Visual guidance intelligent flaw detection equipment for track shoe

Abstract

The invention relates to the field of flaw detection equipment, in particular to visual guidance intelligent flaw detection equipment for a track shoe. The flaw detection equipment comprises automatic carrying mechanisms, a product carrier, a lifting arm, a lifting arm distance adjusting mechanism, a lifting arm swinging mechanism, a product clamp, a gripper rotating mechanism, a magnetizer, a product positioning mechanism and a product conveying table, the automatic carrying mechanisms are arranged at the two ends of the product conveying table respectively, and the product carrier is connected to a transmission part of the product conveying table. A magnetizer is installed on the product conveying table, and a product positioning mechanism, a lifting arm swing mechanism and a lifting arm distance adjusting mechanism are arranged on the side face of the product conveying table. According to the full-automatic stacking machine, automatic taking and automatic stacking are achieved through the automatic carrying mechanisms on the two sides of the feeding end and the discharging end. And the product positioning mechanism is matched with the magnetizer to magnetize the product. The lifting arm swinging mechanism drives the lifting arm to swing the product, so that whether the product has cracks or not can be observed from different angles. The efficiency of automatic product placing and stacking and multi-angle swing observation is improved.

Description

Technical Field

[0001] The invention relates to the field of flaw detection equipment, in particular to track plate vision-guided intelligent flaw detection equipment. Background Art

[0002] During the processing of products, it is necessary to rotate the products to observe them, so as to pick out the unqualified products and then stack them. However, the existing product rotation angle observation and stacking require the participation of staff, the degree of automation is not high, and the work efficiency is low. Summary of the invention

[0003] The technical problem to be solved by the present invention is: In order to solve the technical problem described in the background technology, the present invention provides a track shoe visual guidance intelligent flaw detection device. Automatic picking and automatic stacking are realized by automatic handling mechanisms on both sides of the feeding end and the discharging end. The product is magnetized by the product positioning mechanism in cooperation with the magnetizer. The arm lifting and swinging mechanism drives the arm to swing the product, so as to observe whether the product has cracks at different angles. The present application improves the efficiency of automatic product placement and stacking and multi-angle swing observation.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A track shoe vision-guided intelligent flaw detection device comprises an automatic handling mechanism, a product carrier, a lifting arm, an arm spacing adjustment mechanism, an arm swinging mechanism, a product fixture, a gripper rotating mechanism, a magnetizer, a product positioning mechanism, and a product conveying platform, wherein automatic handling mechanisms are respectively provided at both ends of the product conveying platform, the product carrier is connected to the transmission part of the product conveying platform, the magnetizer is installed on the product conveying platform, a product positioning mechanism, an arm swinging mechanism, and an arm spacing adjustment mechanism are provided on the side of the product conveying platform, the arm swinging mechanism is connected to the arm spacing adjustment mechanism, two lifting arms are installed on the arm spacing adjustment mechanism, a gripper rotating mechanism is installed on the lifting arm, and the product fixture is connected to the rotating part of the gripper rotating mechanism.

[0006] Specifically, the automatic handling mechanism includes a bracket, a horizontal straight rail, a gear, a horizontal spur rack, a motor, a reducer, a horizontal linear module, a lifting linear module, an electric turntable, a suction cup, and a CCD camera. The bracket is fixed with a horizontal straight rail and a horizontal straight rack, and the horizontal straight rail and the horizontal spur rack are parallel to each other. The two ends of the cylinder body of the horizontal linear module are respectively slidably connected to the two horizontal straight rails. The cylinder body of the horizontal linear module is fixed with a motor and a reducer, the output shaft of the motor is connected to the reducer, and the output shaft of the reducer is connected to the rotating rod. Gears are respectively fixed at both ends of the rotating rod, and the two gears are respectively meshed with the two horizontal spur racks. The sliding seat of the horizontal linear module is fixed with a lifting linear module, and the sliding seat of the lifting linear module is fixed with an electric turntable. The rotating disk of the electric turntable is connected with a suction cup for sucking products, and the cylinder body of the lifting linear module is fixed with a CCD camera.

[0007] Specifically, the arm lifting spacing adjustment mechanism includes a shell, a positive and negative threaded screw, a nut, and a screw rotating motor. A positive and negative threaded screw is rotatably connected in the shell, and nuts are threadedly connected to the positive thread part and the negative thread part of the positive and negative threaded screw. The two nuts are respectively connected to the two lifting arms, and the lifting arms are slidably connected to the shell. The output shaft of the screw rotating motor is connected to one end of the positive and negative threaded screw, and the body of the screw rotating motor is fixed to the shell.

[0008] Specifically, the arm lifting and swinging mechanism is a single-rod cylinder, the cylinder body of the arm lifting and swinging mechanism is hinged on the mounting frame, the piston rod of the arm lifting and swinging mechanism is hinged on the shell, and the shell is hinged on the mounting frame.

[0009] Specifically, the gripper rotation mechanism includes a transmission rotating rod, a rotating rod rotating motor, a sprocket, and a chain. The body of the rotating rod rotating motor is fixed on the shell, the output shaft of the rotating rod rotating motor is connected to the transmission rotating rod, the transmission rotating rod is rotatably connected in the shell, the product clamp is rotatably connected to the lifting arm through the shaft rod, and sprockets are fixed on the transmission rotating rod and the shaft rod, and both sprockets are engaged with the chain.

[0010] Specifically, a slot for inserting one end of the product is provided at the front end of the product fixture.

[0011] Specifically, the product positioning mechanism includes a single-rod cylinder, a cylinder body, a sliding seat, a splint, a forward and reverse threaded screw, a screw rotating motor, and a nut. The cylinder body of the single-rod cylinder is hinged on the mounting frame, the piston rod of the single-rod cylinder is hinged on the cylinder body, the cylinder body is hinged on the mounting frame, the forward and reverse threaded screw is rotatably connected in the cylinder body, the body of the screw rotating motor is fixed on the cylinder body, the output shaft of the screw rotating motor is connected to the forward and reverse threaded screw, the forward and reverse threaded parts of the forward and reverse threaded screw are both threadedly connected with a nut, the two nuts are respectively connected to the two sliding seats, the two sliding seats are both slidably connected to the cylinder body, and the inner sides of the two sliding seats are connected with a splint.

[0012] Specifically, the product conveying platform is a belt conveyor, and the product carrier is connected to the conveyor belt of the product carrier.

[0013] Specifically, the product carrier is provided with a positioning groove for positioning the product.

[0014] The beneficial effects of the present invention are as follows: the present invention provides a track shoe visual guidance intelligent flaw detection device. Automatic picking and automatic stacking are achieved through the automatic handling mechanisms on both sides of the feed end and the discharge end. The product is magnetized by the product positioning mechanism in cooperation with the magnetizer. The arm lifting and swinging mechanism drives the arm to swing the product, so as to observe whether the product has cracks at different angles. The present application improves the efficiency of automatic product placement and stacking and multi-angle swing observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the automatic transport mechanism of the present invention;

[0018] Figure 3 The invention is an arm spacing adjustment mechanism, an arm swing mechanism, a magnetizer, and a product positioning mechanism.

[0019] Structural diagram;

[0020] In the figure, 1. Automatic transport mechanism, 2. Product carrier, 3. Lifting arm, 4. Lifting arm spacing adjustment mechanism, 5. Lifting

[0021] Arm swing mechanism, 6. Product fixture, 7. Gripper rotation mechanism, 8. Magnetizer, 9. Product positioning mechanism, 10. Product conveyor, 21. Bracket, 22. Horizontal straight rail, 23. Gear, 24. Motor, 25.

[0022] Horizontal linear module, 26. Lifting linear module, 27. Electric turntable, 28. Suction cup, 29. CCD camera, 41. Housing, 42. Positive and negative threaded screw, 43. Screw rotating motor, 71. Transmission rotating rod, 72.

[0023] Rotating rod rotating motor, 91. Single-rod cylinder, 92. Cylinder body, 93. Sliding seat, 94. Clamp, 95. Positive and negative threaded screw, 96. Screw rotating motor. DETAILED DESCRIPTION

[0024] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention. Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of the automatic transport mechanism of the present invention; Figure 3 It is a structural schematic diagram of the arm spacing adjustment mechanism, the arm swing mechanism, the magnetizer, and the product positioning mechanism of the present invention.

[0025] As attached Figure 1 As shown, a track shoe vision-guided intelligent flaw detection equipment includes an automatic handling mechanism 1, a product carrier 2, a lifting arm 3, a lifting arm spacing adjustment mechanism 4, a lifting arm swinging mechanism 5, a product fixture 6, a gripper rotating mechanism 7, a magnetizer 8, a product positioning mechanism 9, and a product conveying platform 10. The two ends of the product conveying platform 10 are respectively provided with automatic handling mechanisms 1, the transmission part of the product conveying platform 10 is connected to the product carrier 2, the product conveying platform 10 is installed with a magnetizer 8, the side of the product conveying platform 10 is provided with a product positioning mechanism 9, a lifting arm swinging mechanism 5, and a lifting arm spacing adjustment mechanism 4, the lifting arm swinging mechanism 5 is connected to the lifting arm spacing adjustment mechanism 4, two lifting arms 3 are installed on the lifting arm spacing adjustment mechanism 4, the lifting arm 3 is installed with a gripper rotating mechanism 7, and the rotating part of the gripper rotating mechanism 7 is connected with a product fixture 6.

[0026] As attached Figure 2 As shown, the automatic transport mechanism 1 includes a bracket 21, a horizontal straight rail 22, a gear 23, a horizontal straight rack, a motor 24, a reducer, a horizontal linear module 25, a lifting linear module 26, an electric turntable 27, a suction cup 28, and a CCD camera 29. The bracket 21 is fixed with a horizontal straight rail 22 and a horizontal straight rack. The horizontal straight rail 22 and the horizontal straight rack are parallel to each other. The two ends of the cylinder body of the horizontal linear module 25 are respectively slidably connected to the two horizontal straight rails 22. The cylinder body of the horizontal linear module 25 is fixed with a motor. 24 and a reducer, the output shaft of the motor 24 is connected to the reducer, the output shaft of the reducer is connected to the rotating rod, gears 23 are fixed to both ends of the rotating rod, the two gears 23 are respectively engaged with two horizontal straight racks, a lifting linear module 26 is fixed to the slide seat of the horizontal linear module 25, an electric turntable 27 is fixed to the slide seat of the lifting linear module 26, a suction cup 28 for sucking the product is connected to the rotating disk of the electric turntable 27, and a CCD camera 29 is fixed to the cylinder of the lifting linear module 26. A tank chain is installed on the automatic handling mechanism 1.

[0027] The motor 24 drives the rotating rod to rotate through the reducer, thereby driving the gears 23 at both ends to roll on the two horizontal straight racks, realizing the front and rear horizontal linear movement of the suction cup 28 and the CCD camera 29, the horizontal linear module 25 can drive the suction cup 28 and the CCD camera 29 to move horizontally and linearly left and right, and the lifting linear module 26 can drive the suction cup 28 to move up and down. The CCD camera 29 can transmit the image information below to the PLC, and the PLC controls the motor 24, the horizontal linear module 25, the lifting linear module 26, and the electric turntable 27, so that the suction cup 28 can accurately carry, stack, and destacker the products.

[0028] As attached Figure 3 As shown, the arm spacing adjustment mechanism 4 includes a shell 41, a positive and negative threaded screw 42, a nut, and a screw rotating motor 43. The positive and negative threaded screw 42 is rotatably connected in the shell 41, and nuts are threadedly connected on the positive thread part and the negative thread part of the positive and negative threaded screw 42. The two nuts are respectively connected to the two lifting arms 3, and the lifting arms 3 are slidably connected to the shell 41. The output shaft of the screw rotating motor 43 is connected to one end of the positive and negative threaded screw 42, and the body of the screw rotating motor 43 is fixed on the shell 41.

[0029] The screw rotating motor 43 drives the forward and reverse thread screw 42 to rotate, so that the two nuts move in opposite directions or relative to each other along the forward and reverse thread screw 42, and the two nuts can drive the two lifting arms 3 to move in opposite directions or relative to each other along the shell.

[0030] The arm lifting and swinging mechanism 5 is a single-rod cylinder, the cylinder body of the arm lifting and swinging mechanism 5 is hinged on the mounting frame, the piston rod of the arm lifting and swinging mechanism 5 is hinged on the housing 41, and the housing 41 is hinged on the mounting frame. The piston rod of the arm lifting and swinging mechanism 5 is extended and retracted, which can drive the arm lifting distance adjustment mechanism 4 and the arm lifting 3 to swing up and down on the vertical plane.

[0031] The gripper rotating mechanism 7 includes a transmission rotating rod 71, a rotating rod rotating motor 72, a sprocket, and a chain. The body of the rotating rod rotating motor 72 is fixed on the housing 41, and the output shaft of the rotating rod rotating motor 72 is connected to the transmission rotating rod 71. The transmission rotating rod 71 is rotatably connected in the housing 41. The product clamp 6 is rotatably connected to the lifting arm 3 through an axle. Sprockets are fixed on the transmission rotating rod 71 and the axle, and both sprockets are engaged with the chain.

[0032] The rotating rod rotating motor 72 drives the sprocket to rotate, and the sprocket drives the sprocket on the product clamp 6 to rotate through the chain, thereby realizing the rotation of the product clamp 6.

[0033] The front end of the product fixture 6 is provided with a slot for inserting one end of the product.

[0034] The product positioning mechanism 9 includes a single-rod cylinder 91, a cylinder body 92, a slide 93, a clamping plate 94, a positive and negative threaded screw rod 95, a screw rotating motor 96, and a nut. The cylinder body of the single-rod cylinder 91 is hinged on the mounting frame, the piston rod of the single-rod cylinder 91 is hinged on the cylinder body 92, the cylinder body 92 is hinged on the mounting frame, the positive and negative threaded screw rod 95 is rotatably connected in the cylinder body 92, the body of the screw rotating motor 96 is fixed on the cylinder body 92, the output shaft of the screw rotating motor 96 is connected to the positive and negative threaded screw rod 95, the positive thread part and the negative thread part of the positive and negative threaded screw rod 95 are both threadedly connected with nuts, the two nuts are respectively connected to the two slides 93, the two slides 93 are both slidably connected to the cylinder body 92, and the inner sides of the two slides 93 are connected with clamping plates 94.

[0035] The screw rotating motor 96 drives the forward and reverse thread screw 95 to rotate, and can drive the two slides 93 to move in opposite directions or relatively straight lines through two nuts, thereby realizing the opening and closing of the two clamping plates 94. The piston rod of the single-rod cylinder 91 is extended and retracted, thereby driving the cylinder body 92 and the clamping plate 94 to swing up and down on the vertical plane.

[0036] The product conveying platform 10 is a belt conveyor, and the product carrier 2 is connected to the conveyor belt of the product carrier 2 .

[0037] The product carrier 2 is provided with a positioning groove for positioning the product.

[0038] The working method of the present application is as follows: first, the automatic handling mechanism 1 at the feeding end of the product conveying platform 10 automatically unstackers the stacked products one by one and places them on the product carrier 2. Then the product conveying platform 10 moves the product forward horizontally to the magnetizer 8, and then the single-rod cylinder 91 drives the cylinder body 92 and the two clamps 94 to swing downward, so that the product is located between the two clamps 94. Then the two clamps 94 are driven to clamp the product. The magnetic steel of the magnetizer 8 then magnetizes the product, so that the magnetic powder adsorbed on the surface of the workpiece forms a visually visible magnetic mark under appropriate light, thereby showing the position, size, shape and severity of the discontinuity. After the magnetization is completed, the two clamps 94 release the product and swing the clamps 94 upward. At this time, the product carrier 2 loaded with the product continues to move forward to the bottom of the two lifting arms 3, and then the lifting arm spacing adjustment mechanism 4 drives the two lifting arms 3 to open outward, and then the lifting arm swinging mechanism 5 drives the two lifting arms 3 to swing downward, so that the product is located between the two lifting arms 3. Then the arm spacing adjustment mechanism 4 drives the two arms 3 to move toward the product until the two product fixtures 6 are inserted into the two ends of the product. Then the product arm swing mechanism 5 drives the product to swing upward to adjust the angle of the product, so as to facilitate flaw detection of the product.

[0039] After the inspection is completed, the products are transferred to the discharge end of the product transfer platform 10 , and the automatic handling mechanism 1 at the discharge end moves the inspected products out of the product carrier 2 one by one and stacks them.

[0040] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A track shoe vision-guided intelligent flaw detection device, characterized in that: The invention comprises an automatic transport mechanism (1), a product carrier (2), an arm lift (3), an arm lift spacing adjustment mechanism (4), an arm lift swing mechanism (5), a product clamp (6), a gripper rotating mechanism (7), a magnetizer (8), a product positioning mechanism (9), and a product conveying platform (10). The two ends of the product conveying platform (10) are respectively provided with an automatic transport mechanism (1), the transmission part of the product conveying platform (10) is connected to the product carrier (2), the product conveying platform (10) is installed with a magnetizer (8), the side of the product conveying platform (10) is provided with a product positioning mechanism (9), an arm lift swing mechanism (5), and an arm lift spacing adjustment mechanism (4), the arm lift swing mechanism (5) is connected to the arm lift spacing adjustment mechanism (4), two arm lifts (3) are installed on the arm lift spacing adjustment mechanism (4), the arm lift (3) is installed with a gripper rotating mechanism (7), and the rotating part of the gripper rotating mechanism (7) is connected with the product clamp (6).

2. The track shoe vision-guided intelligent flaw detection equipment according to claim 1 is characterized in that: The automatic transport mechanism (1) comprises a bracket (21), a horizontal straight rail (22), a gear (23), a horizontal straight rack, a motor (24), a reducer, a horizontal linear module (25), a lifting linear module (26), an electric turntable (27), a suction cup (28), and a CCD camera (29). The bracket (21) is fixed with a horizontal straight rail (22) and a horizontal straight rack. The horizontal straight rail (22) and the horizontal straight rack are parallel to each other. The two ends of the cylinder body of the horizontal linear module (25) are respectively slidably connected to the two horizontal straight rails (22). The cylinder body of the horizontal linear module (25) is fixed with a suction cup (28). A motor (24) and a reducer are provided. The output shaft of the motor (24) is connected to the reducer. The output shaft of the reducer is connected to a rotating rod. Gears (23) are fixed to both ends of the rotating rod. The two gears (23) are respectively meshed with two horizontal straight racks. A lifting linear module (26) is fixed to the slide seat of the horizontal linear module (25). An electric turntable (27) is fixed to the slide seat of the lifting linear module (26). A suction cup (28) for sucking the product is connected to the rotating disk of the electric turntable (27). A CCD camera (29) is fixed to the cylinder body of the lifting linear module (26).

3. The track shoe vision-guided intelligent flaw detection equipment according to claim 1 is characterized in that: The arm spacing adjustment mechanism (4) comprises a housing (41), a positive and negative threaded screw (42), a nut, and a screw rotating motor (43); a positive and negative threaded screw (42) is rotatably connected inside the housing (41); nuts are threadedly connected to the positive threaded portion and the negative threaded portion of the positive and negative threaded screw (42); the two nuts are respectively connected to the two arm liftings (3); the arm liftings (3) are slidably connected to the housing (41); the output shaft of the screw rotating motor (43) is connected to one end of the positive and negative threaded screw (42); and the body of the screw rotating motor (43) is fixed to the housing (41).

4. The track shoe visual guidance intelligent flaw detection equipment according to claim 3 is characterized by: The arm lifting and swinging mechanism (5) is a single-rod cylinder, the cylinder body of the arm lifting and swinging mechanism (5) is hinged on the mounting frame, the piston rod of the arm lifting and swinging mechanism (5) is hinged on the housing (41), and the housing (41) is hinged on the mounting frame.

5. The track shoe vision-guided intelligent flaw detection equipment according to claim 3 is characterized in that: The gripper rotating mechanism (7) comprises a transmission rotating rod (71), a rotating rod rotating motor (72), a sprocket, and a chain. The body of the rotating rod rotating motor (72) is fixed on the housing (41). The output shaft of the rotating rod rotating motor (72) is connected to the transmission rotating rod (71). The transmission rotating rod (71) is rotatably connected in the housing (41). The product clamp (6) is rotatably connected to the lifting arm (3) via a shaft. Sprockets are fixed on the transmission rotating rod (71) and the shaft, and both sprockets are meshed with the chain.

6. The track shoe vision-guided intelligent flaw detection equipment according to claim 1 is characterized by: The front end of the product clamp (6) is provided with a slot for inserting one end of the product.

7. The track shoe vision-guided intelligent flaw detection equipment according to claim 1 is characterized in that: The product positioning mechanism (9) comprises a single-rod cylinder (91), a cylinder body (92), a slide seat (93), a clamping plate (94), a positive and negative threaded screw rod (95), a screw rod rotating motor (96), and a nut. The cylinder body of the single-rod cylinder (91) is hinged on a mounting frame, the piston rod of the single-rod cylinder (91) is hinged on a cylinder body (92), the cylinder body (92) is hinged on the mounting frame, and the positive and negative threaded screw rod (95) is rotatably connected to the cylinder body (92). The body of the screw rotating motor (96) is fixed on the cylinder body (92), the output shaft of the screw rotating motor (96) is connected to the positive and negative thread screw (95), the positive thread part and the negative thread part of the positive and negative thread screw (95) are both threadedly connected with nuts, the two nuts are respectively connected to the two slide seats (93), the two slide seats (93) are both slidably connected to the cylinder body (92), and the inner sides of the two slide seats (93) are connected with clamping plates (94).

8. The track shoe vision-guided intelligent flaw detection equipment according to claim 1 is characterized in that: The product conveying platform (10) is a belt conveyor, and the product carrier (2) is connected to the conveyor belt of the product carrier (2).

9. The track shoe vision-guided intelligent flaw detection equipment according to claim 1 is characterized in that: The product carrier (2) is provided with a positioning groove for positioning the product.

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