivet detection device 100, so that each loading tray is located within the range of motion of the robot 2.

[0055] The robot 2 is configured to extract the workpiece 200 from the first loading tray 11 to the missing rivet detection device 100 for detection, and place the qualified workpiece 200 on the second loading tray 12, or place the unqualified workpiece 200 on the third loading tray 13, thereby realizing the missing rivet detection and automatic sorting operation of the workpiece 200, effectively replacing manual inspection and improving the inspection efficiency.

[0056] Among them, "a workpiece that passes the inspection" can be understood as a workpiece 200 that has no missing rivet parts after inspection by the device; and "a workpiece that fails the inspection" can be understood as a workpiece 200 that has missing rivet parts after inspection by the device.

[0057] Please also read Figure 2 , Figure 3 and Figure 4 The missing rivet detection device 100 includes a base 3 and a conveyor belt 4, a limit frame 5 and a top cover 6 arranged on the base 3.

[0058] like Figure 4 and Figure 5As shown, the limit frame 5 is located on at least a portion of the conveyor belt 4, and the conveyor belt 4 is used to move the workpiece 200 into the surrounding range of the limit frame 5. In this embodiment, the limit frame 5 can preferably be a frame structure with a surrounding area larger than the area of ​​the workpiece 200. When the workpiece 200 moves into the limit frame 5 on the conveyor belt 4, the workpiece 200 is within the downward vertical projection range of the limit frame 5.

[0059] In this embodiment, if Figure 5 As shown, the conveyor belt 4 on the base 3 can be divided into a first area M1, a second area M2 and a third area M3 along its length direction. The first area M1 is used for feeding, and the workpiece 200 to be inspected is moved to the area of ​​the limit frame 5; the limit frame 5 is set in the second area M2; the third area M3 is used for discharging, and the inspected workpiece 200 is moved from the limit frame 5 to the third area M3, so that the robot 2 can take away the inspected workpiece 200.

[0060] like Figure 3 , Figure 4 and Figure 6 As shown, the top cover 6 is located above the limit frame 5, and movable shading curtains 7 are provided on both sides of the top cover 6. The shading curtains 7 can be driven to expand toward the two sides of the limit frame 5 located below or to be stored and reset. In this way, the top cover 6, the limit frame 5, and the shading curtains 7 expanded toward the two sides of the limit frame 5 enclose a darkroom N enclosed above the workpiece 200. The "darkroom" here can be understood as an enclosed space into which external light cannot enter.

[0061] A reflector 61 is provided on the top cover 6, and specifically, the reflector 61 can be provided at the bottom of the top cover 6, so that the reflective surface of the reflector 61 faces downward. A light source 31 is provided on the base 3, and the light source 31 can preferably be a lamp, and the lamp is preferably configured as a light-emitting panel structure embedded on the base 3. The light source 31 is located below the surrounding range of the limit frame 5, so that the workpiece 200 in the surrounding range of the limit frame 5 is simultaneously located in the irradiation range of the light source 31.

[0062] like Figure 6 As shown, the light source 31 is used to illuminate the workpiece 200 located in the limiting frame 5, so that the projection of the workpiece 200 is projected on the reflector 61. The limiting frame 5 is provided with an image acquisition device 51, which can preferably be a camera arranged on the limiting frame 5, and these cameras are arranged to face the direction of the reflector 61. The image acquisition device 51 is used to acquire the projected image on the reflector 61 and upload it to the host computer (not shown in the figure).

[0063] In this way, the host computer is used for image comparison, and specifically, the host computer may store a projection image of the workpiece 200 that meets the requirements after being illuminated by the light source 31. The stored projection image is compared with the uploaded projection image to quickly determine whether there is a missing riveting part on the workpiece 200. When the workpiece 200 is moved out of the limit frame 5, the robot 2 transfers the workpiece 200 to the second loading tray 12 or the third loading tray 13 according to the detection result, and completes the detection and sorting operation.

[0064] It should be noted that the above-mentioned robot 2, image acquisition device 51 and host computer all use their own functions. For example, the robot 2 can be a parallel robot 2 or a mechanical arm, etc., which has the function of transferring objects to a specified position according to instructions; the image acquisition device 51 has the function of automatically acquiring images; the host computer can preferably be a control host such as a computer, etc., which has an internal storage function and a comparison computing capability. The above-mentioned devices can be controlled in linkage, and specifically, the existing commonly used linkage control method can be used to implement the corresponding operation, such as using the collected image for recognition, and the parallel robot performs the corresponding operation according to the recognized information, etc. This application does not involve improvements in its functions and control methods.

[0065] Compared with the prior art, the missing rivet detection device 100 and the detection and sorting system provided in the embodiment of the present application utilize a robot 2 to replace human hands to load materials and perform sorting operations on the workpieces 200 after detection, thereby effectively improving work stability and work efficiency.

[0066] For missing rivet detection, the missing rivet detection device 100 of the present application includes a conveyor belt 4, a limit frame 5 and a top cover 6. Both sides of the top cover 6 are provided with movable shading curtains 7 that can be unfolded or stored. The light source 31 located below the limit frame 5 illuminates the workpiece 200, so that the projection of the workpiece 200 is illuminated on the reflector 61 of the top cover 6. The image acquisition device 51 set on the limit frame 5 captures the image of the projection of the workpiece 200 presented on the reflector 61 and uploads it to the host computer. The host computer is used to perform image comparison, so as to quickly determine whether there is a missing rivet part in the workpiece 200, and effectively improve the detection efficiency.

[0067] Compared with the open image acquisition structure used in the related art, the open structure is to set up a simple platform, the workpiece 200 is placed on the platform, and the camera device set above the platform takes pictures of the workpiece 200 below. The open image acquisition structure is easily affected by the external environment, such as the external brightness affecting the clarity of the photographed image; or dust particles in the external environment are easy to enter and reach the workpiece 200 during the photographing process, especially just blocking the rivet part of the workpiece 200. These factors are easy to exist in the above-mentioned open structure, resulting in an impact on the accuracy of the detection.

[0068] It can be seen that the missing rivet detection device 100 provided in the embodiment of the present application utilizes the top cover 6, the limit frame 5 and the blackout curtains 7 extended to both sides of the limit frame 5 to enclose a darkroom N above the workpiece 200. By capturing images of the workpiece 200 in the darkroom N, the pollution of the workpiece 200 caused by light pollution from the external environment or dust entering from the outside can be effectively eliminated, which is beneficial to improving the clarity and accuracy of the image, thereby improving the accuracy and stability of the detection.

[0069] The missing rivet detection device 100 provided in the embodiment of the present application can be used for detection of workpieces 200 of different specifications, effectively improving the versatility of the device. There is no need to manufacture different detection auxiliary plates according to the layout of the rivet parts of the workpiece 200, and detection is achieved by using image acquisition and image comparison, which solves the problem that the traditional missing rivet detection equipment needs to manufacture different detection auxiliary plates according to the layout of the rivet parts on the workpiece 200, resulting in increased production costs, effectively reducing production costs and facilitating production applications.

[0070] For the specific structure of the conveyor belt 4, in one embodiment of the present application, please refer to Figure 5 The conveyor belt 4 is provided with a first rolling belt 41, a second rolling belt 42 and a third rolling belt 43 according to the above three areas. The first rolling belt 41 is located in the above first area M1, the second rolling belt 42 is located in the above second area M2, and the third rolling belt 43 is located in the above third area M3. Each rolling belt can operate synchronously or independently, so as to perform corresponding conveying operations on the workpiece 200 according to control requirements.

[0071] For the specific structure of the movable blackout curtain 7, in one embodiment of the present application, please refer to Figure 7 The shading curtain 7 includes a cloth curtain 71, a storage bin 72, a rotating shaft (not shown) and a driving mechanism (not shown) for driving the rotating shaft to rotate. The storage bin 72 is mounted on the base 3. The cloth curtain 71 can be preferably made of opaque fabric, and the cloth curtain 71 is wound on the rotating shaft. The rotating shaft is arranged in the storage bin 72 and driven by the driving mechanism to rotate forward and reverse, so as to drive the cloth curtain 71 to unfold or store.

[0072] In this embodiment, if Figure 7 As shown, the storage bin 72 may preferably be a long rectangular strip, with an opening at the bottom of the storage bin 72, and the rotating shaft is disposed in the storage bin 72 and connected to the output end of the driving mechanism. The driving mechanism may preferably be a driving motor disposed outside the storage bin 72, and the driving mechanism may drive the rotating shaft to rotate forward or reversely, so that the cloth curtain 71 may be rolled up on the rotating shaft, or the cloth curtain 71 may extend from the bottom opening of the storage bin 72 and unfold downward as the rotating shaft rotates.

[0073] During the inspection of the workpiece 200, please refer to Figure 3 , Figure 5 and Figure 7 The robot 2 transfers the workpiece 200 to be inspected on the first loading tray 11 to the first area M1 of the conveyor belt 4. The conveyor belt 4 moves the workpiece 200 from the first area M1 to the second area M2, so that the workpiece 200 enters the surrounding range of the limit frame 5. At this time, the conveyor belt 4 can stop running.

[0074] The shading curtain 7 is started, and driven by the driving mechanism, the shaft rotates to drive the curtain 71 to unfold downward, thereby forming a dark room N enclosed on the limiting frame 5. The light source 31 on the base 3 is started to illuminate the workpiece 200, so that the projection of the workpiece 200 is projected on the reflector 61 at the bottom of the top cover 6.

[0075] Then, the image acquisition device 51 on the limit frame 5 is started to acquire the projection image of the workpiece 200 on the reflector 61 and upload it to the host computer for image comparison and analysis, so as to determine whether the workpiece 200 is qualified.

[0076] The shade curtain 7 is started again, the driving mechanism drives the shaft to rotate in the opposite direction, so that the curtain 71 is stored and reset, and the conveyor belt 4 is started again to send the workpiece 200 from the second area M2 to the third area M3. The robot 2 takes the inspected workpiece 200 from the third area M3 to the second loading tray 12 or the third loading tray 13.

[0077] It can be seen that the shading curtain 7 on the missing rivet detection device 100 can be unfolded only after the workpiece 200 is moved into place, so that a dark room N for detecting the workpiece 200 is formed on the conveyor belt 4; when the detection is completed, the shading curtain 7 will automatically reset, so that the workpiece 200 can be easily moved out of the detection area, so that the robot 2 can take the workpiece 200 away.

[0078] In actual applications, in order to allow the curtain 71 to be rolled up on the shaft like a tape measure, the curtain 71 is generally made of a thin cloth material, which results in the curtain 71 not being able to be fully unfolded due to lack of counterweight during its unfolding process; or the curtain 71 not being able to be fully unfolded due to the rotation stroke of the shaft. These factors may prevent the curtain 71 from being fully unfolded, resulting in light leakage gaps at the bottom of both sides of the limit frame 5, affecting the airtightness of the darkroom N.

[0079] Here, in one embodiment of the present application, please refer to Figure 7The extended end of the cloth curtain 71 is connected with a shading plate 73, which can move with the cloth curtain 71. In this way, the shading plate 73 is used as a counterweight on the extended end of the cloth curtain 71, so that the cloth curtain 71 can be fully unfolded to stop on the base 3 to be enclosed in place, and the light leakage gap existing when the cloth curtain 71 is not fully unfolded can be filled, thereby effectively improving the airtightness of the darkroom N.

[0080] In addition, since the shading plate 73 cannot be deformed, it can only be located outside the storage compartment 72 during the storage process of the curtain 71. This means that the shading plate 73 cannot remain in a vertical state and is easily tilted and swung toward the space outside or inside the darkroom, causing the shading plate 73 to easily hit the limit frame 5 when being driven downward again, and unable to avoid the limit frame 5 to move to the bottom, resulting in a gap for light leakage.

[0081] To this end, based on the above, in one embodiment of the present application, please refer to Figure 7 The base 3 is also provided with a surrounding wall 32 located on both sides of the conveyor belt 4, and the surrounding wall 32 is provided with a limiting groove 321 that matches the position of the limiting frame 5. Both ends of the shading plate 73 extend to the surrounding walls 32 on both sides of the base 3 and are confined in the limiting groove 321.

[0082] In this way, the limit groove 321 is utilized to restrict the movable range of the shading plate 73 so that the shading plate 73 maintains a vertical state, and avoids the shading plate 73 from tilting and swinging toward the space outside or inside the dark room when the shading curtain 7 is stored, thereby effectively solving the problem that the shading plate 73 cannot move to the bottom, resulting in a gap that easily leaks light.

[0083] For the positioning structure when the workpiece 200 is moved to the detection area, in one embodiment of the present application, see Figure 8 The base 3 is also provided with a movable stopper 33 which can be driven to stand up or reset. The movable stopper 33 is used to stop the workpiece 200 which is moved by the conveyor belt 4 to the range surrounded by the limit frame 5.

[0084] In this embodiment, a pair of movable stops 33 that can be triggered synchronously are provided on the base 3, and the workpiece 200 is stopped at two points synchronously on the same side of the advancing direction of the workpiece 200, so that the workpiece 200 is neatly stopped within the range of the limit frame 5. As for the driving method of the movable stops 33, a corresponding driving structure such as a driving motor can be preferably provided on the base 3 to drive the movable stops 33 to stand on the surface of the base 3 to stop the workpiece 200; or, when the workpiece 200 is released, the movable stops 33 can be reset to release the stop of the workpiece 200.

[0085] In this way, the movable stopper 33 is used to stop the workpiece 200 , so that the workpiece 200 can be moved into position in the limiting frame 5 , ensuring that the workpiece 200 can stay within the range of the limiting frame 5 .

[0086] Further, in order to improve the positioning effect of the workpiece 200, in one embodiment of the present application, please refer to Figure 8 and Fig. 9 A pair of guide blocks 34 are also provided on both sides of the base 3 and protrude toward the center direction of the limit frame 5. The opposite end surfaces of the pair of guide blocks 34 are guide surfaces 340 for correcting the moving path of the workpiece 200. Fig. 9 As shown, the distance L between the guide surfaces 340 on the pair of guide blocks 34 gradually decreases toward the movable stopper 33 .

[0087] In this way, the workpiece 200 entering the limit frame 5 is corrected in posture by the guide blocks 34 on both sides, so that the workpiece 200 reaching the range of the limit frame 5 is aligned with the frame opening of the limit frame 5, effectively improving the uniformity of the projected image of the workpiece 200 obtained, which is beneficial to image comparison and analysis processing.

[0088] In this embodiment, if Figure 8 and Fig.10 As shown, there are multiple adjustment holes 35 on both sides of the base 3, and the guide block 34 has a long hole 341 corresponding to the position of the adjustment hole 35, so that the added fasteners such as screws can be selectively fixed in the adjustment holes 35 at the corresponding positions to adjust the distance between the pair of guide blocks 34, which is conducive to adapting workpieces 200 of different lengths for guiding, thereby improving adaptability.

[0089] In this embodiment, the guide blocks 34 may preferably be symmetrical parts, which is conducive to unified production and installation on both sides of the base 3 respectively.

[0090] For the structure on the limit frame 5, in one embodiment of the present application, please refer to Figure 6 and Fig.11 The limiting frame 5 has a frame opening 50 for exposing the workpiece 200 , and a plurality of image acquisition devices 51 are arranged on the limiting frame 5 . The image acquisition devices 51 may preferably be cameras, and the plurality of image acquisition devices 51 are evenly distributed on the frame body of the limiting frame 5 surrounding the frame opening 50 .

[0091] In this way, multiple image acquisition devices 51 are used to shoot the projection of the workpiece 200 presented on the reflective plate 61 at multiple angles, thereby effectively ensuring the integrity of the projection image of the inspected workpiece 200.

[0092] Preferably, if Fig.11 As shown, the frame body of the limit frame 5 has an inclined surface 52 inclined toward the frame opening 50, which can be understood as the upper surface of the limit frame 5 is inclined toward the frame opening 50. The above-mentioned multiple image acquisition devices 51 are evenly distributed on the inclined surface 52 of the limit frame 5.

[0093] In this way, the image acquisition devices 51 are easily oriented by using the inclined surface 52. The inclined angle of the inclined surface 52 on the limit frame 5 can be adjusted according to the oriented angle of each image acquisition device 51, thereby improving the orientation orientedness of the image acquisition devices 51.

[0094] For the structure of the loading tray, in one embodiment of the present application, please refer to Fig.12 and Fig.13 The first loading tray 11, the second loading tray 12 and the third loading tray 13 have the same structure. Each loading tray includes a loading box 14. The loading box 14 is provided with grids 141 for placing the workpieces 200 respectively. Each grid 141 is configured to accommodate a workpiece 200 in an upright position.

[0095] The workpieces 200 can be placed in each grid 141, which is conducive to quickly counting the number of workpieces 200. As an example, Fig.11 As shown, each loading box 14 is preferably provided with 10 grid positions, so that a loading box 14 filled with workpieces 200 can quickly count 10 workpieces 200 .

[0096] like Fig.12 As shown, the loading tray is also provided with a plurality of partition grooves 15 for placing the charging boxes 14 respectively, and the plurality of partition grooves 15 are orderly arranged on the loading tray along the length direction of the loading tray.

[0097] The partition groove 15 may preferably be a rectangular groove that matches the shape of the charging box 14 , so that the charging box 14 can be automatically positioned after being placed in the partition groove 15 of each loading tray.

[0098] Therefore, the structures on the first loading tray 11 , the second loading tray 12 and the third loading tray 13 are conducive to the operator to quickly count the number of the workpieces 200 , thereby improving the working efficiency.

[0099] Preferably, see Fig.12 , a plurality of partition plates 16 are provided on the loading tray, and the partition groove 15 is formed between adjacent partition plates 16. Among them, a retaining rib 17 connected between adjacent partition plates 16 is provided on one side of the loading tray, and a notch 151 located between adjacent partition plates 16 is provided on the other side of the loading tray, so that the loading box 14 can slide into the partition groove 15 from the notch 151 on one side of the partition groove 15; or, when taking materials, the loading box 14 can be moved out of the notch 151 of the partition groove 15.

[0100] Therefore, in practical applications, as an example, when the robot 2 is taking out the last loading box 14 with workpieces on the loading tray, the slot 151 of the dividing slot 15 can be used to quickly replace the empty loading box 14, so that the robot 2 can continue to work.

[0101] The structure of the material loading tray is further improved. In one embodiment of the present application, please refer to Fig.12 and Fig.13 The charging box 14 is provided with a sensing element 142, and the sensing element 142 can preferably be a data chip with a storage memory function.

[0102] The loading tray is provided with a sensing portion 18 located on the side wall of each partition groove 15, and the sensing portion 18 is used to perform sensing cooperation with the sensing element 142 on the charging box 14, so as to identify the sensing element 142 and upload it to the host computer for further application.

[0103] Preferably, if Fig.13 As shown, the sensing element 142 on the loading box 14 is diagonally arranged on both sides of the loading box 14, and is arranged in conjunction with the rectangular dividing groove 15 on the loading tray, so that the loading box 14 can be placed in the dividing groove 15 of the loading tray without being affected by the direction, so that the chip and the sensing part 18 can be automatically aligned, thereby improving the position adaptability of the sensing element 142 on the loading box 14 and the sensing part 18 on the loading tray.

[0104] For the specific structure of the robot 2, in one embodiment of the present application, please refer to Figure 2 and Figure 3 The robot 2 includes at least a first robotic arm 21 and a second robotic arm 22. The first robotic arm 21 can be preferably arranged between the missing rivet detection device 100 and the first loading tray 11. The first robotic arm 21 is configured to transfer the workpiece 200 on the first loading tray 11 to the conveyor belt 4 of the missing rivet detection device 100.

[0105] The second robot arm 22 may be preferably disposed between the missing rivet detection device 100 , the second loading tray 12 and the third loading tray 13 , and the second robot arm 22 is configured to transfer the workpiece 200 removed from the darkroom N to the second loading tray 12 or the third loading tray 13 .

[0106] In this way, two robot arms are used to respectively operate the feeding and sorting of the workpieces 200 , thereby effectively improving the operation efficiency and accuracy.

[0107] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A missing rivet detection device, characterized in that: The invention comprises a base and a conveyor belt, a limit frame and a top cover arranged on the base, wherein the conveyor belt is used to move the workpiece within the surrounding range of the limit frame; the top cover is located above the limit frame, and both sides of the top cover are provided with shading curtains that can be unfolded or retracted for movement, and the top cover, the limit frame and the shading curtains unfolded to both sides of the limit frame together form a darkroom enclosed above the workpiece; A reflective plate is provided on the top cover, and a light source is provided on the base below the range surrounded by the limit frame. The light source irradiates the workpiece in the limit frame so that the projection of the workpiece is projected on the reflective plate. An image acquisition device is provided on the limit frame, and the image acquisition device is used to acquire the projection image on the reflective plate and upload it to the host computer.

2. The missing rivet detection device according to claim 1, characterized in that: The blackout curtain includes a cloth curtain, a storage bin, a rotating shaft, and a driving mechanism for driving the rotating shaft to rotate. The storage bin is mounted on the base, and the cloth curtain is wound around the rotating shaft. The rotating shaft is arranged in the storage bin and is driven by the driving mechanism to rotate forward and reversely to drive the cloth curtain to unfold or store.

3. The missing rivet detection device according to claim 2, characterized in that: A shading plate is connected to the extended end of the cloth curtain, and the shading plate can move along with the cloth curtain.

4. The missing rivet detection device according to claim 1, characterized in that: The base is also provided with a movable stopper which can be driven to stand up or reset, and the movable stopper is used to stop the workpiece which is moved by the conveyor belt to the range surrounded by the limit frame.

5. The missing rivet detection device according to claim 4, characterized in that: A pair of guide blocks protruding toward the center direction of the limit frame are also provided on both sides of the base, and the opposite end faces of the pair of guide blocks are guide surfaces for correcting the moving path of the workpiece, and the distance between the guide surfaces on the pair of guide blocks gradually decreases toward the direction of the movable stop block.

6. The missing rivet detection device according to any one of claims 1 to 5, characterized in that: The limiting frame has a frame opening for exposing the workpiece, and the limiting frame is provided with a plurality of the image acquisition devices, which are evenly distributed on the limiting frame body surrounding the frame opening.

7. A detection and sorting system, characterized in that: It comprises a first loading tray, a second loading tray and a third loading tray, a robot and a missing rivet detection device as described in any one of claims 1 to 6: the first loading tray, the second loading tray and the third loading tray are respectively used to place workpieces; the robot is configured to extract workpieces from the first loading tray to the missing rivet detection device for inspection, and place workpieces that pass the inspection on the second loading tray, or place unqualified workpieces on the third loading tray.

8. The detection and sorting system according to claim 7, characterized in that: The first loading tray, the second loading tray and the third loading tray all include a loading box, and the loading box is provided with a grid for placing workpieces respectively; the loading tray is also provided with a plurality of partition grooves for placing the loading boxes respectively, and the plurality of partition grooves are arranged in an orderly manner on the loading tray along the length direction of the loading tray.

9. The detection and sorting system according to claim 8, characterized in that: Induction pieces are arranged diagonally on both sides of the charging box, and the loading tray is provided with induction parts located on the side walls of each of the dividing grooves, and the induction parts are used for induction cooperation with the induction pieces on the charging box.

10. The detection and sorting system according to claim 7, characterized in that: The robot includes a first robotic arm and a second robotic arm. The first robotic arm is configured to transfer the workpiece on the first loading tray to the conveyor belt of the missing rivet detection device; the second robotic arm is configured to transfer the workpiece moved out of the darkroom to the second loading tray or the third loading tray.

Images