Method for detecting assembly of a gear cover

Abstract

The application discloses a gear cover assembly detection method and relates to the field of visual detection. The gear cover assembly detection method has a material detection and grabbing unit which comprises a clamping jaw mechanism arranged on a walking unit. The clamping jaw mechanism is provided with a centralized detector. The centralized detector comprises an image recognition sensor arranged on the back of the clamping jaw mechanism and a detection channel arranged in the middle of the clamping jaw mechanism. The detection channel is provided with a mirror to concentrate the images of multiple detection stations and reflect them to the image recognition sensor for image recognition detection. Three detection channels are designed to reflect the images of three detection stations respectively, so that the images of the three detection stations are synchronously presented in one set of image recognition sensors for detection. In this way, the detection process and required sensing elements are reduced, the detection efficiency is improved, and the detection cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of visual inspection, in particular to a gear cover assembly detection method. BACKGROUND

[0002] During the assembly of the gear cover, a plurality of assembly parts are arranged on the side of the rotary table, and the gear cover is sequentially assembled with the driving gear, the driven gear and the lateral locking spring, thereby forming a complete cover component. At the blanking station, the workpiece is taken down for blanking by the material taking gripper.

[0003] However, during actual assembly processing, due to the precision of the injection molded part and the assembly process, some covers cannot be completely installed with multiple parts, resulting in defective products. When blanking, the final assembly parts need to be detected, and defective and qualified products need to be separated. The existing detection scheme is to arrange three groups of detection sensors at the three stations of the material taking gripper to detect the driving gear, the driven gear and the lateral locking spring in place respectively. This means that a single workpiece actually undergoes three detection operations simultaneously, and only when all three detection results are qualified will the qualified product blanking signal be output. The detection method is more cumbersome and the cost is higher. Therefore, a gear cover assembly detection method is provided. SUMMARY

[0004] To overcome the shortcomings of the prior art, the present application provides a gear cover assembly detection method, which solves the problem that the existing detection scheme uses three groups of detection sensors to detect the driving gear, the driven gear and the lateral locking spring in place respectively, which means that a single workpiece actually undergoes three detection operations simultaneously, and only when all three detection results are qualified will the qualified product blanking signal be output. The detection method is more cumbersome and the cost is higher.

[0005] To achieve the above purpose, the present application is realized by the following technical scheme: a gear cover assembly detection method, comprising the following steps:

[0006] Step 1, move the detection part to the incoming material station;

[0007] Step 2, polish the detection position;

[0008] Step 3, the detection part starts to acquire the image of the assembly part of the work station;

[0009] Step 4, the detection system intelligently analyzes the part image;

[0010] Step 5, the system controls the blanking according to the analysis result;

[0011] The detection part includes a walking unit and a material detection and grabbing unit;

[0012] The material detection and grabbing unit comprises a clamping jaw mechanism arranged on the walking unit, and a centralized detector is arranged on the clamping jaw mechanism, wherein the centralized detector comprises an image recognition sensor arranged on the back of the clamping jaw mechanism and a detection channel arranged in the middle of the clamping jaw mechanism, and a plurality of detection station images are concentrated and reflected to the image recognition sensor through the arrangement of a reflecting mirror in the detection channel for image recognition detection.

[0013] Preferably, the walking unit comprises a support rail and a horizontal walking mechanism fixedly arranged at the top end of the support rail, and a fixed base is fixedly arranged at the bottom of the support rail, and a lifting cylinder is slidingly arranged on the outer surface of the horizontal walking mechanism, and the clamping jaw mechanism is arranged at the output end of the lifting cylinder.

[0014] Preferably, the horizontal walking mechanism comprises a horizontal rail and a walking carrier slidingly arranged on the outer surface of the horizontal rail, a tool plate is fixedly arranged on the outer surface of the walking carrier, the lifting cylinder is fixedly arranged on the outer surface of the tool plate, and a traction belt is arranged in the horizontal rail, and the walking carrier is fixedly connected with the traction belt.

[0015] Preferably, shaft seats are fixedly arranged at both ends of the horizontal rail, transmission wheels are connected with the shaft seats through bearings, the traction belt is arranged between the two groups of transmission wheels, and a motor seat is arranged at the top of one group of shaft seats.

[0016] Preferably, a sliding groove is arranged at the top of the horizontal rail, an electric connector is fixedly arranged on the side surface of the walking carrier, the electric connector is slidingly connected in the sliding groove, a loading plate is fixedly arranged at the output end of the lifting cylinder, a rotating part is arranged at the top of the clamping jaw mechanism, and the rotating part is arranged at the bottom of the loading plate.

[0017] Preferably, the rotating part comprises a connecting plate and a rotating hanging seat arranged at the bottom of the connecting plate, a rotating cylinder is fixedly arranged at the inner top of the rotating hanging seat, the output end of the rotating cylinder is fixedly connected with the connecting plate, a T-shaped hanging rod is arranged on the side surface of the rotating cylinder and fixedly connected with the rotating hanging seat, an arc-shaped groove is arranged at one end of the top of the connecting plate, the rotating hanging seat is slidingly connected in the arc-shaped groove, an assembly long slot is arranged at the other end of the top of the connecting plate, the assembly long slot is fixedly connected with the loading plate through the arrangement of bolts, and the image recognition sensor and the clamping jaw mechanism are arranged on the rotating hanging seat.

[0018] Preferably, the clamping jaw mechanism comprises a clamping seat fixedly arranged at the bottom of the rotating hanging seat, a clamping cylinder is fixedly arranged at the inner bottom of the rotating hanging seat, a anti-falling groove is arranged in the clamping seat, sliding blocks are slidingly arranged in the inner two ends of the anti-falling groove, clamping blocks are arranged at the bottom end of the sliding blocks, and connecting arms are fixedly arranged between the output end of the clamping cylinder and the two groups of sliding blocks.

[0019] Preferably, the clamping block comprises a first clamping block and a second clamping block, the top of the first clamping block and the second clamping block is provided with a fixed position, the top of the fixed position is integrally formed with an anti-drop frame, the bottom of the sliding block is integrally formed with a lifting part, the anti-drop frame is movably inserted into the inner side of the lifting part, and a fixed bolt is arranged between the bottom end of the lifting part and the fixed position.

[0020] Preferably, the opposite side of the two groups of anti-drop frames is formed with a groove, the end of the detection channel penetrates the groove and extends upward to be fixedly connected with the image recognition sensor, the lower end of the detection channel is provided with an auxiliary illuminating lamp, the detection channel comprises two groups of gear detection channels and a spring detection channel arranged in the middle of the two groups of gear detection channels, the front end of the gear detection channel penetrates the groove and extends downward from the front of the clamping seat, and the spring detection channel extends to the side surface of the clamping seat and extends downward.

[0021] Preferably, a front bracket is fixedly arranged between the front end of the spring detection channel and the clamping seat, the two sides of the front bracket are fixedly arranged with the two groups of spring detection channels, the side surface of the spring detection channel is provided with a side bracket, and the side bracket is fixedly arranged at the opening of one end of the anti-drop groove and forms a path block with the sliding block.

[0022] The present application discloses a gear cover assembly detection method, which has the following advantages:

[0023] 1. The gear cover assembly detection method, the auxiliary illuminating lamp is started, the positions of the driving gear, the driven gear and the lateral locking spring in the gear cover are lighted, the images of the three detection positions are reflected upward through the two groups of gear detection channels and the group of spring detection channels, and finally the three groups of images are synchronously detected by the image recognition sensor, during the detection, the three groups of images are arranged in left and right to form a combined image, the feature points of the combined image are extracted by the image recognition sensor, then whether it is qualified is judged according to the feature points, so as to reduce the detection process and the required sensing elements, improve the detection efficiency and reduce the detection cost.

[0024] 2. The gear cover assembly detection method can perform partition identification according to the characteristics of the combined image, identify according to the three feature points in the combined image, and accurately judge whether a component is missing according to the feature quantity and feature position, when discharging, a plurality of discharging channels can be arranged, unqualified materials can be classified and placed according to the missing content of the feature points, so as to realize the classification of single missing or multiple missing of the driving gear, the driven gear and the spring, and realize the multiple classification of unqualified products, so that the recycling in the later period can be carried out according to different types, then the recyclable parts can be assembled again, or the gears and springs can be removed and recycled, so as to improve the classification effect and facilitate the classification and recycling in the later period. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0026] Figure 1 It is a schematic diagram of the overall back structure of the present application.

[0027] Figure 2 It is a schematic diagram of the overall back structure of the present application.

[0028] Figure 3 It is a schematic diagram of the horizontal walking mechanism of the present application.

[0029] Figure 4 It is a schematic diagram of the horizontal track outer surface structure of the present application.

[0030] Figure 5 It is a schematic diagram of the material detection and grabbing unit structure of the present application.

[0031] Figure 6 It is a schematic diagram of the back of the material detection and grabbing unit of the present application.

[0032] Figure 7 It is an exploded view of the material detection and grabbing unit structure of the present application.

[0033] Figure 8 It is an exploded view of the internal structure of the gripper mechanism of the present application.

[0034] Figure 9 It is a schematic diagram of the concentrated detector structure of the present application.

[0035] Figure 10 It is a schematic diagram of the clamping block structure of the present application.

[0036] Figure 11 It is a flowchart of the detection method of the present application.

[0037] Figure 12 It is a schematic diagram of the detection combined image feature point of the present application.

[0038] In the figure: 1, walking unit; 11, fixed base; 12, support rail; 13, tool plate; 14, horizontal walking mechanism; 141, horizontal rail; 142, shaft seat; 143, traction belt; 144, transmission wheel; 145, motor seat; 146, walking carrier; 147, loading plate; 148, lifting cylinder; 1410, sliding groove; 1411, electrical connector; 2, material detection grabbing unit; 21, connecting plate; 212, assembled long notch; 213, arc-shaped groove; 22, rotating hanging seat; 222, rotating cylinder; 223, T-shaped lifting rod; 23, clamping jaw mechanism; 231, clamping seat; 232, anti-falling groove; 233, clamping cylinder; 234, connecting arm; 235, sliding block; 236, hoisting part; 237, clamping block; 2371, first clamping block; 2372, second clamping block; 2373, fixed position; 2374, anti-falling frame; 238, fixed bolt; 24, centralized detector; 241, spring detection channel; 242, gear detection channel; 243, auxiliary illuminating lamp; 244, reflector; 245, image recognition sensor; 246, front bracket; 247, side bracket. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application is described clearly and completely. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0040] The embodiment of the present application provides an assembly detection method for gear cover, which solves the problem of the existing detection scheme that three groups of detection sensors are used to detect the driving gear, the driven gear and the lateral locking spring respectively, so that a single workpiece actually undergoes three detection operations synchronously, and only when the three detection results are all qualified, a qualified product discharge signal is output, which is more troublesome and has higher cost.

[0041] In order to better understand the above technical scheme, the above technical scheme will be described in detail in combination with the drawings in the specification and specific embodiments.

[0042] The embodiment of the present application discloses an assembly detection method for gear cover.

[0043] Embodiment one,

[0044] According to the drawings Figures 1-12 , the following steps are included;

[0045] Step one, the detection piece moves to the incoming material station;

[0046] Step two, light on the detection site;

[0047] Step three, detection piece starts to obtain assembly part image of work station;

[0048] Step four, detection system intelligently analyzes according to part image;

[0049] Step five, system controls blanking according to analysis result;

[0050] The detection piece comprises a walking unit 1 and a material detection and grabbing unit 2.

[0051] The material detection and grabbing unit 2 comprises a clamping jaw mechanism 23 arranged on the walking unit 1, and a centralized detector 24 is arranged on the clamping jaw mechanism 23. The centralized detector 24 comprises an image recognition sensor 245 arranged on the back of the clamping jaw mechanism 23 and a detection channel arranged in the middle of the clamping jaw mechanism 23. A plurality of detection station images are concentrated and reflected to the image recognition sensor 245 through the arrangement of a reflecting mirror 244 in the detection channel for image recognition detection.

[0052] The walking unit 1 comprises a support rail 12 and a horizontal walking mechanism 14 fixedly arranged on the top end of the support rail 12. The bottom of the support rail 12 is fixedly provided with a fixed base 11. The outer surface of the horizontal walking mechanism 14 is slidingly provided with a lifting cylinder 148. The clamping jaw mechanism 23 is arranged on the output end of the lifting cylinder 148.

[0053] The horizontal walking mechanism 14 comprises a horizontal rail 141 and a walking carrier 146 slidingly arranged on the outer surface of the horizontal rail 141. The outer surface of the walking carrier 146 is fixedly provided with a tool plate 13. The lifting cylinder 148 is fixedly arranged on the outer surface of the tool plate 13. The horizontal rail 141 is provided with a traction belt 143. The walking carrier 146 is fixedly connected with the traction belt 143.

[0054] Both ends of the horizontal rail 141 are fixedly provided with shaft seats 142. The shaft seats 142 are bearing-connected with transmission wheels 144. The traction belt 143 is arranged between the two groups of transmission wheels 144. The top of one group of shaft seats 142 is provided with a motor seat 145.

[0055] The top of the horizontal rail 141 is provided with a sliding groove 1410. The side surface of the walking carrier 146 is fixedly provided with an electric connector 1411. The electric connector 1411 is slidingly connected in the sliding groove 1410. The output end of the lifting cylinder 148 is fixedly provided with a loading plate 147. The top of the clamping jaw mechanism 23 is provided with a rotating piece. The rotating piece is arranged on the bottom of the loading plate 147.

[0056] The rotating part comprises a connecting plate 21 and a rotating pendant 22 arranged at the bottom of the connecting plate 21, the inner top of the rotating pendant 22 is fixedly provided with a rotating air cylinder 222, the output end of the rotating air cylinder 222 is fixedly connected with the connecting plate 21, the side of the rotating air cylinder 222 is provided with a T-shaped hanger 223 fixed with the rotating pendant 22, the top of the connecting plate 21 is provided with an arc-shaped groove 213 at one end, the rotating pendant 22 is slidingly connected in the arc-shaped groove 213, the top of the connecting plate 21 is provided with an assembly long slot 212 at the other end, the assembly long slot 212 is fixedly installed with the loading plate 147 through the arrangement of bolts, and the image recognition sensor 245 and the clamping jaw mechanism 23 are all installed on the rotating pendant 22.

[0057] The clamping jaw mechanism 23 comprises a clamping seat 231 fixedly installed at the bottom of the rotating pendant 22, the inner bottom of the rotating pendant 22 is fixedly installed with a clamping air cylinder 233, the inside of the clamping seat 231 is provided with an anti-falling groove 232, the inside of the two ends of the anti-falling groove 232 is slidingly provided with a sliding block 235, the bottom end of the sliding block 235 is installed with a clamping block 237, and the output end of the clamping air cylinder 233 is fixedly provided with a connecting arm 234 between the two groups of sliding blocks 235.

[0058] The clamping block 237 comprises a first clamping block 2371 and a second clamping block 2372, the top of the first clamping block 2371 and the second clamping block 2372 is provided with a fixed position 2373, the top of the fixed position 2373 is integrally formed with an anti-falling frame 2374, the bottom of the sliding block 235 is integrally formed with a hoisting part 236, the anti-falling frame 2374 is movably inserted into the inner side of the hoisting part 236, and the bottom end of the hoisting part 236 and the fixed position 2373 are installed with a fixed bolt 238.

[0059] The opposite sides of the two groups of anti-falling frames 2374 form grooves, the end of the detection channel penetrates the grooves and extends upward to be fixedly connected with the image recognition sensor 245, the lower end of the detection channel is installed with an auxiliary illuminating lamp 243, the detection channel comprises two groups of gear detection channels 242 and spring detection channels 241 arranged in the middle of the two groups of gear detection channels 242, the front end of the gear detection channel 242 penetrates the groove and extends downward from the front of the clamping seat 231, and the spring detection channel 241 extends to the side surface of the clamping seat 231 and extends downward.

[0060] The front end of the spring detection channel 241 and the clamping seat 231 are fixedly installed with a front bracket 246, the two sides of the front bracket 246 are fixedly installed with the two groups of spring detection channels 241, the side surface of the spring detection channel 241 is installed with a side bracket 247, and the side bracket 247 is fixedly arranged at the opening of one end of the anti-falling groove 232 and forms a path block with the sliding block 235.

[0061] Working principle; when the device is in use, the fixed base 11 is fixed on one side of the gear cover assembly flow transfer table, close to the position of the unloading channel, the servo motor is installed in the motor base 145, and the output shaft of the servo motor is fixedly connected with a set of transmission wheels 144, at this time the servo motor drives the transmission wheel 144 to rotate, so that the traction belt 143 moves, at this time one side of the traction belt 143 pulls the walking carrier 146 to move along the horizontal rail 141 to the detection station, then the lifting cylinder 148 starts, the rotating hanging seat 22 drives the whole clamping jaw mechanism 23 to move downward, so that the two sets of clamping blocks 237 are located on both sides of the gear cover side edge, at this time the detection process is entered;

[0062] At this time, the auxiliary illuminating lamp 243 starts, and the driving gear, driven gear and lateral locking spring position inside the gear cover are lighted, so that the images of the three detection positions are reflected upward through two sets of gear detection channels 242 and a set of spring detection channels 241 respectively, and finally the three images are synchronously detected by the image recognition sensor 245. During detection, the three images are arranged left and right, the angle of the reflecting mirror 244 is designed in advance to avoid the coincidence of the three images, at this time the image recognition sensor 245 extracts feature points from the combined image to determine whether the assembled workpiece exists in the three stations at the same time, if it exists, output the qualified signal, if some part is missing, output the unqualified signal;

[0063] Then the detection result signal is fed back to the plc control host, and the plc control host controls the output end of the clamping cylinder 233 to contract, so that the two sets of clamping blocks 237 move to the middle part to clamp the workpiece, then the output end of the lifting cylinder 148 contracts to drive the workpiece to move upward, then the servo motor starts to drive the workpiece to move to the corresponding unloading station for unloading, so as to realize the zoning unloading of qualified materials and unqualified materials, reduce the detection process and the required sensing elements, improve the detection efficiency and reduce the detection cost;

[0064] Example two:

[0065] In this embodiment two, the device can also be able to identify the partition according to the characteristics of the combined image during application, and identify according to the three feature points in the combined image. For feature points, the appearance of the gear structure can be used as a judgment feature, such as sawtooth edge, annular contour line, etc. For springs, the spring contour line can be selected as the judgment feature. During image recognition, the number and position of features can be used to accurately determine the absence of a certain component. During blanking, multiple blanking channels can be set. For unqualified materials, they can be classified and placed according to the missing content of the feature points, so as to realize the classification of single or multiple missing parts of the driving gear, driven gear and spring, and the multiple classification of unqualified products. In this way, it is convenient to recycle in the later stage, which can be recycled according to different types. Then, the available parts can be assembled again, and the gears and springs can be removed and recycled, so as to improve the classification effect and facilitate the classification and recycling in the later stage.

[0066] Embodiment three:

[0067] In this embodiment three, the image recognition algorithm is further optimized. In the specific implementation process, the system uses a two-stage detection framework based on deep learning. The first stage uses an improved YOLOv5 model for gear and spring target detection and positioning, and the second stage uses a ResNet50 network for feature extraction and defect classification in the detection area. The system pre-collects 5000 sample images containing various defects to establish a training data set, and trains the model through transfer learning to achieve a defect detection rate of more than 95%. In the image preprocessing stage, the adaptive histogram equalization algorithm is used to improve the image contrast, and the median filter is used to remove noise points to ensure the accuracy of feature extraction.

[0068] Preferably, a two-stage detection framework is adopted, and an industrial camera with a resolution of 2048x1536 is used in the image acquisition stage, and a shooting is performed with a 15 ms exposure time set. The image preprocessing link is realized by the OpenCV library, including adaptive threshold segmentation using an 11x11 pixel window, Gaussian filter denoising with a 3x3 kernel size (sigma=1.5), and 8x8 block CLAHE contrast enhancement algorithm (contrast limit value 3.0). In the feature detection stage, the gear detection adopts Hough circle transformation to realize the center positioning of the circle with a precision of ±0.5 mm, cooperates with the Canny operator (threshold 50-150) to extract the tooth edge, and verifies the tooth integrity through template matching with a threshold of 0.85; the spring detection uses the Sobel operator to extract the spiral profile, and simultaneously detects the pitch (error ±0.2 mm) and the end flatness (deviation ≤0.5 mm). The deep learning model is based on the TensorFlow framework, and a CNN network adapted to 640x640 pixel input is constructed, including 5 convolutional layers, 3 pooling layers and 2 fully connected layers, using ReLU activation function and 0.5 dropout rate, to realize the binary classification judgment of normal and defect.

[0069] Example Four

[0070] In this Example Four, the detection channel is further improved, and the detection channel adopts a modular design, the main body is made of aviation aluminum alloy material, and three groups of independent adjustable mirror assemblies are arranged inside, each group of mirrors is adjusted in an angle within ±15° through a precision servo motor. The illumination system includes a main illumination light source and four groups of ring-shaped auxiliary light sources, the main light source adopts a high color rendering LED with a color temperature of 5000K, and the auxiliary light sources can be independently controlled in brightness and switching according to detection requirements. The inner wall of the channel is treated with light extinction, and dustproof sealing rings are arranged at key positions, and the light path is kept clean through a positive pressure ventilation system;

[0071] Preferably, the light source system is configured with a 24V / 50W ring-shaped LED main light source with a color temperature of 5000K±200K, the distance between the light source and the measured object can be adjusted within a range of 50-150 mm, and four groups of 5W strip-shaped LED fill light are matched, which are installed at angles of 45°, 60°, 75° and 90° respectively, and the independent dimming control of 0-100% duty ratio is realized through PWM. The mirror assembly selects an aluminum-based silver-coated mirror (reflectivity ≥98%, flatness λ / 4) with a specification of 40mmx60mmx2mm, and is equipped with a precision angle adjustment mechanism, which realizes the angle adjustment within a range of ±15° with a precision of 0.1° through a stepping motor with 1600 steps / revolution. The dustproof system reaches IP54 protection level, uses a 0.01 μm precision filter air intake system, maintains 0.02 MPa air pressure and 0.5 m / s air flow speed, uses nitrile rubber O-ring seals for key interfaces, uses antireflection film coated optical glass sealed window for light path channel, and ensures ≥99% transmittance.

[0072] Example Five:

[0073] In this example five, the clamping mechanism is further optimized, the clamping mechanism adopts closed-loop force control system, through torque sensor real-time detection clamping force, with proportional valve to realize 0-100N range accurate force control. The surface of the clamping block adopts special design of micron anti-skid texture, texture depth 0.2mm, pitch 0.5mm, significantly improve the stability of the grab. The clamping block body selects shore hardness 60A silicone material, embedded carbon fiber skeleton to provide support strength, realize the perfect combination of rigidity and flexibility;

[0074] Preferably, the clamping mechanism integrates high-precision force control system, using the torque sensor with 0-200N range, 0.1% F.S accuracy, response time ≤10ms, cooperate with 32-bit ARM processor to realize 1kHz sampling frequency PID closed-loop control, ensure the force control accuracy of ±1N. The clamping block adopts 60mm×40mm×20mm size, the effective clamping area is 40mm×30mm, the surface is designed with 0.2±0.02mm depth, 0.5±0.05mm pitch anti-skid texture. The material selects shore hardness 60A±5 silicone as the surface layer, embedded 1.5mm thick 3K carbon fiber plate skeleton, connector uses 7075 aluminum alloy. The buffer system contains stroke 20mm, damping force 50-150N adjustable air pressure buffer, cooperate with 2mm thick, 45 degree hardness nitrile rubber shock pad, realize the response time ≤0.1s buffer effect.

[0075] Compared with the prior art, the above embodiment provides a gear cover assembly detection method, through the combination of two-stage detection framework and deep learning algorithm, the positioning accuracy of gear center ±0.5mm and the detection accuracy of spring pitch ±0.2mm are realized. The system uses adaptive threshold segmentation and CLAHE contrast enhancement algorithm for image preprocessing, cooperates with CNN deep learning network, so that the defect detection rate reaches more than 95%, which is 40% higher than traditional visual detection, effectively ensures the reliability of assembly quality.

[0076] Innovatively, the illumination system combining main light source and four auxiliary light sources is adopted, through 45°-90° multi-angle lighting scheme, cooperate with high-precision reflector assembly with reflectivity ≥98%, realize the full range collection of workpiece surface details. At the same time, through the angle adjusting mechanism with 0.1° accuracy in ±15° range, the best imaging effect of workpiece in different positions is ensured, the image definition is improved by 65%, the misjudgment rate is significantly reduced.

[0077] By torque sensor with 1kHz sampling frequency PID closed-loop control, the realization of 0-200N range ±1N accurate force control, combined with the shore hardness 60A silica gel material and carbon fiber composite structure of the innovative design, so that the clamping system can adapt to the shape and material characteristics of different workpiece. At the same time, the unique micron level anti-skid texture design, effectively improve the clamping stability, workpiece clamping damage rate decreased by 90%.

[0078] With IP54 protection level design, with 0.01μm precision filter positive pressure dustproof system, realized 0.02MPa constant air pressure environment. By nitrile rubber O ring seal and antireflection film optical glass combination application, ensure ≥99% light transmittance, so that the system in harsh industrial environment still can keep stable detection performance, equipment cleaning maintenance cycle extension 200%.

[0079] Innovatively designed air pressure buffer and shock absorbing composite structure, through 50-150N adjustable damping force with 45 degree hardness of nitrile rubber shock absorbing layer, realized ≤0.1s fast response. System in high frequency operation state, the vibration amplitude of workpiece conveying process is reduced by 75%, ensure the stability of the image in the detection process, effectively improve the detection accuracy.

[0080] The above shows and describes the basic principles and main features of the present application and the advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above examples, the above examples and the description in the specification is just to illustrate the principle of the present application, without departing from the spirit and scope of the present application, the present application will have various changes and improvements, these changes and improvements all fall into the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A method of detecting assembly of a gear cover, characterized by, It comprises the following steps: Step one, the detection piece moves to the incoming material station; Step two, the detection site is lighted; Step three, the detection piece starts to obtain the part image of the assembly station; Step four, the detection system intelligently analyzes the part image; Step five, the system controls the unloading according to the analysis result. The detection piece comprises a walking unit (1) and a material detection and grabbing unit (2). The material detection and grabbing unit (2) comprises a clamping jaw mechanism (23) arranged on the walking unit (1), the clamping jaw mechanism (23) has a centralized detector (24) arranged thereon, the centralized detector (24) comprises an image recognition sensor (245) mounted on the back of the clamping jaw mechanism (23) and a detection channel arranged in the middle of the clamping jaw mechanism (23), a plurality of detection station images are reflected to the image recognition sensor (245) through the arrangement of a reflecting mirror (244) in the detection channel for image recognition detection; The top of the clamping jaw mechanism (23) is provided with a rotating piece, the rotating piece is mounted on the bottom of the loading plate (147), and the rotating piece comprises a connecting plate (21) and a rotating hanger (22) arranged at the bottom of the connecting plate (21); The clamping jaw mechanism (23) comprises a clamping seat (231) fixedly installed at the bottom of the rotating hanger (22), a clamping cylinder (233) is fixedly installed at the inner bottom of the rotating hanger (22), a anti-falling groove (232) is arranged in the clamping seat (231), sliding blocks (235) are slidably arranged at both ends of the anti-falling groove (232), clamping blocks (237) are installed at the bottom of the sliding blocks (235), and connecting arms (234) are fixedly arranged between the output end of the clamping cylinder (233) and the two groups of sliding blocks (235); The clamping block (237) comprises a first clamping block (2371) and a second clamping block (2372), the top of the first clamping block (2371) and the second clamping block (2372) is provided with a fixed position (2373), the top of the fixed position (2373) is integrally formed with an anti-falling frame (2374), the bottom of the sliding block (235) is integrally formed with a lifting part (236), the anti-falling frame (2374) is movably inserted into the inner side of the lifting part (236), and a fixed pin (238) is installed between the bottom of the lifting part (236) and the fixed position (2373).

2. The method of claim 1, wherein The walking unit (1) comprises a supporting rail (12) and a horizontal walking mechanism (14) fixedly installed at the top of the supporting rail (12), a fixed base (11) is fixedly installed at the bottom of the supporting rail (12), a lifting cylinder (148) is slidably arranged on the outer surface of the horizontal walking mechanism (14), and the clamping jaw mechanism (23) is installed at the output end of the lifting cylinder (148).

3. The method of claim 2, wherein The horizontal walking mechanism (14) comprises a horizontal rail (141) and a walking carrier (146) slidingly arranged on the outer surface of the horizontal rail (141), the outer surface of the walking carrier (146) is fixedly provided with a tool plate (13), the lifting cylinder (148) is fixedly arranged on the outer surface of the tool plate (13), and the horizontal rail (141) is provided with a traction belt (143), and the walking carrier (146) is fixedly connected with the traction belt (143).

4. The method of claim 3, wherein Both ends of the horizontal rail (141) are fixedly provided with shaft seats (142), the shaft seats (142) are bearing-connected with transmission wheels (144), the traction belt (143) is arranged between the two groups of transmission wheels (144), and the top of one group of shaft seats (142) is provided with a motor seat (145).

5. The method of claim 3, wherein The top of the horizontal rail (141) is provided with a sliding groove (1410), the side surface of the walking carrier (146) is fixedly provided with an electric connector (1411), the electric connector (1411) is slidingly connected in the sliding groove (1410), and the output end of the lifting cylinder (148) is fixedly provided with a loading plate (147).

6. The method of claim 5, wherein The inner top of the rotary hanging seat (22) is fixedly provided with a rotary cylinder (222), the output end of the rotary cylinder (222) is fixedly connected with the connecting plate (21), the side surface of the rotary cylinder (222) is provided with a T-shaped hanging rod (223) fixed with the rotary hanging seat (22), the top of the connecting plate (21) is provided with an arc-shaped groove (213) at one end, the rotary hanging seat (22) is slidingly connected in the arc-shaped groove (213), the top of the connecting plate (21) is provided with an assembly long slot (212) at the other end, the assembly long slot (212) is fixedly connected with the loading plate (147) through bolts, and the image recognition sensor (245) and the clamping jaw mechanism (23) are arranged on the rotary hanging seat (22).

7. The method of claim 6, wherein The opposite sides of the two groups of anti-disengagement frames (2374) are formed with grooves, the tail ends of the detection channels penetrate the grooves and are fixedly connected with the image recognition sensor (245) and extend upward, the lower ends of the detection channels are provided with auxiliary illuminating lamps (243), the detection channels comprise two groups of gear detection channels (242) and spring detection channels (241) arranged in the middle portions of the two groups of gear detection channels (242), the front ends of the gear detection channels (242) penetrate the grooves and extend downward from the front of the clamping seat (231), and the spring detection channels (241) extend to the side surfaces of the clamping seat (231) and downward.

8. The method of claim 7, wherein Front brackets (246) are fixedly arranged between the front ends of the spring detection channels (241) and the clamping seat (231), the two sides of the front bracket (246) are fixedly connected with the two groups of spring detection channels (241), side brackets (247) are arranged on the side surfaces of the spring detection channels (241), and the side brackets (247) are fixedly arranged at the openings of the anti-disengagement grooves (232) and form path blockages with the sliding blocks (235).

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