Bearing detection system and detection method thereof

Abstract

The invention discloses a bearing detection system and a detection method thereof, and relates to the technical field of bearing detection. Comprising a bearing detection platform and a bearing transmission platform, the bearing detection platform comprises a bearing detection frame, and a detection fixing plate is fixedly arranged on the upper end face of the bearing detection frame; an outer circle rolling mechanism, an outer circle detection mechanism, a front face detection mechanism, a dustproof cover detection mechanism, a turnover mechanism, a back face detection mechanism, an inner diameter detection mechanism, a discharging mechanism, a material moving mechanism and a bearing sliding plate are sequentially arranged on the detection fixing plate, the bearing conveying platform comprises a bearing conveying frame, and a conveying belt is arranged at the upper end of the bearing conveying frame. A material returning support is arranged on the conveying belt, a material returning opening is formed in the front end of the material returning support, and a material returning channel is arranged at the rear end of the material returning opening. Through the detection camera, excircle surface detection, front surface detection, back surface detection, dust cover detection, inner diameter detection and defective product screening of the bearing are realized, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bearing detection, and in particular to a bearing detection system and a detection method thereof. Background Art

[0002] In the machinery industry, bearings are important components that connect different machines. Bearings are prone to quality defects during the assembly process, resulting in unqualified products. These unqualified products must be identified and removed before leaving the factory. Traditional bearing inspection methods are mostly manual inspections, which have the problems of high cost and low efficiency.

[0003] At present, bearing detection technology is gradually developing towards non-contact detection, digital detection, online detection, etc. By introducing advanced computer vision and detection technology, machine vision and industrial systems are highly integrated. Rapidly improve production efficiency and promote the transformation and upgrading of traditional manufacturing industries. Therefore, the present invention provides a bearing detection system and a detection method thereof. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a bearing detection system and a detection method thereof, which realizes the outer cylindrical surface detection, front surface detection, back surface detection, dust cover detection, inner diameter detection and defective product screening of the bearing through the detection camera, thereby improving production efficiency.

[0005] To this end, the technical solution of the present invention is a bearing detection system, including a bearing detection platform and a bearing transmission platform, the bearing detection platform includes a bearing detection frame, the upper end face of the bearing detection frame is fixedly provided with a detection fixing plate, the detection fixing plate is sequentially provided with an outer circle rolling mechanism, an outer circle detection mechanism, a front detection mechanism, a dust cover detection mechanism, a flipping mechanism, a back detection mechanism, an inner diameter detection mechanism, a unloading mechanism, a material shifting mechanism and a bearing slide plate, a bearing limit plate is provided on the rear side of the bearing slide plate, a flipping mechanism is provided in the middle part of the bearing slide plate, the flipping mechanism is fixed to the detection fixing plate through a flipping base, a flipping cylinder is provided on the flipping base, the output end of the flipping cylinder is connected to a flipping gripper, and a flip slide block is provided below the flipping gripper, the bearing transmission platform includes a bearing transmission frame, the upper end of the bearing transmission frame is provided with a transmission belt, a material return bracket is provided on the transmission belt, a material return port is provided at the front end of the material return bracket, and a material return channel is provided at the rear end of the material return port.

[0006] Furthermore, a first unloading port and a second unloading port are provided on the detection fixing plate. The first unloading port and the second unloading port are located at the front side of the rear end of the bearing slide plate. A recovery box or a marking machine is provided below the first unloading port and the second unloading port.

[0007] Furthermore, the outer cylindrical rolling mechanism includes a bracket plate and a driving plate, a rack driving motor is fixedly provided on the driving plate, a rack is provided on one side of the output gear of the rack driving motor, the rack is meshed with the output gear of the rack driving motor, the rack is slidably connected to the driving plate through the rack slide plate, two rotating bracket plates are provided on one side of the driving plate, rollers and roller driving motors are provided on the rotating bracket plates, a discharge port is provided on the outer rotating bracket plates, a bearing slide is fixedly provided on the outer side of the discharge port, the bearing slide includes a slide upper limit plate and a slide groove, a clamping plate is provided inside the upper limit plate, the clamping plate is fixedly connected to the upper limit plate through a compression spring, and a discharge port is provided at the lower end of the slide groove.

[0008] Furthermore, the outer circle detection mechanism includes an outer circle detection bracket, an outer circle detection slide plate is provided at the upper end of the outer circle detection bracket, an outer circle detection camera is fixedly provided at the front end of the outer circle detection slide plate, and an outer circle detection fill light is provided below the outer circle detection camera.

[0009] Furthermore, the front detection mechanism includes a front detection bracket, a front detection upper skateboard is provided at the upper end of the front detection bracket, a front detection camera is fixedly provided at the front end of the front detection upper skateboard, a front detection lower skateboard is provided below the front detection upper skateboard, and a front detection fill light is fixedly provided at the front end of the front detection lower skateboard.

[0010] Furthermore, the dust cover detection mechanism comprises a dust cover detection bracket, the upper end of the dust cover detection bracket is provided with a dust cover detection slide plate, the front end of the dust cover detection slide plate is provided with a front and back detection camera, and the front and back detection camera is provided with two cameras.

[0011] Furthermore, the inner diameter detection mechanism includes an inner diameter detection bracket, an inner diameter detection slide plate is provided at the upper end of the inner diameter detection bracket, an inner diameter detection camera is fixedly provided at the front end of the inner diameter detection slide plate, an inner diameter detection fill light is provided below the inner diameter detection camera, and the inner diameter detection fill light is fixed on the detection fixing plate.

[0012] Furthermore, the unloading mechanism includes a unloading support plate, which is fixedly connected to the detection fixed plate, and a unloading cylinder is fixedly provided on the unloading support plate. The output end of the unloading cylinder is connected to a unloading push plate, and a unloading push groove is provided at the front end of the unloading push plate.

[0013] Furthermore, the material moving mechanism includes a lower material moving slide and an upper material moving slide. A transverse slide rail is provided at the bottom of the lower material moving slide, a transverse cylinder is provided on one side of the lower material moving slide, a longitudinal slide rail is provided on the upper end surface of the lower material moving slide, a longitudinal cylinder is fixedly provided on the upper material moving slide, the output end of the longitudinal cylinder is connected to the lower material moving slide, a plurality of material moving grippers are arranged at intervals on the upper material moving slide, a bearing slot is provided in front of the material moving gripper, and a slot expansion is provided at the front end of the bearing slot.

[0014] A bearing detection control method, using the above-mentioned bearing detection system, specifically comprises the following steps:

[0015] S1. Bearing outer surface inspection

[0016] Place multiple bearings on the outer cylindrical rolling mechanism, and the rack pushes the bearing to move in the direction of the clamping plate, so that the bearing is in a clamped state, and the roller drives the bearing to rotate. During the rotation of the bearing, the outer cylindrical detection camera of the outer cylindrical detection mechanism obtains the image of the outer cylindrical surface of the bearing, and then judges whether there is a surface quality problem on the outer cylindrical surface of the bearing through the image of the outer cylindrical surface, and marks defective products;

[0017] S2. Bearing station transmission

[0018] After the outer cylindrical surface of the bearing is inspected, it slides down to the bearing slide plate through the bearing slideway in turn. The material transfer mechanism grabs the bearing in turn through the material transfer gripper and moves back one station. The bearing passes through the front inspection station, the front dust cover inspection station, the flipping station, the back dust cover inspection station, the back inspection station, the inner diameter inspection station and the defective product unloading station in turn.

[0019] S3. Front inspection of bearings

[0020] When the bearing is in the front inspection station, the front inspection mechanism obtains the front image of the bearing, and then determines whether there is a surface quality problem on the front of the bearing through the front image, and marks defective products;

[0021] S4. Front inspection of the bearing dust cover

[0022] When the bearing is in the dust cover front detection station, the front camera of the dust cover detection mechanism obtains the front image of the dust cover, and then judges whether there is a surface quality problem of the bearing dust cover through the front image of the dust cover, and marks the defective products;

[0023] S5. Bearing flip

[0024] When the bearing is in the turning position, the turning mechanism drives the bearing to turn;

[0025] S6. Inspection of the reverse side of the bearing dust cover

[0026] When the bearing is at the dust cover back detection station, the rear camera of the dust cover detection mechanism obtains the dust cover back image, and then judges whether the dust cover of the bearing has surface quality problems through the dust cover back image, and marks defective products;

[0027] S7. Bearing reverse detection

[0028] When the bearing is at the reverse side inspection station, the reverse side inspection mechanism obtains the reverse side image of the bearing, and then determines whether there is a surface quality problem on the reverse side of the bearing through the reverse side image, and marks defective products;

[0029] S8. Bearing inner diameter detection

[0030] When the bearing is at the inner diameter detection station, the inner diameter detection mechanism obtains the inner diameter image of the bearing, and then determines whether there is a surface quality problem on the inner diameter of the bearing through the inner diameter image, and marks defective products;

[0031] S9. Unloading of defective bearings

[0032] When the bearing is at the defective product unloading position, the unloading push plate of the first unloading mechanism pushes the defective product into the first unloading port, or the unloading push plate of the second unloading mechanism pushes the defective product into the second unloading port, and the defective product falls into the recycling box or the marking machine prints the defective product mark;

[0033] S10. Bearing retraction and transmission

[0034] The qualified bearings after inspection are transferred to the transmission belt through the material transfer mechanism. The bearings enter the return channel after passing through the return port of the return bracket, and enter the next process after being grabbed by the robotic arm.

[0035] The beneficial effect of the present invention is that the present invention provides a bearing detection system, including a bearing detection platform and a bearing transmission platform. The bearing detection platform includes a bearing detection frame. The detection fixing plate of the bearing detection frame is sequentially provided with an outer cylindrical rolling mechanism, an outer cylindrical detection mechanism, a front detection mechanism, a dust cover detection mechanism, a flipping mechanism, a back side detection mechanism, an inner diameter detection mechanism, a unloading mechanism, a material shifting mechanism and a bearing slide plate. Through the detection camera, the outer cylindrical surface detection, front side detection, back side detection, dust cover detection, inner diameter detection and screening of defective products of the bearing are realized, thereby improving production efficiency.

[0036] In addition, the invention provides a bearing detection control method, which adopts a measurement algorithm with high detection accuracy and good stability. The algorithm uses the least squares method for circle fitting circle detection, which can accurately and quickly extract the dust cover ROI area, which can reduce the search range for subsequent processing and ensure accuracy, thereby correspondingly improving efficiency, safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 It is a structural diagram of the bearing detection platform;

[0039] Figure 3 It is a structural schematic diagram of the bearing detection frame;

[0040] Figure 4 It is a structural diagram of an external cylindrical rolling mechanism;

[0041] Figure 5 yes Figure 4The main view;

[0042] Figure 6 It is a structural diagram of the bearing slideway;

[0043] Figure 7 It is a schematic diagram of the structure of the front detection mechanism;

[0044] Figure 8 It is a structural schematic diagram of the flipping mechanism;

[0045] Fig. 9 It is a structural schematic diagram of the dust cover detection mechanism;

[0046] Fig.10 It is a structural schematic diagram of the inner diameter inspection mechanism;

[0047] Fig.11 It is a structural schematic diagram of the material transfer mechanism;

[0048] Fig.12 yes Fig.11 The main view;

[0049] Fig.13 It is a structural diagram of the unloading mechanism;

[0050] Fig.14 It is a structural schematic diagram of the bearing transmission platform.

[0051] Explanation of symbols in the figure:

[0052] 1. Bearing detection frame; 101. Detection fixing plate; 102. First discharge port; 103. Second discharge port; 2. Bearing transmission frame; 21. Transmission belt; 22. Transmission motor; 23. Returning bracket; 2301. Returning port; 2302. Returning channel; 24. Baffle plate; 3. External cylindrical rolling mechanism; 31. Bracket plate; 32. Driving plate; 33. Rack driving motor; 34. Rack; 35. Rack slide plate; 36. Rotating bracket plate; 37. Roller; 38. Roller drive motor; 39. Bearing slide; 3901. Slide upper limit plate; 3902. Clamping plate; 3903. Compression spring; 3904. Slideway chute; 3905. Feeding port; 4. External circle detection mechanism; 41. External circle detection bracket; 42. External circle detection slide plate; 43. External circle detection camera; 44. External circle detection fill light; 5. Front detection mechanism; 51. Front detection bracket; 52. Front detection upper slide plate; 53. Front detection camera; 54. Front detection lower Slide plate; 55. Front detection fill light; 6. Dust cover detection mechanism; 61. Dust cover detection bracket; 62. Dust cover detection slide plate; 63. Front and back detection camera; 7. Back detection mechanism; 8. Inner diameter detection mechanism; 81. Inner diameter detection bracket; 82. Inner diameter detection slide plate; 83. Inner diameter detection camera; 84. Inner diameter detection fill light; 9. Discharge mechanism; 91. Discharge support plate; 92. Discharge cylinder; 93. Discharge push plate; 9301. Discharge push slot; 10. Shift Material mechanism; 1001. Material transfer lower slide; 1002. Horizontal slide rail; 1003. Longitudinal slide rail; 1004. Horizontal cylinder; 1005. Material transfer upper slide; 1006. Longitudinal cylinder; 1007. Material transfer gripper; 11. Bearing slide; 1101. Bearing limit plate; 1102. Inner diameter light filling hole; 12. Flip mechanism; 1201. Flip base; 1202. Flip cylinder; 1203. Flip gripper; 1204. Flip slide block; 13. Bearing. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0054] Example 1

[0055] like Figure 1-14 As shown, the present invention provides a bearing detection system, which includes a bearing detection platform and a bearing transmission platform. The bearing detection platform is used for outer cylindrical surface detection, front surface detection, back surface detection, dust cover detection, inner diameter detection and defective product screening of the bearing, and the bearing transmission platform is used for the collection and transmission of the bearing to subsequent equipment or process flow.

[0056] The bearing detection platform includes a bearing detection frame 1. The lower end of the bearing detection frame 1 is provided with a foot and a universal wheel to facilitate the movement and transportation of the bearing detection platform. The upper end surface of the bearing detection frame 1 is fixedly provided with a detection fixing plate 101. The detection fixing plate 101 is sequentially provided with an outer circle rolling mechanism 3, an outer circle detection mechanism 4, a front detection mechanism 5, a dust cover detection mechanism 6, a flipping mechanism 12, a reverse detection mechanism 7, an inner diameter detection mechanism 8, a unloading mechanism 9 and a material moving mechanism 10.

[0057] The detection fixing plate 101 is also provided with a bearing slide 11 and a first discharge port 102 and a second discharge port 103. The first discharge port 102 and the second discharge port 103 are located at the front side of the rear end of the bearing slide 11. A recycling box or a marking machine is provided below the first discharge port 102 and the second discharge port 103. A bearing limit plate 1101 is provided at the rear side of the bearing slide 11. An inner diameter fill light hole 1102 is also provided on the bearing slide 11. The bearing 13 moves on the bearing slide 11 and is limited by the bearing limit plate 1101. The middle part of the bearing slide 11 is provided with The flipping mechanism 12 is used for flipping the front and back sides of the bearing. The flipping mechanism 12 is fixed on the detection fixed plate 101 through a flipping base 1201. A flipping cylinder 1202 is provided on the flipping base 1201. The output end of the flipping cylinder 1202 is connected to a flipping gripper 1203. A flipping chute block 1204 is provided below the flipping gripper 1203. The flipping gripper 1203 is cylindrical in shape. A bearing flipping groove is provided in the middle of the flipping gripper 1203. The lower end surface of the bearing flipping groove is flush with the upper end surface of the flipping chute block 1204.

[0058] The outer cylindrical rolling mechanism 3 includes a bracket plate 31 and a driving plate 32. The bracket plate 31 is fixedly connected to the upper end surface of the detection fixed plate 101 through a supporting column. The driving plate 32 is fixedly connected to the upper end surface of the bracket plate 3 through a supporting column. A rack drive motor 33 is fixedly provided on the driving plate 32. A rack 43 is provided on one side of the output gear of the rack drive motor 33. The rack 43 meshes with the output gear of the rack drive motor 33. The rack 43 is slidably connected to the driving plate 32 through a rack slide plate 35. Two rotating bracket plates 36 are provided on one side of the driving plate 32. A roller 37 and a roller drive motor 38 are provided on the rotating bracket plate 36. The roller 37 and the roller drive motor 38 are connected through a belt drive. The number of rollers 37 is 2, and the two rollers 37 are distributed in parallel. The bearing 13 is placed above the two rollers 37. The rack 43 pushes the bearing 13 to translate under the drive of the rack drive motor 33, and the roller 37 drives the bearing 13 to rotate under the drive of the roller drive motor 38.

[0059] A discharge port is provided on the outer rotating bracket plate 36, and a bearing slide 39 is fixedly provided on the outer side of the discharge port. The bearing slide 39 includes a slide upper limit plate 3901 and a slide groove 3904. A clamping plate 3902 is provided inside the upper limit plate 3901. The clamping plate 3902 is fixedly connected to the upper limit plate 3901 by a compression spring 3903. A discharge port 3905 is provided at the lower end of the slide groove 3904.

[0060] A plurality of closely arranged bearings 13 are placed on the two rollers 37 of the outer cylindrical rolling mechanism 3. One side of the bearing 13 moves toward the direction of the clamping plate 3902 under the push of the rack. Under the elastic force of the compression spring 3903, the plurality of bearings 13 on the two rollers 37 are in a clamped state. At this time, the roller drive motor 38 drives the roller 37 to rotate, thereby driving the plurality of bearings 13 to rotate synchronously. Since the compression spring 3903 provides a pre-compression force, the stability of the synchronous rotation of the plurality of bearings 13 is ensured, and the stability of the detection of the outer cylindrical detection mechanism 4 is ensured.

[0061] The outer circle detection mechanism 4 includes an outer circle detection bracket 41, and an outer circle detection slide plate 42 is provided at the upper end of the outer circle detection bracket 41. The outer circle detection slide plate 42 slides on the outer circle detection bracket 41 to adjust its position. An outer circle detection camera 43 is fixedly provided at the front end of the outer circle detection slide plate 42. An outer circle detection fill light 44 is provided below the outer circle detection camera 43. The outer circle detection fill light 44 is fixed on the outer circle detection bracket 41 and is provided with an angle with the horizontal. The outer circle detection fill light 44 is a long strip light strip to facilitate providing sufficient light source for the outer circle detection of the bearing 13.

[0062] The front detection mechanism 5 includes a front detection bracket 51, and a front detection upper slide plate 52 is provided at the upper end of the front detection bracket 51. The front detection upper slide plate 52 slides on the front detection bracket 51 to adjust its position. A front detection camera 53 is fixedly provided at the front end of the front detection upper slide plate 52. A front detection lower slide plate 54 is provided below the front detection upper slide plate 52. The front detection lower slide plate 54 slides on the front detection bracket 51 to adjust its position. A front detection fill light 55 is fixedly provided at the front end of the front detection lower slide plate 54. The front detection fill light 55 is a circular light strip. A through hole is provided in the middle of the front detection fill light 55. The front detection camera 53 detects the front side of the bearing 13 through the through hole in the middle of the front detection fill light 55.

[0063] The dust cover detection mechanism 6 includes a dust cover detection bracket 61, a dust cover detection slide plate 62 is provided at the upper end of the dust cover detection bracket 61, the dust cover detection slide plate 62 slides on the dust cover detection bracket 61 to adjust the position, and a front and back detection camera 63 is provided at the front end of the dust cover detection slide plate 62, and the front and back detection camera 63 is provided with two cameras, which are respectively used to detect the dust covers on the front and back sides of the bearing 13. The flip mechanism 12 is located directly below the front and back detection camera 63, and after the front camera of the front and back detection camera 63 detects the dust cover on the front side of the bearing 13, the bearing 13 is turned over by the flip mechanism 12, and the rear camera of the front and back detection camera 63 detects the dust cover on the back side of the bearing 13.

[0064] The reverse side detection mechanism 7 has the same structure as the front side detection mechanism 5 , and detects the reverse side of the bearing 13 after the turning mechanism 12 turns the bearing 13 over.

[0065] The inner diameter detection mechanism 8 includes an inner diameter detection bracket 81, an inner diameter detection skateboard 82 is provided at the upper end of the inner diameter detection bracket 81, the inner diameter detection skateboard 82 slides on the inner diameter detection bracket 81 to adjust its position, an inner diameter detection camera 83 is fixedly provided at the front end of the inner diameter detection skateboard 82, an inner diameter detection fill light 84 is provided below the inner diameter detection camera 83, the inner diameter detection fill light 84 is fixed on the detection fixing plate 101, and is located directly below the inner diameter fill light hole 1102 of the bearing skateboard 11.

[0066] There are two unloading mechanisms 9 to prevent defective products from being transmitted to the bearing transmission platform. The unloading mechanism 9 includes a unloading support plate 91, which is fixedly connected to the detection fixed plate 101. A unloading cylinder 92 is fixedly provided on the unloading support plate 91. The output end of the unloading cylinder 92 is connected to a unloading push plate 93. The front end of the unloading push plate 93 is provided with a unloading push groove 9301, which is an arc-shaped groove.

[0067] The material moving mechanism 10 comprises a lower material moving slide plate 1001 and an upper material moving slide plate 1005. A transverse slide rail 1002 is provided below the lower material moving slide plate 1001. The lower material moving slide plate 1001 is slidably connected to the detection fixed plate 101 through the transverse slide rail 1002. A transverse cylinder 1004 is provided on one side of the lower material moving slide plate 1001. The transverse cylinder 1004 is fixedly connected to the detection fixed plate 101. The transverse cylinder 1004 drives the lower material moving slide plate 1001 to perform transverse translation movement. The upper end surface of the lower material moving slide plate 1001 is provided with a longitudinal slide rail 1002. 03. The upper material moving slide 1005 is slidably connected with the lower material moving slide 1001 through the longitudinal slide rail 1003. A longitudinal cylinder 1006 is fixedly provided on the upper material moving slide 1005. The output end of the longitudinal cylinder 1006 is connected to the lower material moving slide 1001. The longitudinal cylinder 1006 drives the upper material moving slide 1005 to perform longitudinal translational motion. A plurality of material moving grippers 1007 are arranged at intervals on the upper material moving slide 1005. A bearing slot is arranged in front of the material moving gripper 1007. A slot expansion is arranged at the front end of the bearing slot to facilitate the grabbing and moving of the bearing.

[0068] The bearing transmission platform includes a bearing transmission frame 2, a transmission belt 21 is provided at the upper end of the bearing transmission frame 2, the transmission belt 21 is connected to the bearing transmission frame 2 through a transmission roller, the transmission roller is connected to a transmission motor 22, a return bracket 23 is provided on the transmission belt 21, the return bracket 23 is fixedly connected to the upper end of the bearing transmission frame 2, a return port 2301 is provided at the front end of the return bracket 23, a return channel 2302 is provided at the rear end of the return port 2301, the return port 2301 is used to gather the bearings 13, the gathered bearings 13 enter the return channel 2302, and enter the next process after being grabbed by the robot arm. In order to prevent the robot arm from missing, a material blocking plate 24 is provided at the rear end of the return channel 2302.

[0069] Example 2

[0070] A bearing detection control method, using the above-mentioned bearing detection system, specifically comprises the following steps:

[0071] S1. Bearing outer surface inspection

[0072] A plurality of bearings 13 are placed on the outer cylindrical rolling mechanism 3 by a robot or manually. The rack 43, driven by the rack drive motor 33, pushes the bearing 13 to translate toward the clamping plate 3902, so that the bearing is in a clamped state. The roller 37, driven by the roller drive motor 38, drives the bearing 13 to rotate. During the rotation of the bearing 13, the outer cylindrical detection camera 43 of the outer cylindrical detection mechanism 4 acquires the image of the outer cylindrical surface of the bearing 13, and then determines whether there is a surface quality problem on the outer cylindrical surface of the bearing 13 through the image of the outer cylindrical surface, and marks defective products.

[0073] S2. Bearing station transmission

[0074] After the outer surface of the bearing is inspected, it slides onto the bearing slide 11 through the bearing slide 39 in turn. The material transfer mechanism 10 grabs the bearing in turn through the material transfer gripper 1007 and moves backward one station. The bearing passes through the front inspection station, the dust cover front inspection station, the flipping station, the dust cover back inspection station, the back inspection station, the inner diameter inspection station and the defective product unloading station in turn.

[0075] S3. Front inspection of bearings

[0076] When the bearing is in the front inspection station, the front inspection mechanism 5 obtains the front image of the bearing, and then determines whether there is a surface quality problem on the front of the bearing 13 through the front image, and marks the defective products. At the same time, for the defective products detected in the previous process, it is possible to choose not to perform front inspection.

[0077] S4. Front inspection of the bearing dust cover

[0078] When the bearing is in the dust cover front detection position, the front camera of the dust cover detection mechanism 6 obtains

[0079] The front image of the dust cover is then used to determine whether the dust cover of the bearing 13 has surface quality problems, and mark defective products. At the same time, for defective products detected in the previous process, it is possible to choose not to perform dust cover front inspection.

[0080] S5. Bearing flip

[0081] When the bearing is in the turning position, the turning mechanism 12 drives the bearing to turn.

[0082] S6. Inspection of the reverse side of the bearing dust cover

[0083] When the bearing is in the dust cover reverse detection station, the rear camera of the dust cover detection mechanism 6 obtains

[0084] The back image of the dust cover is then used to determine whether the dust cover of the bearing 13 has surface quality problems, and mark defective products. At the same time, for defective products detected in the previous process, it is possible to choose not to perform dust cover back detection.

[0085] S7. Bearing reverse detection

[0086] When the bearing is in the reverse detection station, the reverse detection mechanism 7 obtains the reverse image of the bearing, and then determines whether there is a surface quality problem on the reverse side of the bearing 13 through the reverse image, and marks the defective products. At the same time, for the defective products detected in the previous process, the reverse detection can be selected not to be performed.

[0087] S8. Bearing inner diameter detection

[0088] When the bearing is in the inner diameter detection station, the inner diameter detection mechanism 8 obtains the inner diameter image of the bearing, and then determines whether there is a surface quality problem with the inner diameter of the bearing 13 through the inner diameter image, and marks defective products. At the same time, for defective products detected in the previous process, it is possible to choose not to perform inner diameter detection.

[0089] S9. Unloading of defective bearings

[0090] When the bearing is at the defective product unloading position, the unloading push plate of the first unloading mechanism 9 pushes the defective products into the first unloading port 102, or the unloading push plate of the second unloading mechanism 9 pushes the defective products into the second unloading port 103, and the defective products fall into the recycling box or the marking machine prints the defective product mark.

[0091] S10. Bearing retraction and transmission

[0092] The qualified bearing 13 after inspection is transferred to the transmission belt 21 through the material transfer mechanism 10. The bearing 13 passes through the return port 2301 of the return bracket 23 and enters the return channel 2302. After being grabbed by the robot arm, it enters the next process.

[0093] Example 3

[0094] A method for detecting a dust cover of a bearing comprises the following steps:

[0095] S1. Dust cover image acquisition and preprocessing

[0096] When the bearing is in the front dust cover detection station, the front camera of the dust cover detection mechanism 6 obtains the front image of the dust cover. When the bearing is in the back dust cover detection station, the rear camera of the dust cover detection mechanism 6 obtains the back image of the dust cover. Due to the influence of the surrounding environment, the image will produce noise, highlights, etc., so noise reduction processing must be performed. The present invention adopts Gaussian filtering to eliminate noise interference to pre-process the front dust cover image and the back dust cover image.

[0097] S2. Dust cover image extraction

[0098] In order to effectively improve the speed and accuracy of detection, the ROI area (region of interest) is extracted from the dust cover image of the bearing, and subsequent image processing and analysis only need to be performed on the ROI area. The present invention detects the inner and outer rings and extracts the ROI area. The extraction of the ROI area is divided into two steps: the first step is to fit the center position and outer radius of the bearing using the least squares method; the second step is to extract the dust cover area according to the ratio of the inner and outer diameters of the dust cover in the bearing parameters to the outer radius of the bearing.

[0099] The least squares method finds the best function match of the fitting parameters by minimizing the sum of squares of the errors. Let the point set (Xi, Yi), (i=1,2,...,n), the distance from the midpoint to the center of the circle is Di, and the least squares method fits the circular curve: Di 2 =(Xi-A) 2 +(Yi-B) 2 , the difference between the square of the distance from point (Xi, Yi) to the edge of the circle and the square of the radius is:

[0100] Ti=Di 2 -R 2

[0101] =(Xi-A) 2 +(Yi-B) 2 -R 2

[0102] =Xi 2 +Yi 2 +aXi+bYi+c

[0103] Let s(a,b,c)= =

[0104] The square difference s(a,b,c) is greater than 0. Therefore, the function has a minimum value, and the partial derivatives of a, b, and c are equal to 0. Get the extreme value, and then compare all function values ​​to get the minimum value.

[0105]

[0106]

[0107]

[0108] Solving this system of equations, we get:

[0109] A= ,B= , R=

[0110] S3. Dust cover image ROI area binarization

[0111] Binarization is to treat the image as a mixture of different grayscale areas (target and background). Let g(x,y) be the coordinates of the two-dimensional image point, f(x,y) be the grayscale value of each point in the image. t is the set threshold. The binarized image g(x,y) can be expressed as

[0112]

[0113] It can be seen that determining the optimal threshold t is the key to binarization. The present invention adopts the Otsu method of adaptive threshold algorithm, which calculates the between-class variance corresponding to different thresholds, and the optimal threshold for segmenting the image is when the between-class variance is the largest.

[0114] Let the threshold T(k)=k, 0<k<L-1, and let C1 consist of all pixels with gray values in the interval [0,k] and C2 consist of all pixels with gray values in the interval [k-1,L-1]. The probability P1(k) that a pixel is assigned to class C1 is and the probability P2(k) that a pixel is assigned to class C2 is = .

[0115] The average gray value of the pixels assigned to class C1 is:

[0116]

[0117] The average gray value of the pixels assigned to class C2 is:

[0118]

[0119] The average gray value of the entire image is:

[0120]

[0121] The between-class variance is defined as:

[0122] =

[0123] The between-class variance is rewritten as:

[0124] =

[0125] k * is the optimal threshold:

[0126] (k * )=

[0127] Select the largest k value under the condition of 0<P1(k)<1. When binarizing the bearing dust cover image by this method, it is found that most images only contain about half of the gray levels. That is, the number of pixels at a certain gray level is zero. Therefore, the variance calculation of the Otsu method is greatly reduced, and the running time of the program is reduced.

[0128] S4. Feature extraction and analysis of the dust cover image

[0129] After the dust cover image is binarized, the image contains the target area and noise, where Ci represents the i-th connected area, where the grayscale value is consistent and the 8 adjacent pixels are judged to be the same area. Through the area and roundness features of the connected area, the features of the connected area are further analyzed and extracted, and preparation is made for the subsequent quantization processing.

[0130] S5. Quantification and judgment of dust cover image features

[0131] By analyzing the features of the connected regions, the size of the area and the connected regions are used to determine whether the bearing dust cover is qualified. Considering the interference of noise, the connected regions are considered connected only when they exceed a certain size. Let the number of connected regions in the bearing dust cover image be recorded as C. If C > 2, the dust cover is considered unqualified.

[0132] The determination of the presence or absence of dust cover is based on the analysis of the camera resolution and processed images. The corresponding image is set to K pixels, so the area less than K pixels is not considered to be a connected area. As noise interference, the determination of the lack of dust cover of the bearing: the number of connected areas with an area greater than K pixels is counted and set to C. If C >2, it is considered that the dust cover is unqualified, otherwise it is qualified with the dust cover.

[0133] This invention provides a bearing detection control method. The measurement algorithm used has high detection accuracy and good stability. The algorithm uses the least squares method for circle fitting circle detection, which can accurately and quickly extract the dust cover ROI area, which can reduce the search range for subsequent processing and ensure accuracy, and correspondingly improve efficiency. It is safe and reliable. The experimental results show that this method can detect whether the bearing is qualified in real time and accurately, and can meet the requirements of industrial detection.

[0134] Although 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 the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bearing detection system, characterized in that: The invention comprises a bearing detection platform and a bearing transmission platform, wherein the bearing detection platform comprises a bearing detection frame, an upper end surface of the bearing detection frame is fixedly provided with a detection fixing plate, an outer circle rolling mechanism, an outer circle detection mechanism, a front detection mechanism, a dust cover detection mechanism, a flipping mechanism, a reverse detection mechanism, an inner diameter detection mechanism, a unloading mechanism, a material shifting mechanism and a bearing slide plate are sequentially arranged on the detection fixing plate, a bearing limit plate is arranged on the rear side of the bearing slide plate, a flipping mechanism is arranged in the middle part of the bearing slide plate, the flipping mechanism is fixed to the detection fixing plate through a flipping base, a flipping cylinder is arranged on the flipping base, a flipping gripper is connected to the output end of the flipping cylinder, a flipping slide block is arranged below the flipping gripper, and the bearing transmission platform comprises a bearing transmission frame, a transmission belt is arranged on the upper end of the bearing transmission frame, a material return bracket is arranged on the transmission belt, a material return port is arranged at the front end of the material return bracket, and a material return channel is arranged at the rear end of the material return port.

2. A bearing detection system according to claim 1, characterized in that: The detection fixing plate is also provided with a first discharge port and a second discharge port, the first discharge port and the second discharge port are located at the front side of the rear end of the bearing slide plate, and a recovery box or a marking machine is provided below the first discharge port and the second discharge port.

3. A bearing detection system according to claim 1, characterized in that: The outer cylindrical rolling mechanism includes a bracket plate and a driving plate, a rack driving motor is fixedly provided on the driving plate, a rack is provided on one side of the output gear of the rack driving motor, the rack is meshed with the output gear of the rack driving motor, the rack is slidably connected with the driving plate through a rack slide plate, two rotating bracket plates are provided on one side of the driving plate, a roller and a roller driving motor are provided on the rotating bracket plate, a discharge port is provided on the outer rotating bracket plate, a bearing slide is fixedly provided on the outer side of the discharge port, the bearing slide includes a slide upper limit plate and a slide groove, a clamping plate is provided inside the upper limit plate, the clamping plate is fixedly connected to the upper limit plate through a compression spring, and a discharge port is provided at the lower end of the slide groove.

4. A bearing detection system according to claim 1, characterized in that: The outer circle detection mechanism comprises an outer circle detection bracket, an outer circle detection slide plate is provided at the upper end of the outer circle detection bracket, an outer circle detection camera is fixedly provided at the front end of the outer circle detection slide plate, and an outer circle detection fill light is provided below the outer circle detection camera.

5. A bearing detection system according to claim 1, characterized in that: The front detection mechanism includes a front detection bracket, an upper front detection slide plate is provided at the upper end of the front detection bracket, a front detection camera is fixedly provided at the front end of the upper front detection slide plate, a lower front detection slide plate is provided below the upper front detection slide plate, and a front detection fill light is fixedly provided at the front end of the lower front detection slide plate.

6. A bearing detection system according to claim 1, characterized in that: The dust cover detection mechanism comprises a dust cover detection bracket, the upper end of the dust cover detection bracket is provided with a dust cover detection slide plate, the front end of the dust cover detection slide plate is provided with a front and back detection camera, and the front and back detection camera is provided with two cameras.

7. A bearing detection system according to claim 1, characterized in that: The inner diameter detection mechanism includes an inner diameter detection bracket, an inner diameter detection slide plate is provided at the upper end of the inner diameter detection bracket, an inner diameter detection camera is fixedly provided at the front end of the inner diameter detection slide plate, an inner diameter detection fill light is provided below the inner diameter detection camera, and the inner diameter detection fill light is fixed on the detection fixing plate.

8. A bearing detection system according to claim 1, characterized in that: The unloading mechanism comprises an unloading support plate, which is fixedly connected to the detection fixed plate, and a unloading cylinder is fixedly arranged on the unloading support plate, and an output end of the unloading cylinder is connected to a unloading push plate, and a unloading push groove is arranged at the front end of the unloading push plate.

9. A bearing detection system according to claim 1, characterized in that: The material moving mechanism includes a lower material moving slide and an upper material moving slide, a transverse slide rail is provided at the bottom of the lower material moving slide, a transverse cylinder is provided on one side of the lower material moving slide, a longitudinal slide rail is provided on the upper end surface of the lower material moving slide, a longitudinal cylinder is fixedly provided on the upper material moving slide, the output end of the longitudinal cylinder is connected to the lower material moving slide, a plurality of material moving grippers are arranged at intervals on the upper material moving slide, a bearing slot is provided in front of the material moving gripper, and a slot expansion is provided at the front end of the bearing slot.

10. A bearing detection control method, using a bearing detection system according to any one of claims 1 to 9, specifically comprising the following steps: S1. Bearing outer surface inspection Place multiple bearings on the outer cylindrical rolling mechanism, and the rack pushes the bearing to move in the direction of the clamping plate, so that the bearing is in a clamped state, and the roller drives the bearing to rotate. During the rotation of the bearing, the outer cylindrical detection camera of the outer cylindrical detection mechanism obtains the image of the outer cylindrical surface of the bearing, and then judges whether there is a surface quality problem on the outer cylindrical surface of the bearing through the image of the outer cylindrical surface, and marks defective products; S2. Bearing station transmission After the outer cylindrical surface of the bearing is inspected, it slides down to the bearing slide plate through the bearing slideway in turn. The material transfer mechanism grabs the bearing in turn through the material transfer gripper and moves back one station. The bearing passes through the front inspection station, the front dust cover inspection station, the flipping station, the back dust cover inspection station, the back inspection station, the inner diameter inspection station and the defective product unloading station in turn. S3. Front inspection of bearings When the bearing is in the front inspection station, the front inspection mechanism obtains the front image of the bearing, and then determines whether there is a surface quality problem on the front of the bearing through the front image, and marks defective products; S4. Front inspection of the bearing dust cover When the bearing is in the dust cover front detection station, the front camera of the dust cover detection mechanism obtains the front image of the dust cover, and then judges whether there is a surface quality problem of the bearing dust cover through the front image of the dust cover, and marks the defective products; S5. Bearing flip When the bearing is in the turning position, the turning mechanism drives the bearing to turn; S6. Inspection of the reverse side of the bearing dust cover When the bearing is at the dust cover back detection station, the rear camera of the dust cover detection mechanism obtains the dust cover back image, and then judges whether the dust cover of the bearing has surface quality problems through the dust cover back image, and marks defective products; S7. Bearing reverse side inspection When the bearing is at the reverse side inspection station, the reverse side inspection mechanism obtains the reverse side image of the bearing, and then determines whether there is a surface quality problem on the reverse side of the bearing through the reverse side image, and marks defective products; S8. Bearing inner diameter inspection When the bearing is at the inner diameter detection station, the inner diameter detection mechanism obtains the inner diameter image of the bearing, and then determines whether there is a surface quality problem on the inner diameter of the bearing through the inner diameter image, and marks defective products; S9. Unloading of defective bearings When the bearing is at the defective product unloading position, the unloading push plate of the first unloading mechanism pushes the defective product into the first unloading port, or the unloading push plate of the second unloading mechanism pushes the defective product into the second unloading port, and the defective product falls into the recycling box or the marking machine prints the defective product mark; S10. Bearing retraction and transmission The qualified bearings after inspection are transferred to the transmission belt through the material transfer mechanism. The bearings enter the return channel after passing through the return port of the return bracket, and enter the next process after being grabbed by the robotic arm.

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