A machine vision-based part inspection apparatus and method thereof

Abstract

The application belongs to the technical field of parts and is a part detection device based on machine vision, and also relates to a detection method of the part detection device based on machine vision.The part detection device comprises a work bin with four stations, a limiting table, a rotating worktable mechanism for circulating and driving the limiting table to pass through the four stations, a grabbing and moving mechanism for feeding and discharging, a first visual detection mechanism for collecting and detecting parts in the second station, a grabbing and rotating mechanism for rotating parts in the third station, a second visual detection mechanism for collecting and detecting parts in the fourth station, and a control console.The part detection device based on machine vision can simultaneously detect data of multiple parts on one worktable, reduces frequent part positioning, improves detection efficiency, and reduces cost.

Description

Technical Field

[0001] This invention belongs to the field of parts technology, and more specifically, relates to a parts inspection device based on machine vision. This invention also relates to an inspection method of the parts inspection device based on machine vision. Background Technology

[0002] Shafts are widely used in various precision instruments and equipment, primarily for supporting transmission components, transmitting torque, and bearing loads. Due to their widespread use, shafts require extremely high dimensional accuracy and surface smoothness during measurement, as these directly affect the product's safety factor and service life. Inspection of finished shafts typically includes measuring diameter (both ends and the pitch diameter), shaft length, and surface quality. Usually, after machining, these measurements are manually performed using inspection equipment to separate defective products or shafts with errors outside the specified range, ensuring quality requirements are met. Current inspection equipment often employs multiple devices to measure a single set of data or uses segmented measurement, dividing multiple data points into multiple worktables. This results in low efficiency, frequent use of robotic arms for part transport and repetitive positioning between different inspection items, high equipment investment, and time-consuming design, severely impacting production efficiency and cost.

[0003] Existing technology includes a device titled "A Shaft Parts Inspection Equipment" (publication number CN112427320B), which provides a shaft parts inspection device belonging to the field of inspection equipment technology. It solves the problem of sorting errors after inspection in existing inspection equipment. This shaft parts inspection equipment includes a frame, on which an inspection instrument and a vertically adjustable feeding rack are mounted. A vertically swinging sorting rack is hinged to the feeding rack, and the sorting rack has a stop section. The sorting rack can swing upwards to tilt the stop section upwards, forming an upward-opening support space for placing shaft parts between the stop section and the upper end of the feeding rack. The sorting rack can also swing downwards to tilt the stop section downwards. The feeding rack and sorting rack can operate according to the inspection results of the inspection instrument. This inspection equipment reduces the possibility of sorting errors.

[0004] However, this technology does not address the technical issues and solutions of this application. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a machine vision-based part inspection device that can simultaneously perform data inspection of multiple parts on a single workbench, reduce frequent part positioning, effectively improve inspection efficiency, and reduce costs, in order to address the shortcomings of the prior art.

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

[0007] This invention relates to a machine vision-based parts inspection device. The device includes a parts inspection chamber connected to an inlet and an outlet. A rotary table mechanism is located inside the parts inspection chamber, and multiple limiting platforms are arranged circumferentially around the rotary table mechanism. A gripping and transferring mechanism is located inside the parts inspection chamber, capable of transferring parts from the inlet to a station on the limiting platforms, and simultaneously transferring parts from the station to the outlet. A first vision inspection mechanism is used to acquire and inspect image information of parts moved to one station. A gripping and rotating mechanism is located inside the parts inspection chamber, between the gripping and transferring mechanism and the rotary table mechanism, and is positioned close to one station. A second vision inspection mechanism is used to acquire and inspect image information of parts moved to another station. Both the first and second vision inspection mechanisms are 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 sequentially along the process direction. The rotary worktable mechanism is used to rotatably drive the limiting table to circulate through the first workstation, the second workstation, the third workstation, and the fourth workstation. The limiting table is connected to a clamping and lifting drive mechanism that can clamp and lift the parts. The gripping and rotating mechanism is configured to grip the parts after the clamping and lifting drive mechanism lifts them, and drive the parts to rotate around their own circumference.

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

[0010] The machine vision-based part inspection equipment further includes a marking device and at least two third vision inspection mechanisms. The marking device is installed at the output end of the vision inspection element drive mechanism where the first vision inspection mechanism is located, and is used to mark the part for tracer purposes. Both supplementary lighting devices are equipped with second angle adjusters, and each third vision inspection mechanism is installed on the corresponding second angle adjuster. The two third vision inspection mechanisms are located on both sides of the third station. The third vision inspection mechanisms are used to observe and collect image information and tracer mark positions at both ends of the part and send them to the control console. Both supplementary lighting devices are equipped with third angle adjusters, and each third angle adjuster is equipped with a second light-emitting element. The second light-emitting elements of the two supplementary lighting devices illuminate the opposite sides of the third station. The control console is used to receive image information and tracer mark positions from the third vision inspection mechanisms.

[0011] The gripping 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 chamber, and the first mounting frame is located above the rotary table mechanism. The first translation drive mechanism is mounted on the first mounting frame. The first lifting drive mechanism is mounted on the first translation drive mechanism, and the lifting platform is mounted on the first lifting drive mechanism, extending along the translation direction of the first translation drive mechanism. The two first clamping manipulators are respectively connected to both ends of the lifting platform in the length direction. One first clamping manipulator is used to grip the parts from the inlet to the limiting platform at the first station, and the other first clamping manipulator is used to grip the parts from the first station to the outlet.

[0012] The inlet and outlet of the machine vision-based parts inspection 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 inlet and the outlet.

[0013] The first translation drive mechanism includes a first slider, a first slide rail, a first lead screw, a first nut, and a first motor; the first slide rail is mounted on a first mounting bracket, the first slider is slidably connected to the first slide rail, and the first slider is connected to a first lifting drive mechanism; one end of the first lead screw is connected to the first mounting bracket, and the other end of the first lead screw is driven by the first motor through a mounting through hole on the first mounting bracket; the first lead screw is screwed to the first nut, and the first nut is fixed to the first slider.

[0014] The gripping and rotating mechanism includes a second translation drive mechanism, a telescopic mechanism, a second clamping manipulator, a pulley, and a pulley drive mechanism. A second mounting frame is provided on the part inspection chamber, located at a third workstation. The second translation drive mechanism is mounted on the second mounting frame. One end of the telescopic mechanism is connected to the second translation drive mechanism, and the other end is connected to the second clamping manipulator. The telescopic mechanism is used to drive the second clamping manipulator closer to or further from the third workstation. A pulley is mounted on the second clamping manipulator. When the second clamping manipulator clamps a part, the pulley abuts against the part. The pulley drive mechanism is used to drive the pulley to rotate so that the part rotates synchronously with the rotation of the pulley.

[0015] The vision inspection element driving mechanism includes a second lifting driving mechanism and a third translation driving mechanism; the part inspection chamber is also provided with a third mounting frame, the second lifting driving mechanism is mounted on the third mounting frame, the output end of the second lifting driving mechanism is connected to an extension connecting plate, the third translation driving mechanism is mounted on the extension connecting plate, the output end of the third translation mechanism is connected to a movable seat, the extension connecting plate is provided with a guide groove, the bottom of the guide groove penetrates the bottom of the extension connecting plate, the movable seat is slidably connected to the guide groove, and extends downward and passes through the guide groove to form a vision mounting platform.

[0016] The limiting platform has a settling platform; the clamping and lifting drive mechanism includes a first push rod mechanism, a first pressure plate, a lifting plate, a screw drive mechanism, two second sliders, two clamping jaws, and a pressing mechanism; the pressing mechanism is located on both sides of the settling platform and is used to squeeze the outer curved surface of the part to drive the part to the middle position of the limiting platform; a partition is provided on the settling platform, and a driving cavity is formed between the partition and the settling platform; the first push rod mechanism is located 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 abuts against the lifting plate;

[0017] The lead screw drive mechanism is located between the lifting plate and the partition plate. Two second sliders are respectively installed on both sides of the lead screw drive mechanism. Each of the two second sliders is provided with a sliding groove, which extends along the extension direction of the lead screw drive mechanism. The clamping jaws are slidably connected to the other second slider through one sliding groove. The clamping jaws include 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 located on the bearing block and is located in the middle area of ​​the bearing block. A guide slot is provided on the partition plate for the clamping jaws to pass through. The first push rod mechanism is used to drive the two clamping jaws to enter and exit the guide slot. The lead screw drive mechanism is used to drive the two clamping jaws to move closer to or further away from the part at the same time.

[0018] The machine vision-based parts inspection equipment also includes a sorting bin located at the discharge port. The sorting bin has a first sorting port and a second sorting port, both connected to the discharge port. The top of the sorting bin is open, and a lifting platform is located inside. The sorting bin contains a second slide rail, a second lead screw, a second motor, and a second nut. The second slide rail is slidably connected to the lifting platform, and the second lead screw is matched with the second nut, which is fixed to the lifting platform. The control console also drives the second motor to move the lifting platform to either the first or second sorting port. A second push rod mechanism is located on the lifting platform to push parts out of the sorting bin. Multiple limiting rollers are pivotally connected to the lifting platform.

[0019] This invention also relates to a detection method for a machine vision-based part inspection device capable of simultaneously detecting data on multiple parts on a single workbench, reducing frequent part positioning, effectively improving detection efficiency, and lowering costs. The detection steps of the method are as follows:

[0020] Step 1: The gripping and transferring mechanism clamps the shaft part to be inspected from the feed port and places it on the limiting table in the first position of the rotary table mechanism. The clamping and lifting drive mechanism on the limiting table clamps the part in the middle area of ​​the limiting table to complete the positioning of the part.

[0021] Step 2: The rotary table mechanism rotates for the first time, moving the limiting platform where the part is located from the first station to the second station. After the movement is completed, the first vision inspection mechanism collects and detects the image information of the part on the limiting platform and sends it to the control console.

[0022] Step 3: The rotary table mechanism rotates for the second time, transferring the part to the third station. After the movement is completed, the clamping and lifting drive mechanism lifts the part upward so that it leaves the limit table. At this time, the gripping and rotating mechanism grips the lifted part and drives the part to rotate around its own circumference by a certain angle. After the gripping and rotating mechanism grips the part, the clamping and lifting drive mechanism ends the clamping effect on the part. After the gripping and rotating mechanism completes the rotation of the part, the clamping and lifting drive mechanism re-clamps the part and returns it to the limit table to complete the repositioning.

[0023] Step 4: The rotating worktable mechanism rotates for the third time, transferring the part to the fourth station. After the movement is completed, the second vision inspection mechanism collects and inspects the image information of the part after rotation on the limit table and sends it to the control console. The control console combines the image information before and after flipping provided by the first and second vision inspection mechanisms with the image of the pre-set standard part to determine whether the dimensional accuracy and surface quality of the part meet the requirements.

[0024] Step 5: The rotating worktable mechanism rotates for the fourth time, transferring the part back to the first station. The gripping and transferring mechanism then moves the part that has completed one round of inspection from the first station to the discharge port.

[0025] The working principle and beneficial effects of the technical solution adopted in this invention are as follows:

[0026] The machine vision-based parts inspection equipment described in this invention utilizes a rotating worktable mechanism to transfer shaft-type parts between various processes. All inspection processes for a single part can be completed on a single worktable according to a set sequence, significantly improving inspection efficiency and enabling the processing of large quantities of shaft-type parts in a short time. Through the orderly arrangement of multiple workstations and the precise operation of each mechanism at different workstations, comprehensive and multi-angle inspection of shaft-type parts is achieved. The first and second vision inspection mechanisms acquire image information at different stages and feed the data back to the control console. The control console performs data analysis, comprehensively and accurately determining the dimensional accuracy and surface quality of the parts, effectively ensuring inspection accuracy. Furthermore, the entire inspection process only requires positioning operations at the first and third workstations to complete the inspection of multiple parts data, overcoming the cumbersome operation of repositioning parts during different inspection projects. This simplifies the inspection process while ensuring effective part positioning and reducing equipment investment costs. The part data includes the diameter, burr condition, and length of the part at different locations. Simultaneously, the clamping and lifting drive mechanism can accurately position the part based on dimensional differences, ensuring inspection accuracy. When the part rotates, the limiting stage 210 rises to separate the part from the rotating worktable. This avoids interference from the rotary table in the part rotation process, allowing the gripping 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, effectively addressing various inspection needs and complex scenarios, and improving the overall practicality and efficiency of the inspection system. The beneficial effects of the equipment of the present invention are reflected in the following aspects: 1. The rotary table mechanism is used to complete the detection of various data of the parts, eliminating the need for repeated positioning of the parts at each process transition, simplifying the detection process while ensuring effective positioning of the parts, reducing the investment cost of the equipment, and through the adjustable lifting distance limit table, effective positioning of different types of shaft parts is achieved on the one hand, and the shaft parts can be separated from the rotary table mechanism on the other hand, making it convenient for the gripping and rotating mechanism to flip the parts to be tested; 2. The marking device is used in conjunction with the third vision detection mechanism and the gripping and rotating mechanism to realize the flipping and end face detection of shaft parts. On the one hand, the use of different markings in a specific order of the tracer marks can ensure that the images of the first vision detection mechanism and the second vision detection mechanism can still match even if the device fails to detach from the equipment. On the other hand, the part can be flipped with the tracer marks as a reference, and the flipping angle is more accurate; 3. The two first clamping manipulators of the gripping and transferring mechanism can simultaneously complete the loading of undetected parts and the unloading of detected parts. Combined with the sorting bin, the entire detection process is compact and the detection efficiency is higher. Attached Figure Description

[0027] The following is a brief explanation of the contents depicted in the accompanying drawings and the markings therein:

[0028] Figure 1 This is a schematic diagram of the machine vision-based parts inspection equipment described in this invention.

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

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

[0031] Figure 4 for Figure 3 A schematic diagram showing the structure of the first mounting frame and the gripping and moving mechanism extracted separately from the middle;

[0032] Figure 5 for Figure 3 A schematic diagram showing the structure of the second mounting bracket and the gripping and rotating mechanism that are removed separately from the middle;

[0033] Figure 6a for Figure 3 A structural diagram of the third mounting bracket, vision inspection element drive mechanism, and supplementary lighting device located separately in the second workstation is shown.

[0034] Figure 6b for Figure 6a Another structural schematic diagram of the third mounting bracket, the vision inspection element drive mechanism, and the supplementary lighting device;

[0035] Figure 7a for Figure 3 A schematic diagram of the structure of the separately removed limiting platform and clamping lifting drive mechanism (wherein, the clamping mechanism is shown in the diagram). Figure 3 );

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

[0037] Figure 8a for Figure 3 A schematic diagram of the mechanism for separately removing the sorting bin;

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

[0039] The labels in the attached diagram are as follows: 100, working chamber; 110, parts inspection chamber; 120, inlet; 130, outlet; 140, first mounting frame; 150, second mounting frame; 160, third mounting frame; 200, rotary table mechanism; 210, limiting platform; 220, settling platform; 230, clamping and lifting drive mechanism; 231, first push rod mechanism; 232, first pressure plate; 233, lifting plate; 234, lead screw drive mechanism; 235, second slider; 236, clamp. 2361. Clamping jaws; 2362. Bearing block; 2363. Abutment block; 240. Pressing mechanism; 250. Partition plate; 251. Slide groove; 260. Drive cavity; 300. Gripping and moving mechanism; 310. First translation drive mechanism; 311. First slider; 312. First slide rail; 313. First lead screw; 314. First nut; 315. First motor; 320. First lifting drive mechanism; 330. Lifting platform; 340. First clamping manipulator; 410. 420. First visual inspection mechanism; 430. Second visual inspection mechanism; 440. Third visual inspection mechanism; 500. Marking device; 510. Gripping and rotating mechanism; 511. 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. Movable seat; 715. Guide groove; 716. Vision mounting table; 720. Supplemental lighting 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 lead screw; 840. Second push rod mechanism; 850. Limiting roller. Detailed Implementation

[0040] The following description, with reference to the accompanying drawings, provides a more detailed explanation of the specific embodiments of the present invention, including the shape and structure of each component, the relative positions and connections between the parts, the functions and working principles of each part:

[0041] As attached Figure 1 Appendix Figure 2As shown, this invention is a machine vision-based parts inspection device. The working chamber 100 includes a parts inspection chamber 110, which connects to an inlet 120 and an outlet 130. A rotary table mechanism 200 is located inside the parts inspection chamber 110, and multiple limiting platforms 210 are provided on the rotary table mechanism 200, arranged circumferentially around the rotary table mechanism 200. A gripping and transferring mechanism 300 is located inside the parts inspection chamber 110, and is configured to move parts (parts to be inspected) from the inlet 120 to the stations on the limiting platforms 210, while simultaneously being able to... The parts are moved from the workstation to the discharge port 130; a first vision inspection mechanism 410 is used to collect and inspect the image information of the parts moved to one workstation; a gripping and rotating mechanism 500 is located inside the part inspection chamber 110, between the gripping and transferring mechanism 300 and the rotary table mechanism 200, and the gripping and rotating mechanism 500 is located close to one workstation; a second vision inspection mechanism 420 is used to collect and inspect the image information of the parts moved to another workstation; both the first vision inspection mechanism 410 and the second vision inspection mechanism 420 are electrically connected to the control console 600 to send the image information of the parts to the control console 600. The above structure addresses the shortcomings of the prior art and proposes an improved technical solution. The structure of this invention utilizes a rotating worktable mechanism 200 to transfer shaft parts between various processes within the working chamber of the inspection equipment. All inspection processes for a single part can be completed on a single worktable according to a set sequence, significantly improving inspection efficiency and enabling the processing of a large number of shaft parts in a short time. Through the orderly arrangement of multiple workstations and the precise operation of each mechanism at different workstations, comprehensive and multi-angle inspection of shaft parts is achieved. The first vision inspection mechanism 410 and the second vision inspection mechanism 420 acquire image information at different stages and feed the data back to the control console 600. The control console 600 performs data analysis, comprehensively and accurately determining the dimensional accuracy and surface quality of the parts, effectively ensuring the accuracy of the inspection. Furthermore, the entire inspection process only requires positioning operations at the first and third workstations to complete the inspection of multiple part data, overcoming the cumbersome operation of repositioning parts during different inspection projects. This simplifies the inspection process while ensuring effective part positioning and reducing equipment investment costs. The part data includes the diameter, burr condition, and length of the part at different locations. Simultaneously, the clamping and lifting drive mechanism 230 can accurately position the part based on dimensional differences, ensuring inspection accuracy. When the part is rotated, the limit table 210 rises to separate the part from the rotary table. This prevents the rotary table from interfering with the part's rotation process, allowing the gripping and rotating mechanism 500 to operate with 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 testing process, effectively addressing various testing needs and complex scenarios, and improving the overall practicality and efficiency of the testing system. The specific usage process of the device of the present invention is divided into the following steps: The gripping and transferring mechanism 300 clamps the shaft part to be inspected from the inlet 120 and places it on the limiting platform 210 at the first station on the rotary table mechanism 200. The clamping and lifting drive mechanism 230 on the limiting platform 210 clamps the part in the middle area of ​​the limiting platform 210 to complete the positioning of the part; The rotary table mechanism 200 rotates for the first time, rotating the limiting platform 210 where the part is located from the first station to the second station. After the movement is completed, the first vision detection mechanism 410 collects and detects the image information of the part on the limiting platform 210 and sends it to the control console 600; The rotary table mechanism 200 rotates for the second time, transferring the part to the third station. After the movement is completed, the clamping and lifting drive mechanism 230 lifts the part upward so that it leaves the limiting platform 210. At this time, the gripping and rotating mechanism 500 grips the lifted part and drives the part to rotate around its own circumference by a certain angle. After the gripping and rotating mechanism 500 grips the part, the clamping and lifting drive mechanism 230 ends the clamping effect on the part. After the gripping 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 limiting table 210 to complete the repositioning. The rotating worktable mechanism 200 rotates for the third time, transferring the part to the fourth station. After the movement is completed, the second vision inspection mechanism 420 collects and detects the image information of the part after rotation on the limiting table 210 and sends it to the control console 600. The control console 600 combines the image information before and after the flip provided by the first vision inspection mechanism 410 and the second vision 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. The rotating worktable mechanism 200 rotates for the fourth time, transferring the part back to the first station. The gripping and transferring mechanism 300 moves the part that has completed one round of inspection from the first station to the discharge port 130.The beneficial effects of the equipment of the present invention are reflected in the following aspects: 1. The rotary table mechanism is used to complete the detection of various data of the parts, eliminating the need for repeated positioning of the parts at each process transition, simplifying the detection process while ensuring effective positioning of the parts, reducing the investment cost of the equipment, and through the adjustable lifting distance limit table, effective positioning of different types of shaft parts is achieved on the one hand, and the shaft parts can be separated from the rotary table mechanism on the other hand, making it convenient for the gripping and rotating mechanism to flip the parts to be tested; 2. The marking device is used in conjunction with the third vision detection mechanism and the gripping and rotating mechanism to realize the flipping and end face detection of shaft parts. On the one hand, the use of different markings in a specific order of the tracer marks can ensure that the images of the first vision detection mechanism and the second vision detection mechanism can still match even if the device fails to detach from the equipment. On the other hand, the part can be flipped with the tracer marks as a reference, and the flipping angle is more accurate; 3. The two first clamping manipulators of the gripping and transferring mechanism can simultaneously complete the loading of undetected parts and the unloading of detected parts. Combined with the sorting bin, the entire detection process is compact and the detection efficiency is higher. The machine vision-based parts inspection equipment described in this invention can simultaneously perform data inspection of multiple parts on a single workbench, reducing frequent parts positioning, effectively improving inspection efficiency, and lowering costs.

[0042] The aforementioned workstations include a first workstation, a second workstation, a third workstation, and a fourth workstation, arranged sequentially along the process direction (the process direction refers to the order in which the shaft-like parts to be inspected are processed within the work chamber 100). A rotary worktable mechanism 200 is used to rotatably drive a limiting table 210 to cyclically pass through the first, second, third, and fourth workstations. The limiting table 210 is connected to a clamping and lifting drive mechanism 230 capable of clamping and lifting the parts. The gripping and rotating mechanism 500 is configured to grip the parts after they have been lifted by the clamping and lifting drive mechanism 230, and drive the parts to rotate around their own circumference. Based on the processing requirements of the parts, multiple workstations can be set up, with different workstations used to complete different processing steps. Therefore, the number of workstations can be increased or decreased according to the processing requirements of different parts. As an example, four workstations are provided.

[0043] As attached Figure 3As shown, the machine vision-based parts inspection equipment further includes at least two vision inspection element driving mechanisms 710 and at least two supplementary lighting devices 720; the output end of one vision inspection element driving mechanism 710 is connected to the first vision inspection mechanism 410 to drive the first vision inspection mechanism 410 closer to or further away from the second workstation; the output end of the other vision inspection element driving mechanism 710 is connected to the second vision inspection mechanism 420 to drive the second vision inspection mechanism 420 closer to or further away from the fourth workstation; both supplementary lighting devices 720 are 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 supplementary lighting devices 720 are used to illuminate the second workstation and the fourth workstation, respectively. In the above structure, each vision inspection element drive mechanism 710 and supplementary lighting device 720 is electrically connected to the control console 600. For shaft parts of different specifications, the control console 600 can control the second lifting drive mechanism 711 to precisely adjust the distance between the first vision inspection mechanism 410 and the second workstation, and between the second vision inspection mechanism 420 and the fourth workstation, based on the acquired part inspection image. This ensures that the vision inspection mechanism is in the optimal imaging position, avoiding problems such as image blurring or missing key parts due to improper distance, thus preventing impact on data acquisition accuracy. Furthermore, the control console 600 can control the horizontal movement of the vision inspection mechanism through the third translation mechanism, ensuring that the vision inspection equipment can accurately align with the part to be inspected. Simultaneously, the control console 600 controls the first angle adjuster 721 in the supplementary lighting device 720 to adjust the illumination angle of the first light-emitting element 722, so that the light is precisely focused on the second and fourth workstations. During the inspection process, the direction and intensity of the illumination are precisely adjusted according to the shape, material and key points of the inspection of the parts. This effectively reduces the adverse effects of shadows, reflections and uneven lighting, and clearly highlights the key features of the parts such as surface texture, contour edges and minor defects. As a result, the clarity, contrast and integrity of the imaging are greatly improved, and the accuracy and reliability of shaft mechanical parts inspection are significantly enhanced.

[0044] The machine vision-based part inspection equipment further includes a marking device 440 and at least two third vision inspection mechanisms 430. The marking device 440 is installed at the output end of the vision inspection element driving mechanism 710 where the first vision inspection mechanism 410 is located, and is used to mark the parts. Both supplementary lighting devices 720 are equipped with second angle adjusters 723, and each third vision inspection mechanism 430 is installed on the corresponding second angle adjuster 723. The two third vision inspection mechanisms 430 are located on both sides of the third station. The third vision inspection mechanism 430 is used to observe and collect image information and the position of the tracer mark at both ends of the part and send them to the control console 600. Both supplementary lighting devices 720 are equipped with third angle adjusters 724, and each third angle adjuster 724 is equipped with a second light-emitting element 725. The second light-emitting elements 725 of the two supplementary lighting devices 720 illuminate the opposite sides of the third station. The control console 600 is used to receive image information and the position of the tracer mark from the third vision inspection mechanism 430. The above structure uses a marking device 440 in conjunction with a third vision inspection mechanism 430 and a gripping and rotating mechanism 500 to achieve the flipping and end-face inspection of shaft parts. On the one hand, the use of different markings in a specific order for the tracer marks ensures that the images of the first vision inspection mechanism 410 and the second vision inspection mechanism 420 can still match even if the device malfunctions and detaches from the equipment. On the other hand, the part can be flipped with the tracer marks 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 vision inspection mechanism 430 can observe whether the tracer mark point is within the image. If it is, the rotation continues until the tracer mark can no longer be observed, so as to rotate the part to an unobserved plane. This ensures that the surface quality inspection of the first vision inspection mechanism 410 and the second vision inspection mechanism 420 is not repeated before and after the rotation, reduces inspection errors, and enhances the accuracy and reliability of shaft mechanical part inspection. Multiple third-vision inspection mechanisms 430 can be set at different observation positions. On the one hand, this can obtain multi-angle inspection images of both ends of the part to increase the inspection accuracy. On the other hand, the third-vision inspection mechanism 430 at the upper end of the part observes the display mark from its appearance to its disappearance, while the third-vision inspection mechanism 430 at the lower end of the part observes the display mark from its absence to its gradual appearance on the image. This avoids misjudgment by the equipment due to obstructions on the upper side of the part, which would cause the clamping and rotating mechanism to malfunction. This allows for more accurate control of the clamping and rotating device on the rotation of the part.

[0045] As attached Figure 4As shown, the gripping 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 part inspection chamber 110, and the first mounting frame 140 is located above the rotary worktable mechanism 200. The first translation drive mechanism 310 is mounted on the first mounting frame 140. The first lifting drive mechanism 320 is mounted on the first translation drive mechanism 310, and the lifting platform 330 is mounted on the first lifting drive mechanism 320. 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 lifting platform 330 in the length direction. One first clamping manipulator 340 is used to grip the part from the inlet 120 to the limiting platform 210 at the first station, and the other first clamping manipulator 340 is used to grip the part from the first station to the outlet 130. The above structure, through the sliding connection between the first slider 311 and the first slide rail 312, provides stable and precise linear guidance for the mechanism, ensuring that the first lifting drive mechanism 320 and the subsequently connected components can operate smoothly during translation, effectively reducing shaking and deviation, and ensuring the accuracy of parts gripping and handling.

[0046] The inlet 120 and outlet 130 of this invention are distributed at intervals along the extension direction of the lifting platform 330, with both ends of the lifting platform 330 located between the inlet 120 and the outlet 130 along its length. In the device of this invention, two first clamping manipulators 340 are located at opposite ends of the lifting platform 330, effectively reducing the complexity and interference of the mechanism's movements, and improving the accuracy and speed of gripping and handling. One manipulator is dedicated to inlet gripping, while the other focuses on outlet handling, making the material flow in the entire testing process smoother and more orderly. The design of the lifting platform 330 extending in a specific direction with both ends located between the inlet 120 and the outlet 130 in the device of this invention fully utilizes space and optimizes the mechanism's movement path, allowing for simultaneous gripping of the part to be tested and processing of the part already being tested. This achieves compact and efficient part handling operations within a limited working space, improving the overall space utilization and work efficiency of the equipment. Meanwhile, the gripping and moving mechanism 300 can also be an articulated robot that drives the first clamping manipulator 340 to move flexibly in three-dimensional space, thereby moving the gripped parts from one position to another; or it can be an automated linear module that drives the first clamping manipulator 340 to accurately transport the parts to the next workstation along the inspection product line for inspection.

[0047] The first translation drive mechanism 310 includes a first slider 311, a first slide rail 312, a first lead screw 313, a first nut 314, and a first motor 315. The first slide rail 312 is mounted on the first mounting bracket 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 drive mechanism 320. One end of the first lead screw 313 is connected to the first mounting bracket 140, and the other end of the first lead screw 313 is driven by the first motor 315 through a mounting through hole on the first mounting bracket 140. The first lead screw 313 is screwed to the first nut 314, and the first nut 314 is fixed to the first slider 311. Under the drive of the first motor 315, the above structure converts the rotational motion of the motor into the precise linear motion of the first slider 311, realizing the movement control of the first slider 311. It has high motion accuracy and positioning accuracy, which can meet the precise positioning requirements of shaft parts at different positions in the inspection process, and realize the precise positioning of the first clamping manipulator 340 during the feeding and discharging processes. It is understandable that the first translation drive mechanism 310 can also be a synchronous belt drive mechanism, a linear motor drive mechanism, or other translation drive mechanisms.

[0048] As attached Figure 5As shown, the gripping and rotating mechanism 500 includes a second translation drive mechanism 510, a telescopic mechanism 520, a second clamping robot 530, a pulley 542, and a pulley drive mechanism 541. A second mounting frame 150 is provided on the part inspection chamber 110, located at the third workstation. The second translation drive mechanism 510 is mounted 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 is connected to the second clamping robot 530. The telescopic mechanism 520 is used to drive the second clamping robot 530 closer to or further away from the third workstation. The pulley 542 is mounted on the second clamping robot 530. When the second clamping robot 530 clamps a part, the pulley 542 abuts against the part. The pulley drive mechanism 541 is used to drive the pulley 542 to rotate so that the part rotates 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 so that when the shaft part to be tested is a stepped shaft or an irregularly shaped shaft, and the shaft diameter varies in the middle area, the second clamping manipulator 530 can be moved to a smooth position to grip the part. The gripping and rotating mechanism 500 can be applied to different types of shaft parts. On the other hand, the second translation drive mechanism 510 can move the part closer to or away from the third vision inspection mechanism 430 to obtain image information captured when the third vision inspection mechanism 430 is in the optimal imaging position, further improving the detection accuracy. After the limiting stage 210 of the third station lifts the part to the designated position, the telescopic mechanism 520 drives the second clamping manipulator 530 to approach the part, so that the two mechanical claws are 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 abut against the four sides of the part. The pulley drive mechanism 541 is used to drive the pulleys 542 to rotate so that the part rotates accordingly. Preferably, the pulley drive mechanism 541 is equipped with an encoder. The encoder measures the rotational speed of the pulley drive mechanism 541 and feeds the signal back to the controller to adjust the operating speed of the equipment, synchronizing the movement of the multiple pulleys 542 and preventing motion obstruction due to differential speed operation. This makes the second translation drive mechanism 510 work more smoothly. Furthermore, the encoder can detect the angle of the pulleys 542 to determine the approximate angle of rotation of the part. The second clamping robot 530 can also be a gripper-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 robot 530 to move flexibly in three-dimensional space, transporting the grasped part from one position to another; or it can be an automated linear module that drives the second clamping robot 530 to accurately pick up the part from the third station, rotate it, and reposition it.

[0049] As attached Figure 6a Appendix Figure 6bAs shown, the vision inspection element driving mechanism 710 includes a second lifting driving mechanism 711 and a third translation driving mechanism 712; the part inspection chamber 110 is also provided with a third mounting frame 160, the second lifting driving mechanism 711 is mounted on the third mounting frame 160, the output end of the second lifting driving mechanism 711 is connected to an extension connecting plate 713, the third translation driving mechanism 712 is mounted on the extension connecting plate 713, the output end of the third translation mechanism is connected to a movable seat 714, the extension connecting plate 713 is provided with a guide groove 715, the bottom of the guide groove 715 penetrates the bottom of the extension connecting plate 713, the movable seat 714 is slidably connected to the guide groove 715, and extends downward and passes through the guide groove 715 to form a vision mounting platform 716.

[0050] As attached Figure 7a Appendix Figure 7bAs shown, the limiting platform 210 has a settling platform 220; the clamping and lifting drive mechanism 230 includes a first push rod mechanism 231, a first pressure plate 232, a lifting plate 233, a lead screw drive mechanism 234, two second sliders 235, two clamping jaws 236, and a pressing mechanism 240; the pressing mechanism 240 is located on both sides of the settling platform 220, and is used to squeeze the outer curved surface of the part to drive the part to the middle position of the limiting platform 210; a partition 250 is provided on the settling platform 220, and a driving cavity 260 is formed between the partition 250 and the settling platform 220; the first push rod mechanism 231 is located 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 abuts against the lifting plate 233; the lead screw drive mechanism 234 is located between the lifting plate 233 and the partition 250, and the two second sliders 235... 35 are respectively installed on both sides of the lead screw drive mechanism 234. Each of the two second sliders 235 is provided with a sliding groove 251. The sliding groove 251 extends along the extension direction of the lead screw drive mechanism 234. The clamping jaw 236 is slidably connected to the other second slider 235 through one sliding groove 251. The clamping jaw 236 includes a clamping block 2361, a bearing block 2362 and an abutment block 2363. One end of the abutment block 2363 is placed on the lifting plate 233, and the other end of the abutment block 2363 is connected to the bearing block 2362. The clamping block 2361 is located on the bearing block 2362 and is located in the middle area of ​​the bearing block 2362. The partition plate 250 is provided with a guide groove for the clamping jaw 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. The lead screw drive mechanism 234 is used to drive the two clamping jaws 236 to simultaneously approach or move away from the part. The working principle of the clamping and lifting drive mechanism 230 in the above structure is as follows: First, the clamping mechanism 240 squeezes the part to make it in the middle position of the limiting platform 210. Then, the clamping jaws 236, which move synchronously from both sides to the middle, fix the two sides of the part in the middle area to achieve the positioning of the part. At the same time, the two bearing blocks 2362 are in contact with the two sides of the part. When the third station is reached, the first push rod mechanism 231 in the drive cavity 260 pushes the lifting plate 233 to rise, which drives the clamping jaws 236 that are in contact with the lifting plate 233 to rise. The two bearing blocks 2362 drive the part to move upward and get away from the limiting platform 210. The abutment block 2363 of the clamping jaw 236 can lift the part and cooperate with the gripping and rotating mechanism 500 to complete the rotation of the part. On the other hand, when the shaft part is a stepped shaft or an irregularly 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 bearing block 2362 cannot abut against the part, and there is a risk that one end of the part will touch the bottom while the other end is lifted. In this case, the cooperation between the abutment block 2363 and the lifting plate 233 allows the bearing 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 equipped with a sliding element to reduce friction between the abutment block 2363 and the lifting plate 233 when the abutment block 2363 approaches or moves away from the part. It can be understood that the clamping and lifting drive mechanism 230 can also magnetically attract both ends of the part using an electromagnetic clamping block, and then push the electromagnetic clamping block upwards via an electric push rod. Because the electric push rod has high motion precision, it can accurately control the suspension height of the part according to actual needs. Furthermore, the speed and thrust of the electric push rod can be adjusted according to factors such as the weight and size of the shaft-type part to ensure that the part can be suspended smoothly.

[0051] As attached Figure 8a Appendix Figure 8bAs shown, the machine vision-based parts inspection equipment also includes a sorting bin 800, which is located at the discharge port 130. The sorting bin 800 has a first sorting port 810 and a second sorting port 820, which are respectively connected to the discharge port 130. The top of the sorting bin 800 is open and a lifting platform 830 is provided inside. The sorting bin 800 is equipped with a second slide rail 831, a second lead screw 832, a second motor, and a second nut. The second slide rail 831 is slidably connected to the lifting platform 830, and the second lead screw 832 is matched and connected to the second nut, which 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, which is used to push the parts out of the sorting bin 800. Multiple limiting rollers 850 are pivotally connected to the lifting platform 830. In the above structure, after the shaft parts have completed inspection, the control console 600 analyzes and processes the collected part data to determine whether it is a qualified product. It then controls the gripping and transferring mechanism 300 to transport the part back to the first workstation to the lifting platform 830 on the sorting bin 800. Simultaneously, the second motor on the lifting platform 830 causes the platform to lift the part to the appropriate sorting port after it has been moved there. For example, if the control console 600 detects a qualified part, it transports it to the first sorting port 810; if it detects a defective part, it transports it to the second sorting port 820. The second pusher mechanism 840 then pushes the part out of the sorting bin 800 from the lifting platform 830 through the corresponding sorting port, thus achieving the sorting of the inspected parts. This sorting bin 800 improves the automation level, sorting accuracy, and material handling efficiency of the shaft mechanical parts inspection equipment, playing a crucial role in promoting quality control and improving production efficiency throughout the entire production process. Multiple limiting rollers 850 are pivotally connected to the lifting platform 830. On the one hand, when the lifting platform 830 moves, 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 the wrong sorting port. On the other hand, when the second push rod mechanism 840 pushes the parts out of the sorting bin 800, it can effectively reduce the friction and wear of the parts when they move on the platform, thus ensuring the surface quality of the parts.

[0052] This invention also relates to a detection method for a machine vision-based part inspection device capable of simultaneously detecting data on multiple parts on a single workbench, reducing frequent part positioning, effectively improving detection efficiency, and lowering costs. The detection steps of the method are as follows:

[0053] Step 1: The gripping and transferring mechanism 300 clamps the shaft part to be inspected from the inlet 120 and places it on the limiting platform 210 at the first station of the rotary table mechanism 200. The clamping and lifting drive mechanism 230 on the limiting platform 210 clamps the part in the middle area of ​​the limiting platform 210 to complete the positioning of the part. Step 2: The rotary table mechanism 200 rotates for the first time, rotating the limiting platform 210 where the part is located from the first station to the second station. After the movement is completed, the first vision inspection mechanism 410 collects and detects the image information of the part on the limiting platform 210 and sends it to the control console 600. Step 3: The rotary table mechanism 200 rotates for the second time, transferring the part to the third station. After the movement is completed, the clamping and lifting drive mechanism 230 lifts the part upward to make it leave the limiting platform 210. At this time, the gripping and rotating mechanism 500 grips the lifted part and drives the part to rotate around its own circumference by a certain angle. After the gripper 500 clamps the part, the clamping and lifting drive mechanism 230 ends the clamping effect on the part. After the gripping 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 limiting table 210 to complete the repositioning. Fourth step: The rotating table mechanism 200 rotates for the third time, transferring the part to the fourth station. After the movement is completed, the second vision inspection mechanism 420 collects and inspects the image information of the part after rotation on the limiting table 210 and sends it to the control console 600. The control console 600 combines the image information before and after the flip provided by the first vision inspection mechanism 410 and the second vision 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. Fifth step: The rotating table mechanism 200 rotates for the fourth time, transferring the part back to the first station. The gripping and transferring mechanism 300 moves the part that has completed one round of inspection from the first station to the discharge port 130. As an alternative unloading method, the gripping and transferring mechanism 300 can grip the part from the fourth station to the discharge port 130 to complete the unloading, without having to return the part to the first station for unloading.

[0054] The machine vision-based parts inspection equipment of this invention uses a rotating worktable mechanism 200 to transfer shaft parts between various processes. All inspection processes for a single part can be completed on a single worktable according to a set sequence, significantly improving inspection efficiency and enabling the processing of a large number of shaft parts in a short time. Through the orderly arrangement of multiple workstations and the precise operation of each mechanism at different workstations, comprehensive and multi-angle inspection of shaft parts is achieved. The first vision inspection mechanism 410 and the second vision inspection mechanism 420 collect image information at different stages and feed the data back to the control console 600. The control console 600 performs data analysis, comprehensively and accurately determining the dimensional accuracy and surface quality of the parts, effectively ensuring the accuracy of the inspection. Furthermore, the entire inspection process only requires positioning operations at the first and third workstations to complete the inspection of multiple parts data, overcoming the cumbersome operation of repositioning parts during different inspection projects. This simplifies the inspection process while ensuring effective part positioning and reducing equipment investment costs. The part data includes the diameter, burr condition, and length of the part at different locations. Simultaneously, the clamping and lifting drive mechanism 230 can accurately position the part based on dimensional differences, ensuring inspection accuracy. When a part is rotated, the limiting stage 210 rises to separate the part from the rotary table. This prevents the rotary table from interfering with the part's rotation process, allowing the gripping and rotating mechanism 500 to operate with appropriate force and angle, reducing the risk of collision and protecting both the part and the equipment. This separation and repositioning design greatly enhances the flexibility and adaptability of the inspection process, effectively addressing various inspection needs and complex scenarios, and improving the overall practicality and efficiency of the inspection system. The beneficial effects of the equipment of the present invention are reflected in the following aspects: 1. The rotary table mechanism is used to complete the detection of various data of the parts, eliminating the need for repeated positioning of the parts at each process transition, simplifying the detection process while ensuring effective positioning of the parts, reducing the investment cost of the equipment, and through the adjustable lifting distance limit table, on the one hand, effective positioning of different types of shaft parts is achieved, and on the other hand, the shaft parts can be separated from the rotary table mechanism, making it convenient for the gripping and rotating mechanism to flip the parts to be tested; 2. The marking device is used in conjunction with the third vision detection mechanism and the gripping and rotating mechanism to realize the flipping and end face detection of shaft parts. On the one hand, the use of different markings in a specific order of the tracer marks can ensure that the images of the first vision detection mechanism and the second vision detection mechanism can still match even if the device fails to detach from the equipment. On the other hand, the part can be flipped with the tracer marks as a reference, and the flipping angle is more accurate; 3. The two first clamping manipulators of the gripping and transferring mechanism can simultaneously complete the loading of undetected parts and the unloading of detected parts, which, together with the sorting bin, makes the entire detection process compact and the detection efficiency higher.In summary, the equipment of the present invention uses a rotary table mechanism to drive the part through four workstations to complete the detection of various data. It eliminates the need to repeatedly position the part at each process change, simplifies the detection process, ensures effective positioning of the part, and reduces the investment cost of the equipment.

[0055] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any improvements made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A machine vision-based parts inspection device, characterized in that: The work chamber (100) is equipped with a parts inspection chamber (110), which is connected to the inlet (120) and the outlet (130). A rotary worktable mechanism (200) is located inside the parts inspection chamber (110), and the rotary worktable mechanism (200) is equipped with multiple limiting platforms (210), which are arranged circumferentially around the rotary worktable mechanism (200). A gripping and transferring mechanism (300) is located inside the parts inspection chamber (110), and the gripping and transferring mechanism (300) is configured to transfer parts from the inlet (120) to the station on the limiting platform (210), and at the same time, it can transfer parts from the inlet (120) to the station on the limiting platform (210). The parts are moved from the workstation to the discharge port (130); the first vision inspection mechanism (410) is used to collect and inspect the image information of the parts moved to one workstation; the gripping and rotating mechanism (500) is located inside the parts inspection chamber (110), between the gripping and moving mechanism (300) and the rotating worktable mechanism (200), and the gripping and rotating mechanism (500) is located close to one workstation; the second vision inspection mechanism (420) is used to collect and inspect the image information of the parts moved to another workstation; both the first vision inspection mechanism (410) and the second vision inspection mechanism (420) are electrically connected to the control console (600); The machine vision-based part inspection equipment further includes a marking device (440) and at least two third vision inspection mechanisms (430); the marking device (440) is installed at the output end of the vision inspection element driving mechanism (710) where the first vision inspection mechanism (410) is located, and the marking device (440) is used to trace and mark the parts; both supplementary lighting devices (720) are provided with a second angle adjuster (723), and each third vision inspection mechanism (430) is installed on the corresponding second angle adjuster (723), and the two third vision inspection mechanisms (430) are... Located on both sides of the third workstation, the third vision 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); both supplementary lighting devices (720) are equipped with a third angle adjuster (724), and each third angle adjuster (724) is equipped with a second light-emitting element (725). The second light-emitting elements (725) of the two supplementary lighting 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 vision inspection mechanism (430); The limiting platform (210) has a settling platform (220); the clamping and lifting drive mechanism (230) includes a first push rod mechanism (231), a first pressure plate (232), a lifting plate (233), a lead screw drive mechanism (234), two second sliders (235), two clamping jaws (236), and a pressing mechanism (240); the pressing mechanism (240) is located on both sides of the settling platform (220), and the pressing mechanism (240) is used to squeeze the outer curved surface of the part to drive the part to the limiting platform (210). In the middle position; a partition (250) is provided on the settling platform (220), and a driving cavity (260) is formed between the partition (250) and the settling platform (220). The first push rod mechanism (231) is located 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) abuts against the lifting plate (233). The screw drive mechanism (234) is located between the lifting plate (233) and the partition (250), and two second sliders (2 35) Installed on both sides of the lead screw drive mechanism (234), each of the two second sliders (235) is provided with a groove (251). The groove (251) extends along the extension direction of the lead screw drive mechanism (234). The clamping jaw (236) is slidably connected to the other second slider (235) through one groove (251). The clamping jaw (236) includes a clamping block (2361), a bearing block (2362), and an abutment block (2363). One end of the abutment 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 located on the bearing block (2362) in the middle area of ​​the bearing block (2362). The partition plate (250) has 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. The screw drive mechanism (234) is used to drive the two clamping jaws (236) to move closer to or away from the part at the same time.

2. The machine vision-based parts inspection equipment according to claim 1, characterized in that: The machine vision-based parts inspection equipment further includes at least two vision inspection element driving mechanisms (710) and at least two supplementary lighting devices (720); the output end of one vision inspection element driving mechanism (710) is connected to the first vision inspection mechanism (410) to drive the first vision inspection mechanism (410) to move closer to or away from the second work station; the output end of the other vision inspection element driving mechanism (710) is connected to the second vision inspection mechanism (420) to drive the second vision inspection mechanism (420) to move closer to or away from the fourth work station; both supplementary lighting devices (720) are 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 supplementary lighting devices (720) are used to illuminate the second work station and the fourth work station, respectively.

3. The machine vision-based parts inspection equipment according to claim 1 or 2, characterized in that: The gripping 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 chamber (110), and the first mounting frame (140) is located above the rotary table mechanism (200); the first translation drive mechanism (310) is mounted on the first mounting frame (140); the first lifting drive mechanism (320) is mounted on the first translation drive 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 part from the feed port (120) to the limiting table (210) at the first station, and the other first clamping manipulator (340) is used to grab the part from the first station to the discharge port (130).

4. The machine vision-based parts inspection equipment according to claim 3, characterized in that: The first translation drive mechanism (310) includes a first slider (311), a first slide rail (312), a first lead screw (313), a first nut (314), and a first motor (315); the first slide rail (312) is mounted on the first mounting bracket (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 drive mechanism (320); one end of the first lead screw (313) is connected to the first mounting bracket (140), and the other end of the first lead screw (313) is driven to the first motor (315) through the mounting through hole on the first mounting bracket (140); the first lead screw (313) is screwed to the first nut (314), and the first nut (314) is fixed to the first slider (311).

5. The machine vision-based parts inspection equipment according to claim 1 or 2, characterized in that: The gripping 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 drive mechanism (541); a second mounting bracket (150) is provided on the parts inspection chamber (110), the second mounting bracket (150) is located at the third work station, the second translation drive mechanism (510) is mounted on the second mounting bracket (150), and one end of the telescopic mechanism (520) is connected to the second translation drive mechanism (510). The telescopic mechanism (520) is connected to the second clamping robot (530) at one end. The telescopic mechanism (520) is used to drive the second clamping robot (530) to move closer to or away from the third station. The pulley (542) is installed on the second clamping robot (530). When the second clamping robot (530) clamps the part, the pulley (542) abuts against the part. The pulley drive mechanism (541) is used to drive the pulley (542) to rotate so that the part rotates synchronously with the rotation of the pulley (542).

6. The machine vision-based parts inspection equipment according to claim 2, characterized in that: The vision inspection element driving mechanism (710) includes a second lifting driving mechanism (711) and a third translation driving mechanism (712); the part inspection chamber (110) is also provided with a third mounting frame (160), the second lifting driving mechanism (711) is mounted on the third mounting frame (160), the output end of the second lifting driving mechanism (711) is connected to an extension connecting plate (713), the third translation driving mechanism (712) is mounted on the extension connecting plate (713), the output end of the third translation driving mechanism (712) is connected to a movable seat (714), the extension connecting plate (713) is provided with a guide groove (715), the bottom of the guide groove (715) penetrates the bottom of the extension connecting plate (713), the movable seat (714) is slidably connected to the guide groove (715), and extends downward and passes through the guide groove (715) to form a vision mounting platform (716).

7. The machine vision-based parts inspection equipment according to claim 1 or 2, characterized in that: The machine vision-based parts inspection equipment further includes a sorting bin (800), which is located at the discharge port (130). The sorting bin (800) has a first sorting port (810) and a second sorting port (820), which are respectively connected to the discharge port (130). The top of the sorting bin (800) is open and a lifting platform (830) is provided inside. The sorting bin (800) is equipped with a second slide rail (831), a second lead screw (832), a second motor, and a second nut. The second slide rail (831) is slidably connected to the lifting platform (830), the second lead screw (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), which is used to push the parts out of the sorting bin (800); multiple limiting rollers (850) are pivotally connected to the lifting platform (830).

8. The inspection method of the machine vision-based part inspection equipment according to any one of claims 1 to 7, characterized in that: The detection steps of the detection method are as follows: Step 1: The gripping and transferring mechanism (300) clamps the shaft part to be inspected from the feed port (120) and places it on the limiting table (210) at the first station of the rotary table mechanism (200). The clamping and lifting drive mechanism (230) on the limiting table (210) clamps the part in the middle area of ​​the limiting table (210) to complete the positioning of the part. Step 2: The rotating worktable mechanism (200) rotates for the first time, moving the limiting table (210) where the part is located from the first station to the second station. After the movement is completed, the first vision inspection mechanism (410) collects and detects the image information of the part on the limiting table (210) and sends it to the control console (600). Step 3: The rotating worktable mechanism (200) rotates for the second time, transferring the part to the third station. After the movement is completed, the clamping and lifting drive mechanism (230) lifts the part upward so that it leaves the limiting table (210). At this time, the gripping and rotating mechanism (500) grips the lifted part and drives the part to rotate around its own circumference by a certain angle. When the gripping and rotating mechanism (500) grips the part, the clamping and lifting drive mechanism (230) ends the clamping effect on the part. After the gripping 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 limiting table (210) to complete the repositioning. Step 4: The rotating worktable mechanism (200) rotates for the third time, transferring the part to the fourth station. After the movement is completed, the second vision inspection mechanism (420) collects and inspects the image information of the part after rotation on the limit stage (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 vision inspection mechanism (410) and the second vision 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, transferring the part back to the first station. The gripping and transferring mechanism (300) moves the part that has completed one round of inspection from the first station to the discharge port (130).

Images