Part detection equipment based on machine vision and detection method thereof

Abstract

The invention belongs to part detection equipment based on machine vision in the technical field of parts, and further relates to a detection method of the part detection equipment based on the machine vision. Comprising a working bin with four stations, a limiting table, a rotary workbench mechanism used for circularly driving the limiting table to pass through the four stations, a grabbing and moving mechanism used for feeding and discharging, a first visual inspection mechanism used for collecting and detecting parts of a second station, and a grabbing and rotating mechanism used for rotating parts of a third station. The second visual detection mechanism is used for collecting and detecting the parts at the fourth station. According to the part detection equipment based on machine vision, data detection of a plurality of parts can be carried out on one workbench at the same time, frequent part positioning is reduced, the detection efficiency is improved, and the cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of parts, and more specifically, relates to a part detection device based on machine vision. The present invention also relates to a detection method of the part detection device based on machine vision. Background Art

[0002] Shaft parts are widely used in various precision instruments and equipment, mainly used to support transmission parts, transmit torque and bear loads. Due to the wide and universal use of shaft parts, there are extremely high requirements for their dimensional accuracy and surface smoothness when measuring. Dimensional accuracy and surface smoothness will directly affect the safety factor and service life of the product. The inspection of finished shaft parts generally includes the inspection of data such as diameter (diameter at both ends and middle diameter), shaft length and surface quality. Usually, after the shaft parts are processed, it is necessary to manually use inspection equipment to inspect the above data of the parts, and sort out unqualified products or shaft parts whose errors are not within the specified range to ensure the quality requirements of shaft parts. Most of the inspection equipment in the prior art uses multiple inspection equipment to measure a set of data separately or uses split inspection to divide multiple data into multiple workbenches for measurement. The inspection efficiency is low, and different inspection items require frequent use of manipulators to transport parts and require repeated positioning. The equipment investment is high and the design is time-consuming, which seriously affects the production efficiency and cost.

[0003] There is a technology in the prior art named "A shaft parts detection device" and with a publication (announcement) number of "CN112427320B". This technology provides a shaft parts detection device, which belongs to the technical field of detection equipment. It solves the problem that the existing detection equipment is prone to errors in sorting after the detection is completed. The shaft parts detection device includes a frame, on which a detector and a material discharge rack that can be raised and lowered are arranged, and a sorting rack that can be swung up and down is hinged on the material discharge rack, and a material stopper is arranged on the sorting rack. The sorting rack can be swung upward to make the material stopper tilt upward and form a support space with an opening facing upward with the upper end of the material discharge rack for the shaft parts to be placed, and the sorting rack can be swung downward to make the material stopper tilt downward, and the material discharge rack and the sorting rack can act according to the detection results of the detector. This detection equipment reduces the possibility of sorting errors.

[0004] However, this technology does not involve the technical problems and technical solutions of the present application. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in view of the deficiencies in the prior art, a machine vision-based parts detection device is provided which can simultaneously perform data detection of multiple parts on a workbench, reduce frequent part positioning, effectively improve detection efficiency, and reduce costs.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is:

[0007] The present invention is a part inspection device based on machine vision, wherein a work bin is provided with a part inspection bin, which is connected to a material inlet and a material outlet; a rotary table mechanism is arranged inside the part inspection bin, and a plurality of limit tables are arranged on the rotary table mechanism, and the plurality of limit tables are arranged at intervals around the rotary table mechanism in the circumferential direction; a grabbing and moving mechanism is arranged inside the part inspection bin, and the grabbing and moving mechanism is arranged to be able to move the part from the material inlet to the workstation on the limit table, and at the same time be able to move the part from the workstation to the material outlet; a first visual inspection mechanism is used to collect and detect image information of a part moved to a workstation; a grabbing and rotating mechanism is arranged inside the part inspection bin, and is located between the grabbing and moving mechanism and the rotary table mechanism, and the grabbing and rotating mechanism is located near a workstation; a second visual inspection mechanism is used to collect and detect image information of a part moved to another workstation; the first visual inspection mechanism and the second visual inspection mechanism are both electrically connected to a control console.

[0008] The workstations include a first workstation, a second workstation, a third workstation, and a fourth workstation, which are arranged in sequence along the process direction; the rotating worktable mechanism is used to rotationally drive the limit table to cyclically pass through the first workstation, the second workstation, the third workstation, and the fourth workstation, and the limit table is connected to a clamping and lifting drive mechanism that can clamp and lift parts; the grasping and rotating mechanism is configured to be a structure that can grasp the parts after the clamping and lifting drive mechanism lifts the parts, and drive the parts to rotate around their own circumference.

[0009] The machine vision-based parts inspection equipment also includes at least two visual inspection element driving mechanisms and at least two fill-light devices; the output end of one visual inspection element driving mechanism is connected to the first visual inspection mechanism to drive the first visual inspection mechanism to approach or move away from the second workstation; the output end of the other visual inspection element driving mechanism is connected to the second visual inspection mechanism to drive the second visual inspection mechanism to approach or move away from the fourth workstation; the two fill-light devices are both provided with a first angle adjuster, each first angle adjuster is provided with a first light-emitting element, and the first light-emitting elements of the two fill-light devices are respectively used to illuminate the second workstation and the fourth workstation.

[0010] The machine vision-based part inspection equipment also includes a marking device and at least two third visual inspection mechanisms; the marking device is installed at the output end of the visual inspection element driving mechanism where the first visual inspection mechanism is located, and the marking device is used to mark the parts; the two fill-in light devices are each provided with a second angle adjuster, and each third visual inspection mechanism is respectively installed on the corresponding second angle adjuster, and the two third visual inspection mechanisms are located on both sides of the third workstation, and the third visual inspection mechanism is used to observe and collect image information and tracer mark positions at both ends of the part and send them to the control console; the two fill-in light devices are each provided with a third angle adjuster, and each third angle adjuster is provided with a second light-emitting element, and the second light-emitting elements of the two fill-in light devices illuminate the opposite sides of the third workstation; the control console is used to receive image information and tracer mark positions from the third visual inspection mechanisms.

[0011] The grabbing and moving mechanism includes a first translation drive mechanism, a first lifting drive mechanism, a lifting platform and two first clamping manipulators; a first mounting frame is provided on the parts inspection bin, and the first mounting frame is located above the rotating worktable mechanism; the first translation drive mechanism is installed on the first mounting frame; the first lifting drive mechanism is installed on the first translation drive mechanism, and the lifting platform is installed on the first lifting drive mechanism, and the lifting platform extends along the translation direction of the first translation drive mechanism; the two first clamping manipulators are respectively connected to the two ends of the lifting platform in the length direction; one first clamping manipulator is used to grab the parts from the feed port to the limit platform on the first workstation, and the other first clamping manipulator is used to grab the parts from the first workstation to the discharge port.

[0012] The feed inlet and the discharge outlet of the machine vision-based parts detection equipment are distributed at intervals along the extension direction of the lifting platform, and the two ends of the lifting platform in the length direction are located between the feed inlet and the discharge outlet.

[0013] The first translation drive mechanism includes a first slider, a first slide rail, a first screw rod, a first nut and a first motor; the first slide rail is installed on the first mounting frame, the first slider is slidably connected to the first slide rail, and the first slider is connected to the first lifting drive mechanism; one end of the first screw rod is connected to the first mounting frame, and the other end of the first screw rod is connected to the first motor drive through the mounting through hole on the first mounting frame, the first screw rod is threadedly connected to the first nut, and the first nut is fixed to the first slider.

[0014] The grabbing and rotating mechanism includes a second translation drive mechanism, a telescopic mechanism, a second clamping manipulator, a pulley and a pulley driving mechanism; a second mounting frame is provided on the parts inspection bin, the second mounting frame is located at the third workstation, the second translation drive mechanism is installed on the second mounting frame, one end of the telescopic mechanism is connected to the second translation drive mechanism, and the other end of the telescopic mechanism is connected to the second clamping manipulator, and the telescopic mechanism is used to drive the second clamping manipulator to move closer to or away from the third workstation; the pulley is installed on the second clamping manipulator, and when the second clamping manipulator clamps the part, the pulley abuts against the part, and the pulley driving mechanism is used to drive the pulley to rotate so as to drive the part to rotate synchronously with the rotation of the pulley.

[0015] The visual detection element driving mechanism includes a second lifting driving mechanism and a third translation driving mechanism; the parts detection warehouse is also provided with a third mounting frame, the second lifting driving mechanism is arranged on the third mounting frame, the output end of the second lifting driving mechanism is connected with an extended connecting plate, the third translation driving mechanism is installed on the extended connecting plate, the output end of the third translation mechanism is connected with a moving seat, the extended connecting plate is provided with a guide groove, the bottom of the guide groove passes through the bottom of the extended connecting plate, the moving seat is slidably connected with the guide groove, and extends downward and passes through the guide groove to form a visual mounting platform.

[0016] The limit platform has a sinking platform; the clamping and lifting driving mechanism includes a first push rod mechanism, a first pressure plate, a lifting plate, a screw driving mechanism, two second sliders, two clamping jaws and a clamping mechanism; the clamping mechanism is arranged on both sides of the sinking platform, and the clamping mechanism is used to squeeze the outer curved surface of the part to drive the part to the middle position of the limit platform; a partition is provided on the sinking platform, and a driving cavity is formed between the partition and the sinking platform, the first push rod mechanism is arranged at the bottom of the driving cavity, one end of the first pressure plate is connected to the first push rod mechanism, and the other end of the first pressure plate is abutted against the lifting plate;

[0017] The screw drive mechanism is arranged between the lifting plate and the partition, and the two second sliding blocks are respectively installed on both sides of the screw drive mechanism. A slide groove is provided in the two second sliding blocks, and the slide groove extends along the extension direction of the screw drive mechanism. The clamping jaw is slidably connected with the other second sliding block through a slide groove. The clamping jaw includes a clamping block, a bearing block and an abutment block. One end of the abutment block is placed on the lifting plate, and the other end of the abutment block is connected to the bearing block. The clamping block is arranged on the bearing block, and the clamping block is located in the middle area of ​​the bearing block. A guide groove for the clamping jaw to pass through is opened on the partition, and the first push rod mechanism is used to drive the two clamping jaws in and out of the guide groove, and the screw drive mechanism is used to drive the two clamping jaws to approach or move away from the part at the same time.

[0018] The machine vision-based parts inspection equipment also includes a sorting bin, which is arranged at the discharge port, and is provided with a first sorting port and a second sorting port, and the first sorting port and the second sorting port are respectively connected to the discharge port; the top of the sorting bin is open and a lifting platform is provided inside, and a second slide rail, a second screw rod, a second motor and a second nut are provided in the sorting bin, the second slide rail is slidably connected to the lifting platform, the second screw rod is matched and connected to the second nut, and the second nut is fixed to the lifting platform; the control console is also used to drive the second motor to move the lifting platform to the first sorting port or the second sorting port; a second push rod mechanism is provided on the lifting platform, and the second push rod mechanism is used to push the parts out of the sorting bin; a plurality of limit rollers are pivotally connected to the lifting platform.

[0019] The present invention also relates to a detection method of a part detection device based on machine vision, which can simultaneously detect data of multiple parts on a workbench, reduce frequent part positioning, effectively improve detection efficiency, and reduce costs. The detection steps of the detection method are:

[0020] Step 1: The grabbing and moving mechanism clamps the shaft parts to be tested from the feed port and places them on the limit table at the first position on the rotary table mechanism. The clamping and lifting driving mechanism on the limit table clamps the parts in the middle area of ​​the limit table to complete the positioning of the parts;

[0021] Step 2: The rotary table mechanism rotates for the first time, and the limit table where the part is located is rotated from the first station to the second station. After the movement is completed, the first visual inspection mechanism collects and inspects the image information of the part on the limit table and sends it to the control console;

[0022] Step 3: The rotary table mechanism rotates for the second time to transfer the part to the third station. After the movement is completed, the clamping and lifting drive mechanism lifts the part upward to make it leave the limit table. At this time, the grasping and rotating mechanism grasps the lifted part and drives the part to rotate around its own circumference at a certain angle. When the grasping and rotating mechanism grasps, the clamping and lifting drive mechanism ends the clamping effect on the part, and after the grasping and rotating mechanism completes the rotation of the part, the clamping and lifting drive mechanism re-clamps the part back to the limit table to re-position it;

[0023] Step 4: The rotating table mechanism rotates for the third time to transfer the part to the fourth station. After the movement is completed, the second visual inspection mechanism collects and detects the image information of the rotated part on the limit table and sends it to the control console. The control console combines the image information before and after the flipping provided by the first visual inspection mechanism and the second visual inspection mechanism with the image of the preset standard part to determine whether the size accuracy and surface quality of the part meet the requirements;

[0024] Step 5: The rotary table mechanism rotates for the fourth time to transfer the parts back to the first station, and the grabbing and moving mechanism moves the parts that have completed a circle of inspection from the first station to the discharge port.

[0025] The technical solution of the present invention is adopted, and the working principle and beneficial effects are as follows:

[0026] The machine vision-based parts inspection equipment of the present invention realizes the transfer of shaft parts between various processes through a rotating worktable mechanism, and all the inspection processes of the entire part can be completed on a worktable according to the set order, which greatly improves the inspection efficiency of the parts, can process a large number of shaft parts in a short time, and realizes the all-round and multi-angle inspection of shaft parts through the orderly setting of multiple workstations and the precise operation of each mechanism at different workstations. The first visual inspection mechanism and the second visual inspection mechanism respectively collect image information at different stages, and feedback information data to the control console, which performs data analysis, and can comprehensively and accurately judge the dimensional accuracy and surface quality of the parts, effectively ensuring the accuracy of the inspection, and the entire inspection process only needs to perform positioning operations in the first and third workstations to complete the inspection of multiple parts data, overcomes the cumbersome operation of repositioning the parts in different inspection projects, simplifies the inspection process, and ensures the effective positioning of the parts, reducing the investment cost of the equipment. Among them, the part data includes the diameter of the parts at different positions, the burr situation, the length of the parts, etc. At the same time, the clamping and lifting drive mechanism can accurately position according to the difference in part size to ensure the accuracy of the inspection. When the part is rotated, the limit table 210 rises to separate the part from the rotating worktable. This avoids the interference of the rotating table on the rotation process of the parts, allowing the grasping and rotating mechanisms to operate with appropriate force and angle, reducing the risk of collision and protecting parts and equipment. This separation and repositioning design greatly enhances the flexibility and adaptability of the inspection process, can effectively respond to a variety of inspection requirements and complex scenarios, and improves the overall practicality and efficiency of the inspection system. The beneficial effects of the equipment of the present invention are as follows: 1. The detection of various data of parts is completed by using a rotating worktable mechanism, and there is no need to repeatedly position the parts when each process is converted. The detection process is simplified while ensuring the effective positioning of the parts, reducing the investment cost of the equipment. Through the limit table with adjustable lifting distance, on the one hand, effective positioning of shaft parts of different models is achieved, and on the other hand, the shaft parts can be separated from the rotating worktable mechanism, which is convenient for the grasping and rotating mechanism to flip the parts to be tested; 2. The marking device is used to cooperate with the third visual inspection mechanism and the grasping and rotating mechanism to realize the flipping and end face detection of shaft parts. On the one hand, the tracing mark uses different marks in a specific order to ensure that the images of the first visual inspection mechanism and the second visual inspection mechanism can match after the device accidentally leaves the device. On the other hand, the parts can be flipped with reference to the tracing mark, and the flipping angle is more accurate; 3. The two first clamping manipulators of the grasping and moving mechanism can synchronously complete the loading of undetected parts and the unloading of detected parts. Cooperating with the sorting bin, the entire detection process is compact and the detection efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following is a brief description of the contents and symbols in the drawings of this specification:

[0028] Figure 1 It is a structural schematic diagram of the parts detection equipment based on machine vision according to the present invention;

[0029] Figure 2 for Figure 1 A schematic diagram of the structure of the parts inspection equipment based on machine vision hidden behind the outer wall of the working chamber and the control console;

[0030] Figure 3 for Figure 2 A schematic structural diagram of the machine vision-based parts inspection device from another perspective;

[0031] Figure 4 for Figure 3 A structural diagram of the first mounting frame and the grabbing and moving mechanism is taken out separately;

[0032] Figure 5 for Figure 3 A schematic diagram of the structure of the second mounting frame and the grabbing and rotating mechanism is taken out separately;

[0033] Figure 6a for Figure 3 A structural schematic diagram of a third mounting frame, a visual detection element driving mechanism and a fill light device in the second station is separately taken out;

[0034] Figure 6b for Figure 6a A schematic diagram of the structure of the third mounting frame, the visual detection element driving mechanism and the fill light device from another perspective;

[0035] Figure 7a for Figure 3 Take out the structural diagram of the limit table and the clamping and lifting drive mechanism separately (wherein the clamping mechanism is shown in Figure 3 );

[0036] Figure 7b for Figure 7a A cross-sectional view of the limit table and the clamping and lifting drive mechanism shown;

[0037] Figure 8a for Figure 3 Schematic diagram of the mechanism for taking out the sorting bin separately;

[0038] Figure 8b for Figure 8a A cross-sectional view of the sorting bin shown;

[0039] The numbers in the accompanying drawings are: 100, working chamber; 110, parts inspection chamber; 120, feeding port; 130, discharging port; 140, first mounting frame; 150, second mounting frame; 160, third mounting frame; 200, rotating worktable mechanism; 210, limiting platform; 220, settling platform; 230, clamping and lifting driving mechanism; 231, first push rod mechanism; 232, first pressing plate; 233, lifting plate; 234, screw driving mechanism; 235, second sliding block; 236, clamping Tight jaws; 2361, clamping block; 2362, bearing block; 2363, abutment block; 240, clamping mechanism; 250, partition; 251, slideway; 260, drive chamber; 300, grabbing and moving mechanism; 310, first translation drive mechanism; 311, first slider; 312, first slide rail; 313, first screw rod; 314, first nut; 315, first motor; 320, first lifting drive mechanism; 330, lifting platform; 340, first clamping manipulator; 410, First visual inspection mechanism; 420, second visual inspection mechanism; 430, third visual inspection mechanism; 440, marking device; 500, grasping and rotating mechanism; 510, second translation drive mechanism; 520, telescopic mechanism; 530, second clamping manipulator; 541, pulley drive mechanism; 542, pulley; 600, control console; 710, visual inspection element drive mechanism; 711, second lifting drive mechanism; 712, third translation drive mechanism; 713, extension connecting plate; 7 14. Moving seat; 715. Guide groove; 716. Visual mounting table; 720. Filling light device; 721. First angle adjuster; 722. First light-emitting element; 723. Second angle adjuster; 724. Third angle adjuster; 725. Second light-emitting element; 800. Sorting bin; 810. First sorting port; 820. Second sorting port; 830. Lifting platform; 831. Second slide rail; 832. Second screw rod; 840. Second push rod mechanism; 850. Limiting roller. DETAILED DESCRIPTION

[0040] The following is a further detailed description of the specific implementation of the present invention, such as the shape, structure, mutual position and connection relationship between the various components involved, the function and working principle of each part, etc., through the description of the embodiments with reference to the accompanying drawings:

[0041] As attached Figure 1 , Attachment Figure 2As shown, the present invention is a part inspection device based on machine vision, wherein a work bin 100 is provided with a part inspection bin 110, and the part inspection bin 110 is connected to an inlet 120 and an outlet 130; a rotary table mechanism 200 is arranged inside the part inspection bin 110, and a plurality of limit platforms 210 are arranged on the rotary table mechanism 200, and the plurality of limit platforms 210 are arranged at intervals in the circumferential direction around the rotary table mechanism 200; a grabbing and moving mechanism 300 is arranged inside the part inspection bin 110, and the grabbing and moving mechanism 300 is arranged to be able to move a part (part to be inspected) from the inlet 120 to a work station on the limit platform 210, and at the same time be able to The parts are moved from the workstation to the discharge port 130; the first visual inspection mechanism 410 is used to collect and detect the image information of the parts moved to a workstation; the grabbing and rotating mechanism 500 is arranged inside the part inspection bin 110, between the grabbing and moving mechanism 300 and the rotating table mechanism 200, and the grabbing and rotating mechanism 500 is located near a workstation; the second visual inspection mechanism 420 is used to collect and detect the image information of the parts moved to another workstation; the first visual inspection mechanism 410 and the second visual inspection mechanism 420 are both electrically connected to the console 600 to send the image information of the parts to the console 600. The above structure proposes an improved technical solution to address the deficiencies in the prior art. The structure of the present invention realizes the transfer of shaft parts between various processes inside the working chamber of the detection equipment through the rotating workbench mechanism 200. All the detection processes of the entire part can be completed on a workbench according to the set order, which greatly improves the detection efficiency of the parts, can process a large number of shaft parts in a short time, and realizes the all-round and multi-angle detection of shaft parts through the orderly setting of multiple workstations and the precise operation of each mechanism at different workstations. The first visual detection mechanism 410 and the second visual detection mechanism 420 respectively collect image information at different stages and feedback information data to the control console. The control console 600 performs data analysis, which can comprehensively and accurately judge the dimensional accuracy and surface quality of the parts, effectively ensuring the accuracy of the detection. In addition, the entire detection process only needs to perform positioning operations at the first and third workstations to complete the detection of multiple parts data, overcomes the cumbersome operation of repositioning the parts in different detection projects, simplifies the detection process, and ensures the effective positioning of the parts, reducing the investment cost of the equipment. Among them, the part data includes the diameter of the parts at different positions, the burr situation, the length of the parts, etc. At the same time, the clamping and lifting drive mechanism 230 can accurately position according to the size difference of the parts to ensure the accuracy of the detection. When the part is rotated, the limit table 210 rises to separate the part from the rotary table, which avoids the rotary table from interfering with the part rotation process, allowing the gripping and rotating mechanism 500 to operate at an appropriate force and angle, reducing the risk of collision and protecting the parts and equipment.This separation and repositioning design greatly enhances the flexibility and adaptability of the detection process, can effectively respond to a variety of detection needs and complex scenarios, and improves the overall practicality and efficiency of the detection system. The specific use process of the equipment of the present invention is divided into the following steps: the grabbing and moving mechanism 300 clamps the shaft parts to be inspected from the feed port 120 and places them on the limit table 210 at the first station on the rotating worktable mechanism 200, and the clamping and lifting driving mechanism 230 on the limit table 210 clamps the parts in the middle area of ​​the limit table 210 to complete the positioning of the parts; the rotating worktable mechanism 200 rotates for the first time to rotate the limit table 210 where the parts are located from the first station to the second station, and after the movement is completed, the first visual inspection mechanism 410 collects and detects the image information of the parts on the limit table 210 and sends it to the control console 600; the rotating worktable mechanism 200 rotates for the second time to transfer the parts to the third station, and after the movement is completed, the clamping and lifting driving mechanism 230 lifts the parts upward to make them leave the limit table 210, and at this time the grabbing and rotating mechanism 500 grasps the lifted parts and drives the parts to rotate around their own circumference by a certain angle, wherein After the grasping and rotating mechanism 500 grasps, the clamping and lifting driving mechanism 230 ends the clamping effect on the part, and after the grasping and rotating mechanism 500 completes the rotation of the part, the clamping and lifting driving mechanism 230 re-clamps the part back to the limit table 210 to re-position it; the rotating worktable mechanism 200 rotates for the third time to transfer the part to the fourth station, and after the movement is completed, the second visual inspection mechanism 420 collects and detects the image information of the rotated part on the limit table 210 and sends it to the control console 600. The control console 600 combines the image information before and after the flipping provided by the first visual inspection mechanism 410 and the second visual inspection mechanism 420 with the image of the pre-set standard part to determine whether the size accuracy and surface quality of the part meet the requirements; the rotating worktable mechanism 200 rotates for the fourth time to transfer the part back to the first station, and the grasping and moving mechanism 300 moves the part that has completed a circle of inspection from the first station to the discharge port 130.The beneficial effects of the equipment of the present invention are as follows: 1. The detection of various data of parts is completed by using a rotating worktable mechanism, and there is no need to repeatedly position the parts when each process is converted. The detection process is simplified while ensuring the effective positioning of the parts, reducing the investment cost of the equipment. Through the limit table with adjustable lifting distance, on the one hand, effective positioning of shaft parts of different models is achieved, and on the other hand, the shaft parts can be separated from the rotating worktable mechanism, which is convenient for the grasping and rotating mechanism to flip the parts to be tested; 2. The marking device is used to cooperate with the third visual inspection mechanism and the grasping and rotating mechanism to realize the flipping and end face detection of shaft parts. On the one hand, the tracing mark uses different marks in a specific order to ensure that the images of the first visual inspection mechanism and the second visual inspection mechanism can match after the device accidentally leaves the device. On the other hand, the parts can be flipped with reference to the tracing mark, and the flipping angle is more accurate; 3. The two first clamping manipulators of the grasping and moving mechanism can synchronously complete the loading of undetected parts and the unloading of detected parts. Cooperating with the sorting bin, the entire detection process is compact and the detection efficiency is higher. The machine vision-based parts detection equipment described in the present invention can perform data detection of multiple parts on a workbench at the same time, reduce frequent part positioning, effectively improve detection efficiency, and reduce costs.

[0042] The workstations include a first workstation, a second workstation, a third workstation, and a fourth workstation, and the first workstation, the second workstation, the third workstation, and the fourth workstation are arranged in sequence along the process direction (the process direction refers to the order of the front and back processing of the shaft parts to be detected in the work bin 100); the rotating worktable mechanism 200 is used to rotatably drive the limit table 210 to cyclically pass through the first workstation, the second workstation, the third workstation, and the fourth workstation, and the limit table 210 is connected to a clamping and lifting driving mechanism 230 that can clamp and lift the parts; the grasping and rotating mechanism 500 is configured to be able to grasp the parts after the clamping and lifting driving mechanism 230 lifts the parts, and drive the parts to rotate around their own circumference. The above structure can be set with multiple workstations according to the processing requirements of the parts, and different workstations are used to complete different processing procedures. Therefore, the number of workstations can be increased or decreased according to the processing requirements of different parts. As an embodiment, four workstations are set.

[0043] As attached Figure 3As shown, the machine vision-based parts inspection equipment also includes at least two visual inspection element driving mechanisms 710 and at least two fill-light devices 720; the output end of one visual inspection element driving mechanism 710 is connected to the first visual inspection mechanism 410 to drive the first visual inspection mechanism 410 to approach or move away from the second workstation; the output end of the other visual inspection element driving mechanism 710 is connected to the second visual inspection mechanism 420 to drive the second visual inspection mechanism 420 to approach or move away from the fourth workstation; the two fill-light devices 720 are both provided with a first angle adjuster 721, and each first angle adjuster 721 is provided with a first light-emitting element 722, and the first light-emitting elements 722 of the two fill-light devices 720 are respectively used to illuminate the second workstation and the fourth workstation. In the above structure, each visual inspection element driving mechanism 710 and the light-filling device 720 are electrically connected to the console 600. For shaft parts of different specifications, the console 600 can control the second lifting driving mechanism 711 according to the acquired part inspection image to accurately adjust the distance between the first visual inspection mechanism 410 and the second station, and the second visual inspection mechanism 420 and the fourth station to ensure that the visual inspection mechanism can be in the best imaging position, avoid problems such as image blur or missing key parts due to improper distance, avoid affecting the accuracy of data collection, and can control the horizontal position movement of the visual inspection mechanism through the third translation mechanism to ensure that the visual inspection equipment can accurately align with the part to be inspected. At the same time, the first angle adjuster 721 in the light-filling device 720 is controlled to adjust the irradiation angle of the first light-emitting element 722, so that the light is accurately focused on the second station and the fourth station. During the inspection process, the lighting direction and intensity are finely adjusted according to the shape, material and inspection focus of the parts, effectively reducing adverse effects such as shadows, reflections and uneven light, and clearly highlighting key features such as the surface texture, contour edges and subtle defects of the parts, thereby greatly improving the clarity, contrast and integrity of the image, and significantly enhancing the accuracy and reliability of shaft mechanical parts inspection.

[0044] The machine vision-based part inspection equipment also includes a marking device 440 and at least two third visual inspection mechanisms 430; the marking device 440 is installed at the output end of the visual inspection element driving mechanism 710 where the first visual inspection mechanism 410 is located, and the marking device 440 is used to mark the parts; the two fill-in light devices 720 are each provided with a second angle adjuster 723, each third visual inspection mechanism 430 is respectively installed on the corresponding second angle adjuster 723, and the two third visual inspection mechanisms 430 are located on both sides of the third workstation, and the third visual inspection mechanism 430 is used to observe and collect image information and tracer mark positions at both ends of the part and send them to the console 600; the two fill-in light devices 720 are each provided with a third angle adjuster 724, each third angle adjuster 724 is provided with a second light-emitting element 725, and the second light-emitting elements 725 of the two fill-in light devices 720 illuminate the opposite sides of the third workstation; the console 600 is used to receive image information and tracer mark positions from the third visual inspection mechanisms 430. The above structure adopts a marking device 440 to cooperate with the third visual inspection mechanism 430 and the grasping and rotating mechanism 500 to realize the flipping of shaft parts and the detection of end faces. On the one hand, the tracer marks use different marks in a specific order to ensure that the images of the first visual inspection mechanism 410 and the second visual inspection mechanism 420 can match after the device accidentally leaves the equipment. On the other hand, the part can be flipped with the tracer mark as a reference, and the flipping angle is more accurate. For example, the tracer mark can be a point marked on the top surface. When the part is rotated, the third visual inspection mechanism 430 can observe whether the tracer mark point is in the image. If so, it continues to rotate until the tracer mark cannot be observed, so as to realize the rotation of the part to the unobserved plane, thereby ensuring that the surface quality inspection of the first visual inspection mechanism 410 and the second visual inspection mechanism 420 before and after the rotation is not repeated, reducing the inspection error, and enhancing the accuracy and reliability of the inspection of shaft mechanical parts. A plurality of third visual inspection mechanisms 430 at different observation positions can be set up. On the one hand, multi-angle inspection images of the two end faces of the part can be obtained to increase the inspection accuracy. On the other hand, the third visual inspection mechanism 430 at the upper end of the part observes the display mark from appearing to disappearing, and the third visual inspection mechanism 430 at the lower end of the part observes the display mark from non-existing to gradually appearing on the image, thereby avoiding the misjudgment of the equipment causing the clamping and rotating mechanism to fail to work due to the presence of obstructions on the upper side of the part, and more accurately controlling the rotation of the part by the clamping and rotating device.

[0045] As attached Figure 4As shown, the grabbing and moving mechanism 300 includes a first translation drive mechanism 310, a first lifting drive mechanism 320, a lifting platform 330 and two first clamping manipulators 340; a first mounting frame 140 is provided on the parts inspection bin 110, and the first mounting frame 140 is located above the rotating worktable mechanism 200; the first translation drive mechanism 310 is installed on the first mounting frame 140; the first lifting drive mechanism 320 is installed on the first translation drive mechanism 310, and the lifting platform 330 is installed on the first lifting drive mechanism 320, and the lifting platform 330 extends along the translation direction of the first translation drive mechanism 310; the two first clamping manipulators 340 are respectively connected to the two ends of the length direction of the lifting platform 330; one first clamping manipulator 340 is used to grab the parts from the feed port 120 to the limit platform 210 on the first station, and the other first clamping manipulator 340 is used to grab the parts from the first station to the discharge port 130. The above structure, through the sliding connection between the first slider 311 and the first slide rail 312, provides a stable and precise linear guide for the mechanism, ensuring that the first lifting drive mechanism 320 and the subsequently connected components can operate smoothly during the translation process, effectively reducing shaking and deviation, and ensuring the accuracy of parts grasping and handling.

[0046] The feed inlet 120 and the discharge port 130 described in the present invention are distributed at intervals along the extension direction of the lifting platform 330, and the two ends of the length direction of the lifting platform 330 are located between the feed inlet 120 and the discharge port 130. In the device of the present invention, the two first clamping manipulators 340 are respectively located at the two ends of the lifting platform 330, which effectively reduces the complexity and interference of the mechanism action, improves the accuracy and speed of grasping and handling, one is specifically responsible for the input grasping, and the other is focused on the discharge handling, so that the material flow of the entire inspection process is smoother and more orderly. In the device of the present invention, the design that the lifting platform 330 extends along a specific direction and the two ends are between the feed inlet 120 and the discharge port 130 makes full use of the space and optimizes the movement path of the mechanism, so that the parts to be tested are processed while the parts to be tested are fed and grasped, and compact and efficient parts handling operations are realized in the limited working warehouse space, which improves the overall space utilization and work efficiency of the equipment. At the same time, the grabbing and moving mechanism 300 can also be an articulated robot that drives the first clamping manipulator 340 to move flexibly in three-dimensional space, so as to move the grabbed parts from one position to another; or it can be an automated linear module that drives the first clamping manipulator 340 along the inspection product line to accurately transport it to the next workstation for part inspection.

[0047] The first translation driving mechanism 310 includes a first slider 311, a first slide rail 312, a first screw rod 313, a first nut 314 and a first motor 315; the first slide rail 312 is mounted on the first mounting frame 140, the first slider 311 is slidably connected to the first slide rail 312, and the first slider 311 is connected to the first lifting driving mechanism 320; one end of the first screw rod 313 is connected to the first mounting frame 140, and the other end of the first screw rod 313 is driven and connected to the first motor 315 through the mounting through hole on the first mounting frame 140, the first screw rod 313 is screwed to the first nut 314, and the first nut 314 is fixed to the first slider 311. The above structure, under the drive of the first motor 315, converts the rotational motion of the motor into the precise linear motion of the first slider 311, realizes the movement control of the first slider 311, has high motion accuracy and positioning accuracy, can meet the precise positioning requirements of shaft parts at different positions in the detection process, and realizes the precise positioning of the first clamping manipulator 340 during the feeding and discharging process. It can be understood that the first translation drive mechanism 310 can also be a translation drive mechanism such as a synchronous belt drive mechanism, a linear motor drive mechanism, etc.

[0048] As attached Figure 5As shown, the grabbing and rotating mechanism 500 includes a second translation drive mechanism 510, a telescopic mechanism 520, a second clamping manipulator 530, a pulley 542 and a pulley driving mechanism 541; a second mounting frame 150 is provided on the part detection bin 110, the second mounting frame 150 is located at the third station, the second translation drive mechanism 510 is installed on the second mounting frame 150, one end of the telescopic mechanism 520 is connected to the second translation drive mechanism 510, and the other end of the telescopic mechanism 520 is connected to the second clamping manipulator 530, and the telescopic mechanism 520 is used to drive the second clamping manipulator 530 to move closer to or away from the third station; the pulley 542 is installed on the second clamping manipulator 530, when the second clamping manipulator 530 clamps the part, the pulley 542 abuts against the part, and the pulley driving mechanism 541 is used to drive the pulley 542 to rotate so as to drive the part to rotate synchronously with the rotation of the pulley 542. In the above structure, the second translation drive mechanism 510 can adjust the position of the second clamping manipulator 530 on the one hand, so that when the shaft part to be tested is a stepped shaft or a special-shaped shaft, etc., where the shaft diameter may be different in the middle area, the second clamping manipulator 530 is moved to make it grasp the part in a smooth position, and the grasping and rotating mechanism 500 can be applicable to different types of shaft parts; on the other hand, the second translation drive mechanism 510 can drive the part to approach or away from the third visual inspection mechanism 430 to obtain the image information taken when the third visual inspection mechanism 430 is in the best imaging position, further improving the detection accuracy. When the limit table 210 of the third station lifts the part to the specified position, the telescopic mechanism 520 drives the second clamping manipulator 530 to approach the part and makes the two mechanical claws respectively on the upper and lower sides of the part. When the second clamping manipulator 530 clamps the part, the pulleys 542 on the two mechanical claws are respectively in contact with the four sides of the part, and the pulley driving mechanism 541 is used to drive the pulley 542 to rotate to drive the part to rotate accordingly. Preferably, an encoder is provided in the pulley drive mechanism 541, and the encoder is used to measure the rotation speed of the pulley drive mechanism 541 and feed back the signal to the controller to adjust the operating speed of the equipment so that the movement between the multiple pulleys 542 is synchronized, and the movement obstruction of the differential operation is prevented, so that the second translation drive mechanism 510 works more coordinated, and the encoder can detect the angle of the pulley 542 to detect the approximate angle of rotation of the part. The second clamping manipulator 530 can also be a claw-type grasping mechanism or a cantilever multi-axis grasping mechanism. The grasping and rotating mechanism 500 can also be an articulated robot that drives the second clamping manipulator 530 to move flexibly in three-dimensional space to transport the grasped parts from one position to another; it can also be an automated linear module that drives the second clamping manipulator 530 to accurately clamp the parts from the third station, rotate them, and reposition them.

[0049] As attached Figure 6a , Attachment Figure 6bAs shown, the visual detection element driving mechanism 710 includes a second lifting driving mechanism 711 and a third translation driving mechanism 712; the parts detection bin 110 is also provided with a third mounting frame 160, the second lifting driving mechanism 711 is arranged on the third mounting frame 160, the output end of the second lifting driving mechanism 711 is connected with an extended connecting plate 713, the third translation driving mechanism 712 is installed on the extended connecting plate 713, the output end of the third translation mechanism is connected with a moving seat 714, the extended connecting plate 713 is provided with a guide groove 715, the bottom of the guide groove 715 passes through the bottom of the extended connecting plate 713, the moving seat 714 is slidably connected with the guide groove 715, and extends downward and passes through the guide groove 715 to form a visual mounting platform 716.

[0050] As attached Figure 7a , Attachment Figure 7bAs shown in, the limit platform 210 has a sinking platform 220; the clamping and lifting driving mechanism 230 includes a first push rod mechanism 231, a first pressure plate 232, a lifting plate 233, a screw driving mechanism 234, two second sliders 235, two clamping jaws 236 and a clamping mechanism 240; the clamping mechanism 240 is arranged on both sides of the sinking platform 220, and the clamping mechanism 240 is used to squeeze the outer curved surface of the part to drive the part to the middle position of the limit platform 210; a partition 250 is provided on the sinking platform 220, and a driving cavity 260 is formed between the partition 250 and the sinking platform 220, the first push rod mechanism 231 is arranged at the bottom of the driving cavity 260, one end of the first pressure plate 232 is connected to the first push rod mechanism 231, and the other end of the first pressure plate 232 is abutted against the lifting plate 233; the screw driving mechanism 234 is arranged between the lifting plate 233 and the partition 250, and the two second sliders 2 35 are respectively installed on both sides of the screw drive mechanism 234, and a slide groove 251 is provided in the two second sliders 235, and the slide groove 251 extends along the extension direction of the screw drive mechanism 234. The clamping jaw 236 is slidably connected with the other second slider 235 through a slide groove 251, and the clamping jaw 236 includes a clamping block 2361, a bearing block 2362 and an abutting block 2363. One end of the abutting block 2363 is placed on the lifting plate 233, and the other end of the abutting block 2363 is connected with the bearing block 2362. The clamping block 2361 is arranged on the bearing block 2362, and the clamping block 2361 is located in the middle area of ​​the bearing block 2362. A guide through groove for the clamping jaw 236 to pass through is opened on the partition plate 250. The first push rod mechanism 231 is used to drive the two clamping jaws 236 to enter and exit the guide through groove, and the screw drive mechanism 234 is used to drive the two clamping jaws 236 to approach or move away from the part at the same time. In the above structure, the working principle of the clamping and lifting drive mechanism 230 is: first, the part is squeezed by the clamping mechanism 240 so that it is in the middle position of the limit platform 210, and then the two sides of the part are also fixed in the middle area by the clamping jaws 236 that approach synchronously from both sides to the middle, so as to realize the positioning of the part. At the same time, the two supporting blocks 2362 are just in contact with the two sides of the part. When reaching the third workstation, the first push rod mechanism 231 in the driving cavity 260 pushes the lifting plate 233 to make it rise, driving the clamping jaws 236 abutting against the lifting plate 233 to rise, and the two supporting blocks 2362 drive the part to move up and leave the limit platform 210. On the one hand, the abutment block 2363 of the clamping jaw 236 can lift the part and cooperate with the grasping and rotating mechanism 500 to complete the rotation of the part. On the other hand, when the shaft part is a stepped shaft or a special-shaped shaft with different shaft diameters, the shaft sections at both ends of the part may be suspended in the air without lifting. At this time, the supporting block 2362 cannot abut against the part, and there is a risk that one end of the part will bottom out and the other end will be lifted. At this time, the cooperation between the abutment block 2363 and the lifting plate 233 enables the supporting block 2362 to abut against the shaft sections at both ends of the part without lifting the part, thereby achieving precise positioning of the part.The abutment block 2363 is provided with a sliding element so that when the abutment block 2363 approaches or moves away from the part, the friction between the abutment block 2363 and the lifting plate 233 is reduced. It can be understood that the clamping and lifting drive mechanism 230 can also be a method of magnetically adsorbing the two ends of the part through the electromagnetic clamping block, and pushing the electromagnetic clamping block up through the electric push rod. Since the movement accuracy of the electric push rod is high, the suspension height of the part can be accurately controlled according to actual needs. In addition, the speed and thrust of the electric push rod can be adjusted according to factors such as the weight and size of the shaft part to ensure that the part can be suspended smoothly.

[0051] As attached Figure 8a , Attachment Figure 8bAs shown, the machine vision-based parts inspection equipment further includes a sorting bin 800, which is disposed at the discharge port 130, and is provided with a first sorting port 810 and a second sorting port 820, which are respectively connected to the discharge port 130; the sorting bin 800 has an opening at the top and is provided with a lifting platform 830 inside, and is provided with a second slide rail 831, a second screw rod 832, a second motor and a second nut inside the sorting bin 800, The second slide rail 831 is slidably connected to the lifting platform 830, the second screw rod 832 is matched and connected to the second nut, and the second nut is fixed to the lifting platform 830; the control console 600 is also used to drive the second motor to move the lifting platform 830 to the first sorting port or the second sorting port; the lifting platform 830 is provided with a second push rod mechanism 840, and the second push rod mechanism 840 is used to push the parts out of the sorting bin 800; a plurality of limiting rollers 850 are pivotally connected to the lifting platform 830. In the above structure, after the shaft parts are inspected, the control station 600 analyzes and processes the collected parts data to determine whether they are qualified products and controls the grabbing and moving mechanism 300 to transport the parts returned to the first station to the lifting platform 830 on the sorting bin 800; at the same time, the second motor on the lifting platform 830 drives the lifting platform 830 to lift the parts to the appropriate sorting port after the parts are transported to the lifting platform 830. For example, when the control station 600 detects that the parts are qualified parts, the parts are transported to the first sorting port 810, and when the detected parts are unqualified parts, the parts are transported to the second sorting port 820, and the parts are pushed out of the sorting bin 800 from the lifting platform 830 through the corresponding sorting port through the second push rod mechanism 840, so as to realize the sorting of the detected parts. The setting of the sorting bin 800 improves the automation level, sorting accuracy and material handling efficiency of the shaft mechanical parts inspection equipment, and plays a key role in promoting the quality control and production efficiency improvement of the entire production link. A plurality of limiting rollers 850 are pivotally connected to the lifting platform 830. On the one hand, when the lifting platform 830 is moving, the limiting rollers 850 can limit the parts on the lifting platform 830 to prevent them from rolling and leaving the sorting bin 800 from an incorrect sorting port. On the other hand, when the second push rod mechanism 840 pushes the parts to leave the sorting bin 800, it can effectively reduce the friction and wear of the parts when they move on the platform, thereby ensuring the surface quality of the parts.

[0052] The present invention also relates to a detection method of a part detection device based on machine vision, which can simultaneously detect data of multiple parts on a workbench, reduce frequent part positioning, effectively improve detection efficiency, and reduce costs. The detection steps of the detection method are:

[0053] The first step: the grabbing and moving mechanism 300 clamps the shaft part to be inspected from the feed port 120 and places it on the limit table 210 at the first station on the rotating table mechanism 200. The clamping and lifting driving mechanism 230 on the limit table 210 clamps the part in the middle area of ​​the limit table 210 to complete the positioning of the part; the second step: the rotating table mechanism 200 rotates for the first time to rotate the limit table 210 where the part is located from the first station to the second station. After the movement is completed, the first visual inspection mechanism 410 collects and detects the image information of the part on the limit table 210 and sends it to the control console 600; the third step: the rotating table mechanism 200 rotates for the second time to transfer the part to the third station. After the movement is completed, the clamping and lifting driving mechanism 230 lifts the part upward to make it leave the limit table 210. At this time, the grabbing and rotating mechanism 500 grabs the lifted part and drives the part to rotate around its own circumference by a certain angle. Among them, when the grabbing and rotating mechanism After the structure 500 is grasped, the clamping and lifting drive mechanism 230 ends the clamping effect on the part, and after the grasping and rotating mechanism 500 completes the rotation of the part, the clamping and lifting drive mechanism 230 re-clamps the part and returns it to the limit table 210 to re-position it; Step 4: The rotating worktable mechanism 200 rotates for the third time to transfer the part to the fourth station. After the movement is completed, the second visual inspection mechanism 420 collects and detects the image information of the rotated part on the limit table 210, and sends it to the control console 600. The control console 600 combines the image information before and after flipping provided by the first visual inspection mechanism 410 and the second visual inspection mechanism 420 with the image of the pre-set standard part to determine whether the dimensional accuracy and surface quality of the part meet the requirements; Step 5: The rotating worktable mechanism 200 rotates for the fourth time to transfer the part back to the first station, and the grasping and moving mechanism 300 moves the part that has completed a circle of inspection from the first station to the discharge port 130. As an alternative unloading method, the grabbing and moving mechanism 300 can grab the parts from the fourth station to the discharge port 130 to complete the unloading without returning the parts to the first station for unloading.

[0054] The machine vision-based parts inspection equipment of the present invention realizes the transfer of shaft parts between various processes through the rotating worktable mechanism 200, and all the inspection processes of the entire part can be completed on a worktable according to the set order, which greatly improves the inspection efficiency of the parts, can process a large number of shaft parts in a short time, and realizes the all-round and multi-angle inspection of shaft parts through the orderly setting of multiple workstations and the precise operation of each mechanism at different workstations. The first visual inspection mechanism 410 and the second visual inspection mechanism 420 respectively collect image information at different stages, and feedback information data to the console, and the console 600 performs data analysis, which can comprehensively and accurately judge the dimensional accuracy and surface quality of the parts, effectively ensuring the accuracy of the inspection, and the entire inspection process only needs to perform positioning operations at the first and third workstations to complete the inspection of multiple parts data, overcomes the cumbersome operation of repositioning the parts in different inspection projects, simplifies the inspection process, and ensures the effective positioning of the parts, reducing the investment cost of the equipment. Among them, the part data includes the diameter of the parts at different positions, the burr situation, the length of the parts, etc. At the same time, the clamping and lifting drive mechanism 230 can accurately position according to the size difference of the parts to ensure the accuracy of the inspection. When the part is rotated, the limit table 210 rises to separate the part from the rotating table. This avoids the interference of the rotating table with the part rotation process, allowing the grasping and rotating mechanism 500 to operate with appropriate force and angle, reducing the risk of collision and protecting parts and equipment. This separation and repositioning design greatly enhances the flexibility and adaptability of the inspection process, can effectively respond to a variety of inspection requirements and complex scenarios, and improves the overall practicality and efficiency of the inspection system. The beneficial effects of the equipment of the present invention are as follows: 1. The detection of various data of parts is completed by using a rotating worktable mechanism, and there is no need to repeatedly position the parts when each process is converted. The detection process is simplified while ensuring the effective positioning of the parts, reducing the investment cost of the equipment. Through the limit table with adjustable lifting distance, on the one hand, effective positioning of shaft parts of different models is achieved, and on the other hand, the shaft parts can be separated from the rotating worktable mechanism, which is convenient for the grasping and rotating mechanism to flip the parts to be tested; 2. The marking device is used to cooperate with the third visual inspection mechanism and the grasping and rotating mechanism to realize the flipping and end face detection of shaft parts. On the one hand, the tracing mark uses different marks in a specific order to ensure that the images of the first visual inspection mechanism and the second visual inspection mechanism can match after the device accidentally leaves the device. On the other hand, the parts can be flipped with reference to the tracing mark, and the flipping angle is more accurate; 3. The two first clamping manipulators of the grasping and moving mechanism can synchronously complete the loading of undetected parts and the unloading of detected parts, and cooperate with the sorting bin to make the entire detection process compact and the detection efficiency higher.In summary, the equipment of the present invention uses a rotating worktable mechanism to drive the parts through four stations to complete the detection of various data. There is no need to repeatedly position the parts when each process is converted, which simplifies the detection process while ensuring the effective positioning of the parts and reducing the investment cost of the equipment.

[0055] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A parts inspection device based on machine vision, characterized in that: The working bin (100) is provided with a parts inspection bin (110), and the parts inspection bin (110) is connected to an inlet (120) and an outlet (130); a rotating worktable mechanism (200) is arranged inside the parts inspection bin (110), and a plurality of limit platforms (210) are arranged on the rotating worktable mechanism (200), and the plurality of limit platforms (210) are arranged at intervals around the rotating worktable mechanism (200); a grabbing and moving mechanism (300) is arranged inside the parts inspection bin (110), and the grabbing and moving mechanism (300) is arranged to be able to move parts from the inlet (120) to a workstation on the limit platform (210), and at the same time be able to move parts The part is moved from a workstation to a discharge port (130); a first visual inspection mechanism (410) is used to collect and detect image information of a part moved to a workstation; a grabbing and rotating mechanism (500) is arranged inside the part inspection bin (110), between the grabbing and moving mechanism (300) and the rotating table mechanism (200), and the grabbing and rotating mechanism (500) is located near a workstation; a second visual inspection mechanism (420) is used to collect and detect image information of a part moved to another workstation; the first visual inspection mechanism (410) and the second visual inspection mechanism (420) are both electrically connected to a control console (600).

2. The machine vision-based parts detection device according to claim 1, characterized in that: The machine vision-based parts inspection device further comprises at least two visual inspection element driving mechanisms (710) and at least two fill-in-light devices (720); the output end of one visual inspection element driving mechanism (710) is connected to the first visual inspection mechanism (410) to drive the first visual inspection mechanism (410) to approach or move away from the second workstation; the output end of the other visual inspection element driving mechanism (710) is connected to the second visual inspection mechanism (420) to drive the second visual inspection mechanism (420) to approach or move away from the fourth workstation; the two fill-in-light devices (720) are each provided with a first angle adjuster (721), each first angle adjuster (721) is provided with a first light-emitting element (722), and the first light-emitting elements (722) of the two fill-in-light devices (720) are respectively used to illuminate the second workstation and the fourth workstation.

3. The machine vision-based parts detection device according to claim 1 or 2, characterized in that: The machine vision-based parts inspection device further comprises a marking device (440) and at least two third visual inspection mechanisms (430); the marking device (440) is installed at the output end of the visual inspection element driving mechanism (710) where the first visual inspection mechanism (410) is located, and the marking device (440) is used to perform tracing marking on the parts; the two fill light devices (720) are each provided with a second angle adjuster (723), each third visual inspection mechanism (430) is respectively installed on the corresponding second angle adjuster (723), and the two third visual inspection mechanisms (430) ) are located on both sides of the third workstation, the third visual inspection mechanism (430) is used to observe and collect image information and tracer mark positions at both ends of the part and send them to the control console (600); the two fill-in light devices (720) are each provided with a third angle adjuster (724), each third angle adjuster (724) is provided with a second light-emitting element (725), and the second light-emitting elements (725) of the two fill-in light devices (720) illuminate the opposite sides of the third workstation; the control console (600) is used to receive image information and tracer mark positions from the third visual inspection mechanism (430).

4. The machine vision-based parts detection device according to claim 1 or 2, characterized in that: The grabbing and moving mechanism (300) comprises a first translation driving mechanism (310), a first lifting driving mechanism (320), a lifting platform (330) and two first clamping manipulators (340); a first mounting frame (140) is provided on the parts inspection bin (110), and the first mounting frame (140) is located above the rotating table mechanism (200); the first translation driving mechanism (310) is mounted on the first mounting frame (140); the first lifting driving mechanism (320) is mounted on the first translation driving mechanism (310), The lifting platform (330) is installed on the first lifting drive mechanism (320), and the lifting platform (330) extends along the translation direction of the first translation drive mechanism (310); two first clamping manipulators (340) are respectively connected to the two ends of the lifting platform (330) in the length direction; one first clamping manipulator (340) is used to grab the parts from the feed port (120) to the limit platform (210) on the first work station, and the other first clamping manipulator (340) is used to grab the parts from the first work station to the discharge port (130).

5. The machine vision-based parts detection device according to claim 4, characterized in that: The first translation driving mechanism (310) comprises a first slider (311), a first slide rail (312), a first screw rod (313), a first nut (314) and a first motor (315); the first slide rail (312) is mounted on a first mounting frame (140), the first slider (311) is slidably connected to the first slide rail (312), and the first slider (311) is connected to the first lifting driving mechanism (320); one end of the first screw rod (313) is connected to the first mounting frame (140), the other end of the first screw rod (313) is drivingly connected to the first motor (315) through a mounting through hole on the first mounting frame (140), the first screw rod (313) is threadedly connected to the first nut (314), and the first nut (314) is fixed to the first slider (311).

6. The machine vision-based parts detection device according to claim 1 or 2, characterized in that: The grabbing and rotating mechanism (500) comprises a second translation driving mechanism (510), a telescopic mechanism (520), a second clamping manipulator (530), a pulley (542) and a pulley driving mechanism (541); a second mounting frame (150) is provided on the parts inspection bin (110), the second mounting frame (150) is located at the third station, the second translation driving mechanism (510) is installed on the second mounting frame (150), one end of the telescopic mechanism (520) is connected to the second translation driving mechanism (510), The telescopic mechanism (520) is connected to the second clamping manipulator (530), and the other end of the telescopic mechanism (520) is connected to the second clamping manipulator (530). The telescopic mechanism (520) is used to drive the second clamping manipulator (530) to move closer to or away from the third workstation. The pulley (542) is installed on the second clamping manipulator (530). When the second clamping manipulator (530) clamps the part, the pulley (542) abuts against the part. The pulley driving mechanism (541) is used to drive the pulley (542) to rotate so as to drive the part to rotate synchronously with the rotation of the pulley (542).

7. The machine vision-based parts detection device according to claim 2, characterized in that: The visual detection element driving mechanism (710) comprises a second lifting driving mechanism (711) and a third translation driving mechanism (712); the parts detection bin (110) is also provided with a third mounting frame (160), the second lifting driving mechanism (711) is arranged on the third mounting frame (160), the output end of the second lifting driving mechanism (711) is connected with an extended connecting plate (713), the third translation driving mechanism (712) is installed on the extended connecting plate (713), the output end of the third translation mechanism is connected with a moving seat (714), the extended connecting plate (713) is provided with a guide groove (715), the bottom of the guide groove (715) passes through the bottom of the extended connecting plate (713), the moving seat (714) is slidably connected with the guide groove (715), and extends downward and passes through the guide groove (715) to form a visual mounting platform (716).

8. The machine vision-based parts detection device according to claim 1 or 2, characterized in that: The limiting platform (210) has a sinking platform (220); the clamping and lifting driving mechanism (230) comprises a first push rod mechanism (231), a first pressing plate (232), a lifting plate (233), a screw driving mechanism (234), two second sliding blocks (235), two clamping jaws (236) and a clamping mechanism (240); the clamping mechanism (240) is arranged on both sides of the sinking platform (220), and the clamping mechanism (240) is used to squeeze the outer curved surface of the part to drive the part to be on the limiting platform (210). The settling platform (220) is provided with a partition (250), a driving chamber (260) is formed between the partition (250) and the settling platform (220), a first push rod mechanism (231) is arranged at the bottom of the driving chamber (260), one end of the first pressing plate (232) is connected to the first push rod mechanism (231), and the other end of the first pressing plate (232) is in contact with the lifting plate (233); the screw drive mechanism (234) is arranged between the lifting plate (233) and the partition (250), and the two second sliders (2 35) are respectively installed on both sides of the screw drive mechanism (234), and a slide groove (251) is provided in each of the two second sliders (235). The slide groove (251) extends along the extension direction of the screw drive mechanism (234). The clamping jaw (236) is slidably connected to the other second slider (235) through a slide groove (251). The clamping jaw (236) includes a clamping block (2361), a bearing block (2362) and an abutting block (2363). One end of the abutting block (2363) is placed on the lifting plate (233). The other end of the abutment block (2363) is connected to the bearing block (2362), the clamping block (2361) is arranged on the bearing block (2362), the clamping block (2361) is located in the middle area of ​​the bearing block (2362), the partition (250) is provided with a guide groove for the clamping jaws (236) to pass through, the first push rod mechanism (231) is used to drive the two clamping jaws (236) to enter and exit the guide groove, and the screw drive mechanism (234) is used to drive the two clamping jaws (236) to approach or move away from the part at the same time.

9. The machine vision-based parts detection device according to claim 1 or 2, characterized in that: The machine vision-based parts inspection device further comprises a sorting bin (800), the sorting bin (800) being arranged at the discharge port (130), the sorting bin (800) being provided with a first sorting port (810) and a second sorting port (820), the first sorting port (810) and the second sorting port (820) being respectively connected to the discharge port (130); the sorting bin (800) having an opening at the top and a lifting platform (830) being arranged inside, the sorting bin (800) being provided with a second slide rail (831), a second screw rod (832), a second motor and a second nut The second slide rail (831) is slidably connected to the lifting platform (830), the second screw rod (832) is matched and connected to the second nut, and the second nut is fixed to the lifting platform (830); the control console (600) is also used to drive the second motor to move the lifting platform (830) to the first sorting port or the second sorting port; the lifting platform (830) is provided with a second push rod mechanism (840), and the second push rod mechanism (840) is used to push the parts out of the sorting bin (800); and a plurality of limit rollers (850) are pivotally connected to the lifting platform (830).

10. The detection method of a parts detection device based on machine vision according to any one of claims 1 to 9, characterized in that: The detection steps of the detection method are: The first step: the grabbing and moving mechanism (300) clamps the shaft part to be inspected from the feed port (120) and places it on the limit table (210) at the first working position on the rotating worktable mechanism (200), and the clamping and lifting driving mechanism (230) on the limit table (210) clamps the part in the middle area of ​​the limit table (210) to complete the positioning of the part; Step 2: The rotating worktable mechanism (200) rotates for the first time, and the limiting platform (210) where the part is located is rotated from the first station to the second station. After the movement is completed, the first visual inspection mechanism (410) collects and inspects the image information of the part on the limiting platform (210), and sends it to the control console (600); Step 3: The rotating worktable mechanism (200) rotates for the second time to transfer the part to the third workstation. After the movement is completed, the clamping and lifting drive mechanism (230) lifts the part upward to make it leave the limit platform (210). At this time, the grasping and rotating mechanism (500) grasps the lifted part and drives the part to rotate around its own circumference by a certain angle. After the grasping and rotating mechanism (500) grasps, the clamping and lifting drive mechanism (230) ends the clamping effect on the part. After the grasping and rotating mechanism (500) completes the rotation of the part, the clamping and lifting drive mechanism (230) re-clamps the part back to the limit platform (210) to re-position it. Step 4: the rotating worktable mechanism (200) rotates for the third time to transfer the part to the fourth workstation. After the movement is completed, the second visual inspection mechanism (420) collects and inspects the image information of the rotated part on the limit table (210), and sends it to the control console (600). The control console (600) combines the image information before and after the flipping provided by the first visual inspection mechanism (410) and the second visual inspection mechanism (420) with the image of the preset standard part to determine whether the dimensional accuracy and surface quality of the part meet the requirements; Step 5: The rotating table mechanism (200) rotates for the fourth time to transfer the parts back to the first station, and the grabbing and moving mechanism (300) moves the parts that have completed one round of testing from the first station to the discharge port (130).

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