Intelligent detection equipment and detection method for appearance of polycrystalline diamond compact

Abstract

The invention relates to the technical field of industrial defect detection, and discloses a polycrystalline diamond compact appearance intelligent detection device and a detection method.The polycrystalline diamond compact appearance intelligent detection device comprises a working table top, and an upper rack and a lower rack are arranged at the upper end and the lower end of the working table top; a mechanical arm control device, a moving device, a vertical microscope detection device, a horizontal microscope detection device, a rotating device and a measuring device are mounted on the surface of the worktable. The computer vision detection technology is used for replacing a traditional manual recognition means, the detection efficiency is remarkably improved, the false detection rate is greatly reduced, and the double leap of the detection speed and quality is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial defect detection, and in particular to an intelligent detection device and method for the appearance of a polycrystalline diamond composite sheet. Background Art

[0002] Polycrystalline diamond composite sheets have extremely high hardness and wear resistance, can quickly cut rock formations, thereby increasing drilling speed, and are an important part of drilling bits. During the manufacturing process of polycrystalline diamond composite sheets, if the materials used are defective or of low quality, it may cause defects such as cracks on the surface of the polycrystalline diamond composite sheets; during transportation, it may cause scratches or notches on the surface of the polycrystalline diamond composite sheets; during the sintering process, if the temperature control is not accurate or the heat treatment process is not appropriate, it will cause inclusions on the surface of the polycrystalline diamond composite sheets. Defective polycrystalline diamond composite sheets are more easily damaged during drilling, resulting in a shortened service life of the drill bit, and increased frequency of drill bit replacement and maintenance costs.

[0003] Traditional polycrystalline diamond composite sheet inspection methods mainly rely on the naked eye or auxiliary magnifying glasses to identify defects on the surface of polycrystalline diamond composite sheets. They rely on the operator's experience, are easily affected by light and subjective judgment, and have problems such as low detection efficiency and difficulty in detecting tiny or hidden defects.

[0004] In view of this, the present invention proposes an intelligent detection device and method for the appearance of polycrystalline diamond compacts. Summary of the Invention

[0005] The object of the present invention is to provide an intelligent detection device and method for the appearance of polycrystalline diamond compacts to solve the problems existing in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An intelligent detection device for the appearance of polycrystalline diamond composite sheets, comprising

[0008] A workbench surface, wherein an upper frame and a lower frame are provided at the upper and lower ends of the workbench surface, and a robotic arm control device, a moving device, an upright microscope detection device, a horizontal microscope detection device, a rotating device, and a measuring device are installed on the workbench surface;

[0009] A robotic arm control device is used to photograph and identify the polycrystalline diamond composite sheet and absorb the polycrystalline diamond composite sheet to be inspected;

[0010] A moving device, used to move the polycrystalline diamond composite sheet to be tested from the loading and unloading area to the testing area;

[0011] Horizontal microscope detection device, used to take a left view of the polycrystalline diamond composite sheet;

[0012] Vertical microscope detection device, used to take a top view of the polycrystalline diamond composite sheet;

[0013] A rotating device for adsorbing polycrystalline diamond composite sheets;

[0014] The measuring device is used to measure the height of the polycrystalline diamond composite sheet to be tested when the polycrystalline diamond composite sheet moves from the loading and unloading area to the testing area.

[0015] Preferably, the robotic arm control device includes a plurality of robotic arm control box fixing columns, which are arranged on the workbench surface, and a robotic arm control box is fixed between the robotic arm control box fixing columns. A loading and unloading robotic arm is arranged on the left side of the robotic arm control box, and a robotic arm electromagnet is installed on the end flange of the loading and unloading robotic arm, and a positioning USB camera clamp is installed on the robotic arm electromagnet.

[0016] Preferably, the moving device is installed in a vertical and horizontal position of the loading and unloading robot arm, and the moving device includes a screw slide. A screw slide stepper motor is provided on the left side of the screw slide. The output end of the screw slide stepper motor is connected to the screw of the screw slide, and a screw slide slider is slidably connected to the screw slide.

[0017] Preferably, the horizontal microscope detection device includes a horizontal microscope base plate, a horizontal microscope, a horizontal microscope fixing seat, a horizontal microscope support plate, and a horizontal microscope support column. The horizontal microscope base plate is installed on the workbench table, the horizontal microscope fixing seat is fixedly installed on the horizontal microscope base plate, the horizontal microscope supporting column is provided on the horizontal microscope fixing seat, the horizontal microscope supporting plate is installed on the horizontal microscope support column, and the horizontal microscope is fixedly installed on the horizontal microscope support plate.

[0018] Preferably, the upright microscope detection device includes an upright microscope support column, which is installed on the workbench surface. A upright microscope fixing seat is installed at the bottom of the upright microscope support column, and a upright microscope support plate is installed on the upright microscope support column, and the upright microscope support plate fixes the upright microscope.

[0019] Preferably, the rotating device is installed on the slider of the screw slide, and the rotating device includes a rotating device support plate. The rotating device electromagnet and the electromagnet rotation drive motor are installed on both sides of the rotating device support plate. The electromagnet rotation drive motor drives the rotating device electromagnet to rotate through a rubber synchronous belt.

[0020] Preferably, the measuring device is installed at the center position of the left side of the screw slide, and the measuring device includes a photoelectric displacement sensor threaded support rod, and the photoelectric displacement sensor threaded support rod is divided into a photoelectric displacement sensor threaded support rod a and a photoelectric displacement sensor threaded support rod b. The photoelectric displacement sensor threaded support rod a and the photoelectric displacement sensor threaded support rod b are installed on the workbench surface, and a photoelectric displacement sensor support plate is installed on the photoelectric displacement sensor threaded support rod a and the photoelectric displacement sensor threaded support rod b, and a photoelectric displacement sensor is installed on the photoelectric displacement sensor support plate.

[0021] Preferably, a positioning angle is installed on the horizontal left side of the loading and unloading robot arm, the inner side of the positioning angle is the material area, and a wire management column is provided on the surface of the workbench surface on the side of the robot arm control box. A section is extended from the left side of the workbench surface on which a display is placed, and a main unit is provided at the bottom of the workbench surface inside the lower frame.

[0022] A detection method applied to an intelligent detection device for the appearance of a polycrystalline diamond composite sheet includes:

[0023] Step 1: The operator places the PCD to be inspected in the material area according to the positioning angle, looks down at the box with a USB camera, and uses an AI-based PCD recognition algorithm to accurately identify the number of rows and columns in the box and whether a PCD exists in each grid. Based on the obtained results, the position of each cell is calibrated according to the arrangement order of the matrix.

[0024] Step 2: Control the loading and unloading robot arm to move to the top of the designated position cell in the material area. Then, during the downward movement of the loading and unloading robot arm, a positioning USB camera for locating the distance between the polycrystalline diamond composite sheet and the robot arm electromagnet is used, combined with an AI-based polycrystalline diamond composite sheet and electromagnet head recognition algorithm, to identify and calculate the distance between the head of the robot arm electromagnet and the polycrystalline diamond composite sheet to be detected. When the distance reaches the threshold range, the loading and unloading robot arm stops moving downward, controls the electromagnet of the robot arm to be energized, and absorbs the polycrystalline diamond composite sheet to be detected.

[0025] Step 3: After the loading and unloading robot grabs the polycrystalline diamond composite sheet to be tested, the lead screw slide moves upward to the loading and unloading area. When it reaches the photoelectric switch in the loading and unloading area, the lead screw slide stepper motor is controlled to stop running. The lead screw slide stops at the preset position in the loading and unloading area, and the end flange of the loading and unloading robot moves to the top of the electromagnet of the rotating device.

[0026] Step 4: The loading and unloading robot arm moves downward. During the movement, the positioning USB camera identifies and calculates the distance between the composite sheet to be inspected and the head of the rotating device electromagnet. When the distance reaches the specified range, the loading and unloading robot arm stops moving downward, the rotating device electromagnet is energized, and the robot arm electromagnet is de-energized;

[0027] Step 5: The slider of the screw slide moves toward the detection area. When the slider moves to the photoelectric switch in the detection area, the stepper motor of the screw slide is controlled to stop running. During the movement, the photoelectric displacement sensor measures the height of the composite sheet to be detected.

[0028] Step 6: Use a vertical microscope and a horizontal microscope to obtain an image of the polycrystalline diamond compact at the current angle, and use the AI-based polycrystalline diamond compact surface defect detection algorithm to identify defects on the surface of the polycrystalline diamond compact;

[0029] Step 7: The electromagnet rotation drive motor drives the rotating device electromagnet to rotate through the rubber synchronous belt. Repeat step 6 to take photos of the composite sheet at this angle and perform defect detection. After the electromagnet rotation drive motor rotates 5 times, the lead screw slide is controlled to move to the loading and unloading area, the robotic arm electromagnet is energized, and the rotating device electromagnet is de-energized. After the robotic arm electromagnet grabs the polycrystalline diamond composite sheet, the loading and unloading robotic arm moves to the material area and places the polycrystalline diamond composite sheet in the original position of the packaging box.

[0030] By means of the above technical solution, the present invention provides an intelligent detection device and method for the appearance of polycrystalline diamond compacts. It has at least the following beneficial effects:

[0031] (1) The present invention utilizes a top-down USB camera to obtain information about the polycrystalline diamond composite sheet and the packaging box, and combines it with an artificial intelligence algorithm to extract the geometric features of the packaging box and identify whether each grid contains a composite sheet. This method can flexibly adapt to polycrystalline diamond composite sheets of different types and sizes, accurately capture the size of the packaging box and the layout of the internal grids, and avoid empty grasping by the loading and unloading robot arm.

[0032] (2) The present invention utilizes a positioning USB camera for locating the distance between the electromagnetic head of the robot arm and the polycrystalline diamond composite sheet to be grasped, and is combined with an artificial intelligence algorithm to prevent the loading and unloading robot arm from continuously descending during the process of grasping the polycrystalline diamond composite sheet, thereby preventing the polycrystalline diamond composite sheet from being damaged due to continuous descent.

[0033] (3) The present invention uses a horizontal microscope, a vertical microscope, a displacement sensor, and combines an artificial intelligence detection algorithm to accurately detect whether there are inclusions, surface unevenness, scratches, cracks and other defects on the upper surface and side surfaces of the polycrystalline diamond composite sheet, and obtains the size information of the polycrystalline diamond composite sheet.

[0034] (4) The present invention uses computer vision detection technology to replace traditional manual recognition methods. The present invention not only significantly improves the detection efficiency, but also greatly reduces the false detection rate, achieving a double leap in detection speed and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application:

[0036] Figure 1 It is a front view of the overall structure of the present invention;

[0037] Figure 2 It is a schematic diagram of the main structure of the present invention;

[0038] Figure 3 It is a front view of the main structure of the present invention;

[0039] Figure 4 It is a schematic diagram of the local structure of the detection part in the present invention.

[0040] In the figure: S1, upper frame; S2, lower frame; S3, workbench surface; S4, display; S5, host; 1, mechanical arm electromagnet; 2, positioning USB camera fixture; 3, material area; 4, positioning angle; 5, loading and unloading mechanical arm; 6, mechanical arm control box fixing column; 7, mechanical arm control box; 8, cable management column; 9, screw slide stepper motor; 10, screw slide; 11, vertical microscope fixing base; 12, screw slide slider; 13, electromagnet rotation drive motor; 14, rotating device support Support plate; 15. Rubber synchronous belt; 16. Rotating device electromagnet; 17. Horizontal microscope fixing seat; 18. Vertical microscope support column; 19. Vertical microscope support plate; 20. Photoelectric displacement sensor support plate; 21. Photoelectric displacement sensor; 22. Vertical microscope; 23. Horizontal microscope support plate; 24. Horizontal microscope support column; 25. Photoelectric displacement sensor threaded support rod a; 26. Photoelectric displacement sensor threaded support rod b; 27. Horizontal microscope base plate; 28. Horizontal microscope. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] See also Figure 1 - Figure 4As shown, one embodiment of the present invention is: an intelligent detection device for the appearance of polycrystalline diamond composite sheets, comprising

[0043] The workbench surface S3 has an upper frame S1 and a lower frame S2 at the upper and lower ends thereof. The workbench surface S3 is equipped with a robotic arm control device, a moving device, a vertical microscope detection device, a horizontal microscope detection device, a rotating device, and a measuring device;

[0044] A robotic arm control device is used to photograph and identify the polycrystalline diamond composite sheet and absorb the polycrystalline diamond composite sheet to be inspected;

[0045] A moving device, used to move the polycrystalline diamond composite sheet to be tested from the loading and unloading area to the testing area;

[0046] Horizontal microscope detection device, used to take a left view of the polycrystalline diamond composite sheet;

[0047] Vertical microscope detection device, used to take a top view of the polycrystalline diamond composite sheet;

[0048] A rotating device for adsorbing polycrystalline diamond composite sheets;

[0049] A measuring device is used to measure the height of the polycrystalline diamond compact to be tested during the process of the polycrystalline diamond compact moving from the loading and unloading area to the testing area;

[0050] The upper frame S1 can be understood as the upper shell of the polycrystalline diamond composite sheet appearance intelligent detection equipment, which provides protection for the equipment. The lower frame S2 can be understood as the lower shell and bottom support of the polycrystalline diamond composite sheet appearance intelligent detection equipment, which provides stable support for the detection equipment. The workbench table S3 is located between the upper frame S1 and the lower frame S2. It is provided with holes and installation points to facilitate the firm fixation of various components of the detection equipment on it. At the same time, this detection equipment is also equipped with an AI-based polycrystalline diamond composite sheet recognition algorithm in the packaging box, an AI-based robot arm electromagnetic iron head and polycrystalline diamond composite sheet recognition and distance analysis algorithm, an AI-based polycrystalline diamond composite sheet and rotating mechanism electromagnetic iron head recognition and distance analysis algorithm, and an AI-based polycrystalline diamond composite sheet surface defect detection algorithm.

[0051] On the basis of the above embodiment, in another embodiment of the present invention, the robot arm control device includes a plurality of robot arm control box fixing columns 6, the robot arm control box fixing columns 6 are arranged on the workbench table S3, a robot arm control box 7 is fixed between the robot arm control box fixing columns 6, a loading and unloading robot arm 5 is arranged on the left side of the robot arm control box 7, a robot arm electromagnet 1 is installed on the end flange of the loading and unloading robot arm 5, and a positioning USB camera fixture 2 is installed on the robot arm electromagnet 1;

[0052] Among them, the positioning USB camera fixture 2 is located in front of the robot arm electromagnet 1 and is used to fix the positioning USB camera. The loading and unloading robot arm 5 is located to the right of the center area of ​​the workbench table S3. The robot arm control box 7 is fixed to the right side of the loading and unloading robot arm 5 through 4 robot arm control box fixing columns 6. In order to ensure that the head of the robot arm electromagnet 1 and the polycrystalline diamond composite sheet to be grabbed are within the field of view of the positioning USB camera, the positioning USB camera is fixed in front of the robot arm electromagnet 1 through the positioning USB camera fixture 2. The distance between the positioning USB camera and the robot arm electromagnet can be adjusted by positioning the USB camera fixture 2. The shooting angle of the USB camera is adjusted to the correct position. In view of the diversity of sizes of polycrystalline diamond composite sheet packaging boxes and the different sizes and heights of polycrystalline diamond composite sheets, an artificial intelligence algorithm is used to identify the polycrystalline diamond composite sheet packaging box information, the distance between the head of the loading and unloading robot arm electromagnet 1 and the polycrystalline diamond composite sheet, and the distance between the composite sheet to be detected and the head of the rotating device electromagnet 16. While accurately locating the polycrystalline diamond composite sheet in each grid in the packaging box, it avoids damage to the polycrystalline diamond composite sheet when the loading and unloading robot arm 5 grabs and places the polycrystalline diamond composite sheet, thereby realizing an efficient and safe automated processing process.

[0053] A top-down USB camera is installed directly above the material area to capture images of polycrystalline diamond composite sheets and packaging boxes. It also uses an AI-based polycrystalline diamond composite sheet recognition algorithm to identify the number of rows and columns of packaging boxes, as well as whether there are polycrystalline diamond composite sheets in each grid. The USB camera is positioned to capture images of the loading and unloading robot arm 5 during its downward movement. It also uses an AI-based polycrystalline diamond composite sheet and robot arm electromagnet head recognition algorithm, as well as an AI-based polycrystalline diamond composite sheet and rotating mechanism electromagnet head recognition and distance analysis algorithm to identify and calculate the distance between targets during the downward movement of the loading and unloading robot arm. It controls the power on and off of the robot arm electromagnet and the rotating device electromagnet. By using computer vision detection technology to replace traditional manual recognition methods, it not only significantly improves detection efficiency, but also greatly reduces the false detection rate, achieving a double leap in detection speed and quality.

[0054] During operation, when the loading and unloading robot arm 5 is in the process of moving down to grab the polycrystalline diamond composite sheet, when the loading and unloading robot arm 5 reaches the specified height, the USB camera is controlled to capture the image under the current viewing angle, and the AI-based recognition algorithm of the polycrystalline diamond composite sheet and the robot arm electromagnet head is used to identify and calculate the distance between the targets. When the distance is greater than the specified threshold, the loading and unloading robot arm 5 is controlled to move down 1 mm until the distance between the two reaches the adsorbable state, and the robot arm electromagnet 1 is controlled to be energized to adsorb the polycrystalline diamond composite sheet; when the loading and unloading robot arm 5 is in the process of placing the polycrystalline diamond composite sheet to be tested, when the loading and unloading robot arm 5 reaches the specified height, the USB camera is controlled to capture the image under the current viewing angle, and the AI-based head recognition and distance analysis algorithm of the polycrystalline diamond composite sheet and the rotating device electromagnet 16 is used to identify and calculate the distance between the targets. When the distance is greater than the specified threshold, the loading and unloading robot arm 5 is controlled to move down 1 mm until the distance between the two reaches the placement range, the rotating device electromagnet 16 is controlled to be energized, and the robot arm electromagnet 1 is de-energized.

[0055] On the basis of the above embodiment, in another embodiment of the present invention, the moving device is installed in a vertical and horizontal position of the loading and unloading robot arm 5, and the moving device includes a screw slide 10. A screw slide stepper motor 9 is provided on the left side of the screw slide 10. The output end of the screw slide stepper motor 9 is connected to the screw of the screw slide 10. A screw slide block 12 is slidably connected to the screw slide 10.

[0056] Among them, the side close to the screw slide stepper motor 9 is the loading and unloading area, and the side away from the screw slide stepper motor 9 is the detection area. The loading and unloading area photoelectric switch is installed at the preset position of the loading and unloading area, and the detection area photoelectric switch is installed at the preset position of the detection area. The loading and unloading area photoelectric switch and the detection area photoelectric switch detect the position and movement state of the screw slide slider 12. When the screw slide slider 12 moves to the loading and unloading area, the loading and unloading area photoelectric switch triggers a signal, and the control system responds to the signal and controls the screw slide stepper motor 9 to stop running, and the screw slide slider 12 stays at the preset position. When the screw slide slider 12 moves to the detection area, the detection area photoelectric switch triggers a signal, and the control system responds to the signal and controls the screw slide stepper motor 9 to stop running, and the screw slide slider 12 stays at the preset position.

[0057] On the basis of the above embodiment, in another embodiment of the present invention, the horizontal microscope detection device includes a horizontal microscope base plate 27, a horizontal microscope 28, a horizontal microscope fixing seat 17, a horizontal microscope support plate 23, and a horizontal microscope support column 24. The horizontal microscope base plate 27 is mounted on the workbench table S3. The horizontal microscope fixing seat 17 is fixedly mounted on the horizontal microscope base plate 27. The horizontal microscope support column 24 is provided on the horizontal microscope fixing seat 17. The horizontal microscope support plate 23 is mounted on the horizontal microscope support column 24. The horizontal microscope 28 is fixedly mounted on the horizontal microscope support plate 23.

[0058] Among them, the horizontal microscope base plate 27 is fixed on the left side of the detection area, the horizontal microscope support column 24 is fixed on the horizontal microscope base plate 27 through the horizontal microscope fixing seat 17, and the horizontal microscope support plate 23 is fixed on the horizontal microscope support column 24. By adjusting the position of the horizontal microscope fixing seat 17 forward and backward and adjusting the position of the horizontal microscope support plate 23 up and down, the shooting field of view and angle of the horizontal microscope 28 can be adjusted.

[0059] Based on the above embodiment, in another embodiment of the present invention, the upright microscope detection device includes a upright microscope support column 18, which is installed on the workbench table S3. The bottom of the upright microscope support column 18 is installed with a upright microscope fixing seat 11, and a upright microscope support plate 19 is installed on the upright microscope support column 18. The upright microscope support plate 19 fixes the upright microscope 22.

[0060] Among them, the vertical microscope support column 18 is fixed directly above the detection area through the vertical microscope fixing seat 11, and the vertical microscope support plate 19 is fixed on the vertical microscope support column 18. The shooting field of view and angle of the vertical microscope 22 can be adjusted by adjusting the fixed height of the vertical microscope 22 up and down and adjusting the fixed position of the vertical microscope support column 18 left and right.

[0061] The vertical microscope 22 and the horizontal microscope 28 are located in such a position that they can clearly capture the appearance of the polycrystalline diamond compact from two viewing angles: directly above and from the left.

[0062] In another embodiment of the present invention, based on the above embodiment, the rotating device includes a rotating device support plate 14, and a rotating device electromagnet 16 and an electromagnet rotation drive motor 13 are installed on both sides of the rotating device support plate. The electromagnet rotation drive motor 13 drives the rotating device electromagnet 16 to rotate through a rubber synchronous belt 15.

[0063] Among them, the electromagnet rotation drive motor 13 is fixed to the right side of the screw slide slider 12 through the rotating device support plate 14, and the rotating device electromagnet 16 is fixed to the left side of the screw slide slider 12 through the rotating device support plate 14. The end of the robotic arm electromagnet 1 and the top of the rotating device electromagnet 16 are wrapped with felt cloth to avoid damage to the polycrystalline diamond composite sheet due to physical contact such as friction and collision. Through the control system, the power on and off of the electromagnet can be flexibly controlled to achieve precise control of the operation of the polycrystalline diamond composite sheet.

[0064] The electromagnet rotation drive motor 13 drives the rotating device electromagnet 16 to rotate through the rubber synchronous belt 15, realizing all-round shooting of the appearance image of the polycrystalline diamond composite sheet, effectively avoiding the omission of defects caused by uneven light exposure or lighting factors, and identifying defects on the appearance of the polycrystalline diamond composite sheet based on the AI-based polycrystalline diamond composite sheet surface defect detection algorithm.

[0065] On the basis of the above embodiment, in another embodiment of the present invention, a measuring device is installed at the center position of the left side of the screw slide, and the measuring device includes a photoelectric displacement sensor threaded support rod, and the photoelectric displacement sensor threaded support rod is divided into a photoelectric displacement sensor threaded support rod a25 and a photoelectric displacement sensor threaded support rod b26. The photoelectric displacement sensor threaded support rod a25 and the photoelectric displacement sensor threaded support rod b26 are installed on the workbench surface S3, and the photoelectric displacement sensor threaded support rod a25 and the photoelectric displacement sensor threaded support rod b26 are installed with a photoelectric displacement sensor support plate 20, and the photoelectric displacement sensor support plate 20 is installed with a photoelectric displacement sensor 21.

[0066] Among them, the photoelectric displacement sensor 21 is fixed directly above the left center position of the screw slide 10 through the photoelectric displacement sensor threaded support rod a25, the photoelectric displacement sensor threaded support rod b26 and the photoelectric displacement sensor support plate 20. The photoelectric displacement sensor for measuring the height of the polycrystalline diamond composite sheet is set above the left center position of the screw slide. The photoelectric displacement sensor measures the height of the polycrystalline diamond composite sheet to be detected during the process of the screw slide slider moving from the loading and unloading area to the detection area.

[0067] On the basis of the above embodiment, in another embodiment of the present invention, a positioning angle 4 is installed on the surface of the workbench table S3 on the horizontal left side of the loading and unloading robot arm 5, the inner side of the positioning angle 4 is the material area 3, and a wire management column 8 is provided on the surface of the workbench table S3 on the side of the robot arm control box 7. A section is extended on the left side of the workbench table S3 to place a display S4, and the bottom of the workbench table S3 is located inside the lower frame S2 and is provided with a host S5;

[0068] Among them, the positioning angle 4 is used to fix the polycrystalline diamond composite sheet packaging box, the material area 3 is the polycrystalline diamond composite sheet packaging box placement area, and 6 wire management columns 8 are used to organize and arrange the wires of the loading and unloading robot arm 5. The host S5 is used to receive images and measurement data, and calculate through AI-based polycrystalline diamond composite sheet recognition algorithm in the packaging box, AI-based robot arm electromagnetic iron head and polycrystalline diamond composite sheet recognition and distance analysis algorithm, AI-based polycrystalline diamond composite sheet and rotating mechanism electromagnetic iron head recognition and distance analysis algorithm, AI-based polycrystalline diamond composite sheet surface defect detection algorithm and other algorithms. The final result is displayed on the display S4. In order to facilitate the operator to place and remove the packaging box, ensure that the loading and unloading robot arm 5 is accurately positioned to the position of the polycrystalline diamond composite sheet to be detected, and reduce the detection error caused by position deviation, the positioning angle 4 is used to fix a corner of the polycrystalline diamond composite sheet packaging box to be detected.

[0069] A detection method applied to an intelligent detection device for the appearance of a polycrystalline diamond composite sheet includes:

[0070] Step 1: The operator places the PCD to be inspected in material area 3 according to positioning angle 4, and uses a USB camera to photograph the packaging box from above. The operator then uses an AI-based PCD recognition algorithm to accurately identify the number of rows and columns in the box and whether a PCD exists in each cell. Based on the obtained results, the operator calibrates the position of each cell according to the matrix arrangement order.

[0071] Step 2: Control the loading and unloading robot arm 5 to move to the top of the designated position cell in the material area 3. Then, during the downward movement of the loading and unloading robot arm 5, the distance between the head of the robot arm electromagnet 1 and the polycrystalline diamond compact to be detected is identified and calculated by using a positioning USB camera used to locate the distance between the polycrystalline diamond compact and the robot arm electromagnet 1, combined with an AI-based polycrystalline diamond compact and electromagnet head recognition algorithm. When the distance reaches the threshold range, the loading and unloading robot arm 5 stops moving downward, and the robot arm electromagnet 1 is energized to adsorb the polycrystalline diamond compact to be detected.

[0072] Step 3: After the loading and unloading robot arm 5 grabs the polycrystalline diamond composite sheet to be tested, the screw slide 12 moves upward to the loading and unloading area. When it reaches the photoelectric switch of the loading and unloading area, the screw slide stepper motor 9 is controlled to stop running, and the screw slide 12 stops at the preset position of the loading and unloading area. The end flange of the loading and unloading robot arm 5 moves to the top of the electromagnet 16 of the rotating device;

[0073] Step 4: The loading and unloading robot arm 5 moves downward. During the movement, the positioning USB camera identifies and calculates the distance between the composite sheet to be inspected and the head of the rotating device electromagnet 16. When the distance reaches the specified range, the loading and unloading robot arm 5 stops moving downward, the rotating device electromagnet 16 is energized, and the robot arm electromagnet 1 is de-energized;

[0074] Step 5: The screw slide 12 moves toward the detection area. When the screw slide 12 moves to the photoelectric switch in the detection area, the screw slide stepper motor 9 is controlled to stop running. During the movement, the photoelectric displacement sensor 21 measures the height of the composite sheet to be detected.

[0075] Step 6: Acquire an image of the polycrystalline diamond compact at the current angle using the vertical microscope 22 and the horizontal microscope 28, and use the AI-based polycrystalline diamond compact surface defect detection algorithm to identify defects on the surface of the polycrystalline diamond compact.

[0076] Step seven: The electromagnet rotation drive motor 13 drives the rotating device electromagnet 16 to rotate through the rubber synchronous belt 15, and repeat step six to take pictures of the composite sheet at this angle and perform defect detection. After the electromagnet rotation drive motor 13 rotates 5 times, the screw slide slider 12 is controlled to move to the loading and unloading area, the robotic arm electromagnet 1 is energized, and the rotating device electromagnet 16 is de-energized. After the robotic arm electromagnet 1 grabs the polycrystalline diamond composite sheet, the loading and unloading robotic arm 5 moves to the material area and places the polycrystalline diamond composite sheet in the original position of the packaging box.

[0077] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0078] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent detection device for the appearance of polycrystalline diamond composite sheets, characterized in that: include: A workbench surface (S3), wherein an upper frame (S1) and a lower frame (S2) are arranged at the upper and lower ends of the workbench surface (S3), and a mechanical arm control device, a moving device, a vertical microscope detection device, a horizontal microscope detection device, a rotating device, and a measuring device are installed on the workbench surface (S3); A robot arm control device, used to photograph and identify the polycrystalline diamond composite sheet and absorb the polycrystalline diamond composite sheet to be tested; A moving device, used to move the polycrystalline diamond composite sheet to be tested from the loading and unloading area to the testing area; A horizontal microscope detection device, used to take a left view of the polycrystalline diamond composite sheet; A vertical microscope detection device, used to take a top view of the polycrystalline diamond composite sheet; A rotating device for adsorbing polycrystalline diamond composite sheets; The measuring device is used to measure the height of the polycrystalline diamond composite sheet to be tested when the polycrystalline diamond composite sheet moves from the loading and unloading area to the testing area.

2. The intelligent detection device for polycrystalline diamond composite sheet appearance according to claim 1, characterized in that: The robot control device comprises a plurality of robot control box fixing columns (6), wherein the robot control box fixing columns (6) are arranged on a workbench surface (S3), a robot control box (7) is fixed between the robot control box fixing columns (6), a loading and unloading robot arm (5) is arranged on the left side of the robot control box (7), a robot arm electromagnet (1) is installed on the end flange of the loading and unloading robot arm (5), and a positioning USB camera fixture (2) is installed on the robot arm electromagnet (1).

3. The intelligent detection device for polycrystalline diamond composite sheet appearance according to claim 1, characterized in that: The moving device is installed at a vertical and horizontal position of the loading and unloading mechanical arm (5), and the moving device includes a screw slide (10). A screw slide stepper motor (9) is arranged on the left side of the screw slide (10), and the output end of the screw slide stepper motor (9) is connected to the screw of the screw slide (10), and a screw slide slider (12) is slidably connected to the screw slide (10).

4. The intelligent detection device for polycrystalline diamond composite sheet appearance according to claim 1, characterized in that: The horizontal microscope detection device comprises a horizontal microscope base plate (27), a horizontal microscope (28), a horizontal microscope fixing seat (17), a horizontal microscope support plate (23), and a horizontal microscope support column (24); the horizontal microscope base plate (27) is mounted on a workbench table (S3); the horizontal microscope fixing seat (17) is fixedly mounted on the horizontal microscope base plate (27); the horizontal microscope support column (24) is provided on the horizontal microscope fixing seat (17); the horizontal microscope support plate (23) is mounted on the horizontal microscope support column (24); and the horizontal microscope (28) is fixedly mounted on the horizontal microscope support plate (23).

5. The intelligent detection device for polycrystalline diamond composite sheet appearance according to claim 1, characterized in that: The vertical microscope detection device comprises a vertical microscope support column (18), wherein the vertical microscope support column (18) is mounted on a workbench table (S3), a vertical microscope fixing seat (11) is mounted at the bottom of the vertical microscope support column (18), a vertical microscope support plate (19) is mounted on the vertical microscope support column (18), and the vertical microscope support plate (19) fixes the vertical microscope (22).

6. The intelligent detection device for polycrystalline diamond composite sheet appearance according to claim 1, characterized in that: The rotating device is mounted on a screw slide block, and comprises a rotating device support plate (14). A rotating device electromagnet (16) and an electromagnet rotation drive motor (13) are mounted on both sides of the rotating device support plate. The electromagnet rotation drive motor (13) drives the rotating device electromagnet (16) to rotate via a rubber synchronous belt (15).

7. The intelligent detection device for polycrystalline diamond compact appearance according to claim 1, characterized in that: The measuring device is installed at the center position of the left side of the screw slide, and the measuring device comprises a photoelectric displacement sensor threaded support rod, and the photoelectric displacement sensor threaded support rod is divided into a photoelectric displacement sensor threaded support rod a (25) and a photoelectric displacement sensor threaded support rod b (26). The photoelectric displacement sensor threaded support rod a (25) and the photoelectric displacement sensor threaded support rod b (26) are installed on a workbench table (S3), and a photoelectric displacement sensor support plate (20) is installed on the photoelectric displacement sensor threaded support rod a (25) and the photoelectric displacement sensor threaded support rod b (26), and a photoelectric displacement sensor (21) is installed on the photoelectric displacement sensor support plate (20).

8. The intelligent detection device for polycrystalline diamond compact appearance according to claim 1, characterized in that: The surface of the workbench table (S3) is located on the horizontal left side of the loading and unloading robot arm (5) and is equipped with a positioning angle (4), the inner side of the positioning angle (4) is the material area (3), the surface of the workbench table (S3) is located on the side of the robot arm control box (7) and is equipped with a wire management column (8), the left side of the workbench table (S3) extends out to place a display (S4), and the bottom of the workbench table (S3) is located inside the lower frame (S2) and is equipped with a main machine (S5).

9. A detection method for a polycrystalline diamond compact appearance intelligent detection device according to claim 1, characterized in that: include: Step 1: The operator places the polycrystalline diamond composite sheet to be tested in the material area (3) according to the positioning angle (4), takes a picture of the packaging box with a USB camera, and uses an AI-based polycrystalline diamond composite sheet recognition algorithm in the packaging box to accurately identify the number of rows and columns of the packaging box and whether the polycrystalline diamond composite sheet exists in each grid. Based on the obtained results, the position of each cell is calibrated according to the arrangement order of the matrix; Step 2: Control the loading and unloading robot arm (5) to move to the top of the designated position cell of the material area (3); then, during the downward movement of the loading and unloading robot arm (5), a positioning USB camera for locating the distance between the polycrystalline diamond composite sheet and the robot arm electromagnet (1) is used in combination with an AI-based polycrystalline diamond composite sheet and electromagnet head recognition algorithm to identify and calculate the distance between the head of the robot arm electromagnet (1) and the polycrystalline diamond composite sheet to be detected; when the distance reaches within a threshold range, the loading and unloading robot arm (5) stops moving downward, controls the robot arm electromagnet (1) to be energized, and absorbs the polycrystalline diamond composite sheet to be detected; Step 3: After the loading and unloading robot arm (5) grabs the polycrystalline diamond composite sheet to be tested, the screw slide block (12) moves upward to the loading and unloading area. When it reaches the photoelectric switch of the loading and unloading area, the screw slide stepper motor (9) is controlled to stop running, and the screw slide block (12) stops at the preset position of the loading and unloading area. The end flange of the loading and unloading robot arm (5) moves to the top of the electromagnet (16) of the rotating device; Step 4: The loading and unloading robot arm (5) moves downward. During the movement, the positioning USB camera identifies and calculates the distance between the composite sheet to be detected and the head of the rotating device electromagnet (16). When the distance reaches a specified range, the loading and unloading robot arm (5) stops moving downward, controls the rotating device electromagnet (16) to be powered on, and the robot arm electromagnet (1) is powered off; Step 5: The screw slide block (12) moves toward the detection area. When the screw slide block (12) moves to the photoelectric switch of the detection area, the screw slide stepping motor (9) is controlled to stop running. During the movement, the photoelectric displacement sensor (21) measures the height of the composite sheet to be detected. Step six: obtaining an image of the polycrystalline diamond compact at the current angle through a vertical microscope (22) and a horizontal microscope (28), and using an AI-based polycrystalline diamond compact surface defect detection algorithm to identify defects on the surface of the polycrystalline diamond compact; Step 7: The electromagnet rotation drive motor (13) drives the rotating device electromagnet (16) to rotate through the rubber synchronous belt (15), and repeat step 6 to take a photo of the composite sheet at this angle and perform defect detection. After the electromagnet rotation drive motor (13) rotates 5 times, the control screw slide block (12) is moved to the loading and unloading area, the mechanical arm electromagnet (1) is energized, and the rotating device electromagnet (16) is de-energized. After the mechanical arm electromagnet (1) grabs the polycrystalline diamond composite sheet, the loading and unloading mechanical arm (5) moves to the material area and places the polycrystalline diamond composite sheet in the original position of the packaging box.

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