Method and device for detecting installation quality of crutch elastic piece and marble

Abstract

The invention discloses a walking stick elastic piece and marble installation quality detection method and device, and the method comprises the steps: carrying out the recognition of a to-be-detected marble through a detection device, obtaining a marble installation image, and carrying out the preprocessing of the marble installation image, and obtaining a preprocessing image; wherein the preprocessing of the marble installation image comprises graying, denoising and contrast enhancement; performing edge detection on the preprocessed image, and obtaining an axis direction vector of the marble and a normal vector of a marble mounting surface by utilizing Hough transform detection according to an edge detection result; and calculating through the normal vector and the axis direction vector of the marble mounting surface to obtain a marble mounting quality result. By adopting methods such as edge detection and Hough transform detection, the edge contours of the mid-limb tube and the marbles can be accurately identified, the mounting surfaces of the marbles, the mounting surface vector and the axis vector of the marbles are established on the mid-limb tube through edge straight lines, the included angle between the mounting surfaces and the axis vector is calculated by utilizing dot products, and then the mounting quality of the marbles is judged, so that the working efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of detection equipment, and in particular relates to a method and a device for detecting the installation quality of a crutch shrapnel and a marble. Background Art

[0002] A cane is a walking aid, which is mainly used to help people with limited mobility to maintain balance and reduce the burden on the lower limbs. Because the height of the user is different, the length of the cane needs to be adjusted according to the height of the user. Therefore, a locking device is set on the cane, and the cane is locked after the length is adjusted to keep the cane at the adjusted length. The existing adjustment method of the cane is achieved by using a two-layer middle limb tube. When locking, the marble needs to be pushed into the locking hole through the spring piece, and the spring piece and the marble are installed inside the middle limb tube. During installation, the installation will not be in place and the marble will be stuck and cannot be extended from the locking hole, which will affect the subsequent assembly process and the use of the cane.

[0003] Therefore, we need to design a method and device for detecting the installation quality of crutch shrapnel and marbles to solve these problems. Summary of the invention

[0004] The problem to be solved by the present invention is to provide a method and a device for detecting the installation quality of a crutch shrapnel and a marble.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A method for detecting the installation quality of crutch shrapnel and marbles, comprising using a detection device to identify marbles to be detected to obtain a marble installation image, and preprocessing the marble installation image to obtain a preprocessed image; wherein the preprocessing of the marble installation image includes graying, denoising and contrast enhancement; Perform edge detection on the preprocessed image, and use Hough transform detection to obtain the axis direction vector of the marble and the normal vector of the marble installation surface according to the edge detection result; The marble installation quality result is obtained by calculating the normal vector of the marble installation surface and the axis direction vector.

[0006] Preferably, edge detection of the preprocessed image includes: detecting edges in the image using a Canny edge detection algorithm; and adjusting a threshold parameter of the Canny algorithm to ensure that the edges of the marble and the mid-limb tube are completely extracted.

[0007] Preferably, obtaining the axis direction vector of the marble and the normal vector of the marble installation surface by using Hough transform detection according to the edge detection result includes: Hough transform is used to detect the edge straight line of the mid-limb tube and the edge straight line of the marble; Extract the axis of the mid-limb canal and the axis of the marble; The normal vector of the mounting surface is obtained by calculation according to the slope of the axis of the mid-limb tube; The direction vector of the marble axis is obtained by calculating the slope of the marble axis.

[0008] Preferably, the marble installation quality result is obtained by calculating the normal vector of the marble installation surface and the axis direction vector, including: Calculate the dot product of the marble axis direction vector and the mounting surface normal vector; Calculate the angle between the two using the dot product formula:

[0009] Among them, A is the direction vector of the marble axis, and B is the normal vector of the mounting surface; Determine the size of the angle θ and the allowable error E. If θ≤E, the quality of the marble installation does not meet the requirements, otherwise the quality of the marble installation does not meet the requirements.

[0010] A crutch shrapnel and marble installation quality detection device, comprising a frame, the frame is used to install a feeding mechanism, a conveying mechanism, a discharging mechanism and a detection mechanism; The conveying mechanism is used to convey the mid-limb tube; The detection mechanism is arranged on the conveying mechanism and is used to detect the installation quality of the marbles on the mid-limb tube. The detection mechanism includes a mounting frame fixed on the conveying mechanism, and a set of opposite inner walls of the mounting frame are provided with detection devices. When the mid-limb tube moves, it will pass through the inner side of the mounting frame; The feeding mechanism is located at one end of the conveying mechanism and is used to transfer the middle limb tube to the conveying mechanism; The unloading mechanism is located at the other end of the conveying mechanism and is used to remove the middle limb tube from the conveying mechanism.

[0011] Preferably, the conveying mechanism includes a plurality of supports fixed on the frame, and the plurality of supports are divided into two groups, each group of supports is fixedly provided with a side plate, and the two side plates are parallel to each other, a driving sprocket and a driven sprocket are rotatably provided on each side plate, and the driving sprocket and the driven sprocket on the same side plate are connected by a chain set, a plurality of chain plates are fixedly provided on the chain, and a feeding clamp is fixedly provided on each chain plate.

[0012] Preferably, the feeding mechanism includes a feeding rack fixed on the frame, a feeding slide is slidably arranged on the feeding rack, a feeding mounting plate is fixedly arranged on the feeding slide, an adjusting cylinder is fixedly arranged on the feeding mounting plate, an adjusting slide is slidably arranged on one side of the adjusting cylinder, the adjusting slide is connected to the output end of the adjusting cylinder, a feeding lifting cylinder is fixedly arranged on the adjusting slide, a feeding adjustment plate is fixedly arranged on the output end of the feeding lifting cylinder, and a feeding clamp is arranged on the feeding adjustment plate.

[0013] Furthermore, the number of the feeding lifting cylinder is at least one, the arrangement direction of several of the feeding lifting cylinders is perpendicular to the conveying direction of the conveying mechanism, and the arrangement length of the feeding adjustment plates at the output ends of several of the feeding lifting cylinders does not exceed the width of two of the conveying mechanisms, and each of the feeding adjustment plates is also fixedly provided with several feeding guide rods, and the feeding guide rods on each of the feeding adjustment plates are symmetrically distributed along the feeding lifting cylinder, and the free end of each of the feeding guide rods passes through the adjustment slide and is slidably connected to the adjustment slide.

[0014] Preferably, the unloading mechanism includes a unloading rack arranged on the frame, a unloading slide is slidably arranged on the unloading rack, a unloading lifting cylinder is fixedly arranged on the unloading slide, a unloading mounting plate is fixedly arranged on the output end of the unloading lifting cylinder, and a unloading clamp is arranged on the unloading mounting plate.

[0015] Furthermore, the loading mechanism and the unloading mechanism are both fixedly provided with a driving motor, a driving pulley, a driven pulley and a slide rail, the loading slide is slidably connected to the loading rack via the slide rail, the unloading slide is slidably connected to the unloading rack via the slide rail, the output end of the driving motor is connected to the driving pulley, the driven pulley and the driving pulley are connected via a transmission belt set, and the loading slide and the unloading slide are both connected to the transmission belt.

[0016] The advantages and positive effects of the present invention are: The present invention realizes loading and unloading and conveying of the center limb tube by utilizing loading and unloading and conveying mechanisms, and can complete the inspection in a very short time by utilizing visual inspection equipment, thereby reducing manual intervention, allowing continuous operation and greatly improving production efficiency.

[0017] The present invention adopts edge detection and Hough transform detection methods, which can accurately identify the edge contours of the mid-limb tube and the marbles. The installation surface and installation surface vector of the marbles and the axis vector of the marbles are established on the mid-limb tube by the edge straight line. The angle between the two is calculated by using the dot product to judge the installation quality of the marbles. When it is detected that the installation quality of multiple consecutive marbles does not meet the requirements, an early warning signal will be triggered to prompt possible mold wear or equipment failure, so as to promptly notify the equipment management system for diagnosis and maintenance, thereby reducing downtime and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 is a flow chart of the present invention; Figure 2 It is a schematic diagram of the device structure of the present invention; Figure 3 is a schematic diagram of the transmission mechanism of the present invention; Figure 4 It is a schematic diagram of the installation structure of the regulating cylinder and the regulating slide on the conveying mechanism of the present invention; Figure 5 It is a schematic diagram of the installation position of the limit sensor and the limit plate of the present invention on the feeding mechanism; Figure 6 It is a schematic diagram of a material discharging mechanism of the present invention; Figure 7 It is a schematic diagram of the installation position of the driving pulley and the driving motor on the unloading mechanism of the present invention; Figure 8 It is a schematic diagram of the detection structure of the present invention; Fig. 9 It is a schematic diagram of the structure of the middle limb tube of the present invention; Fig.10 It is a schematic diagram of the structure of the shrapnel and marbles of the present invention.

[0020] The following are the descriptions of the reference numerals: 1. Frame; 2. Conveying mechanism; 201. Support; 202. Side plate; 203. Driving sprocket; 204. Driven sprocket; 205. Synchronous shaft; 206. Chain; 207. Chain plate; 208. Support rail; 209. Feed sensor; 210. Discharge sensor; 211. Feeding clamp; 212. Conveying motor; 213. Sensor bracket; 214. Positioning sensor; 215. Transmission mounting plate; 216. Feeding driving wheel; 217. Feeding driving wheel; 218. Feeding belt; 219. Induction block; 3. Feeding mechanism; 301. Feeding rack; 302. Feeding clamp; 303. Feeding adjustment plate; 304. Adjusting slide; 305. Adjusting rail; 306. Adjusting cylinder; 307 , through slot; 308, loading lifting cylinder; 309, loading slide; 310, loading guide rod; 311, loading mounting plate; 4, unloading mechanism; 401, unloading rack; 402, unloading clamp; 403, unloading mounting plate; 404, unloading guide rod; 405, unloading slide; 406, unloading lifting cylinder; 341, driving motor; 342, driving pulley; 343, driven pulley; 344, transmission belt; 345, limit block; 346, limit sensor; 347, limit plate; 348, slide rail; 5, detection mechanism; 51, mounting frame; 52, detection device; 61, middle limb tube; 62, locking hole; 63, marbles; 64, spring piece; 7, controller; 8, support leg; 9, universal wheel. DETAILED DESCRIPTION

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0023] The present invention will be further described below in conjunction with the accompanying drawings: Example 1: Figure 1-Figure 9 As shown, a method for detecting the installation quality of a crutch shrapnel and a marble comprises: The detection device 52 is used to identify the marble 63 to be detected to obtain an installation image of the marble 63, and the installation image of the marble 63 is preprocessed to obtain a preprocessed image; wherein the preprocessing of the installation image of the marble 63 includes graying, denoising and contrast enhancement; Specifically, grayscale conversion is to convert a color image into a grayscale image to reduce the amount of calculation. The specific formula is as follows:

[0024] Among them: Igray is the pixel value of the grayscale image; R, G, B are the pixel values ​​of the red, green, and blue channels in the color image; the coefficients 0.299, 0.587, and 0.114 are weights determined according to the sensitivity of the human eye to color.

[0025] Denoising uses Gaussian filtering or median filtering to remove noise. The Gaussian filter kernel size is usually 3×3 or 5×5.

[0026] Contrast enhancement is to enhance the image contrast using histogram equalization or contrast stretching. For example, the image is processed using the cv.equalizeHist() function in OpenCV to enhance the contrast.

[0027] Perform edge detection on the preprocessed image; Specifically, the Canny edge detection algorithm is used to detect the edges in the image by setting a low threshold and a high threshold, wherein the low threshold is used for weak edge detection and the high threshold is used for strong edge detection; By adjusting the high and low thresholds, it is ensured that the edges of the marble 63 and the mid-limb tube 61 are completely extracted.

[0028] According to the edge detection result, the axis direction vector of the marble 63 and the normal vector of the installation surface of the marble 63 are obtained by using Hough transform detection; Specifically, when calculating the normal vector of the installation surface, two parallel straight lines at the edges of the middle limb tube 61 are extracted, and the center lines of the two straight lines are calculated. If the center line is horizontal (the slope is 0), the normal vector is in the vertical direction. If the detected straight line is vertical (the slope is infinite), the normal vector is in the horizontal direction. The installation surface is the surface passing through the center line and parallel to the image acquisition direction of the marble 63 installation.

[0029] When calculating the axis direction vector of the marble 63, two parallel straight lines of the edges of the marble 63 are extracted, and the center line of the two straight lines is calculated as the axis of the marble 63. If the slope of the axis is k, the direction vector is [1, k]; The installation quality result of the marble 63 is obtained by calculating the normal vector of the installation surface of the marble 63 and the axis direction vector.

[0030] Calculate the dot product of the axis direction vector of the marble 63 and the normal vector of the mounting surface;

[0031] Among them, A is the axis direction vector of the marble 63, B is the normal vector of the mounting surface; Ax is the horizontal coordinate of vector A; Ay is the vertical coordinate of vector A; Bx is the horizontal coordinate of vector B, and By is the vertical coordinate of vector B. Calculate the angle between the two using the dot product formula:

[0032] Determine the size of the angle θ and the allowable error E. If θ≤E, the installation quality of the marble 63 does not meet the requirements, otherwise the installation quality of the marble 63 does not meet the requirements.

[0033] If it is detected that the installation quality of multiple consecutive marbles 63 does not meet the requirements, an early warning signal will be triggered to indicate possible mold wear or equipment failure, thereby promptly notifying the equipment management system for diagnosis and maintenance.

[0034] A crutch shrapnel and marble installation quality detection device, comprising a frame 1, the frame 1 is used to install a feeding mechanism 3, a conveying mechanism 2, a feeding mechanism 4 and a detection mechanism 5; The conveying mechanism 2 is used to convey the middle limb tube 61; like Figure 2 and Figure 7 As shown, the detection mechanism 5 is arranged on the conveying mechanism 2, and is used to detect the installation quality of the marbles 63 on the middle limb tube 61. The detection mechanism 5 includes a mounting frame 51 fixed on the conveying mechanism 2, and a detection device 52 is arranged on a set of opposite inner walls of the mounting frame 51. When the middle limb tube 61 moves, it will pass through the inner side of the mounting frame 51; The feeding mechanism 3 is located at one end of the conveying mechanism 2 and is used to transfer the middle limb tube 61 to the conveying mechanism 2; The unloading mechanism 4 is located at the other end of the conveying mechanism 2 and is used to remove the middle limb tube 61 on the conveying mechanism 2.

[0035] like Figure 2 As shown, the transmission mechanism 2 includes a plurality of supports 201 fixed on the frame 1, and the plurality of supports 201 are divided into two groups. A side plate 202 is fixedly provided on each group of supports 201, and the two side plates 202 are parallel to each other. A driving sprocket 203 and a driven sprocket 204 are rotatably provided on each side plate 202. The driving sprocket 203 and the driven sprocket 204 on the same side plate 202 are connected by a chain 206. A support rail 208 is provided on the side plate 202 between the driving sprocket 203 and the driven sprocket 204 to support the chain 206 to prevent the chain 206 from sagging due to gravity and affecting the detection result. The two driving sprockets 203 are connected by a synchronous The two driven sprockets 204 are also connected by a synchronous shaft 205, so that the synchronization during rotation can be ensured. A transmission mounting plate 215 is also provided on one of the side plates 202, and a feeding drive wheel 216, a feeding transmission wheel 217 and a conveying motor 212 are provided on the transmission mounting plate 215. The conveying motor 212 is connected to the feeding drive wheel 216, and the driving sprocket 203 is connected to the feeding transmission wheel. The feeding drive wheel 216 and the feeding transmission wheel 217 are connected by a feeding belt 218. A plurality of chain plates 207 are fixedly provided on the chain 206, and a feeding clamp 211 and an induction block 219 are fixedly provided on each chain plate 207.

[0036] Specifically, a group of feed sensors 209 are installed on the side of the side plate 202 close to the loading mechanism 3, and a discharge sensor 210 is installed on the side close to the unloading mechanism 4, and the feed sensor 209 and the discharge sensor 210 are fixed to the side plate 202 through a sensor bracket 213, so that the feed sensor 209 and the discharge sensor 210 are kept at the same height as the middle limb tube 61 on the feeding clamp 211, and a positioning sensor 214 is also installed on the side plate 202 on the side of the discharge sensor 210. When the sensing block 219 passes through the input end of the positioning sensor 214, it will be detected by the positioning sensor 214, so as to ensure that the position of the chain plate 207 is within the grabbing range of the unloading mechanism 4.

[0037] like Figure 3 and Figure 4As shown, the feeding mechanism 3 includes a feeding rack 301 fixed on the frame 1, a feeding slide 309 is slidably arranged on the feeding rack 301, a feeding mounting plate 311 is fixedly arranged on the feeding slide 309, an adjusting cylinder 306 is fixedly arranged on the feeding mounting plate 311, an adjusting slide 304 is slidably arranged on one side of the adjusting cylinder 306, the adjusting slide 304 is connected to the output end of the adjusting cylinder 306, a feeding lifting cylinder 308 is fixedly arranged on the adjusting slide 304, a feeding adjusting plate 303 is fixedly arranged on the output end of the feeding lifting cylinder 308, and a feeding clamp 302 is arranged on the feeding adjusting plate 303.

[0038] Specifically, the number of feeding lifting cylinders 308 is at least one, the arrangement direction of the plurality of feeding lifting cylinders 308 is perpendicular to the conveying direction of the conveying mechanism 2, and the arrangement length of the feeding adjustment plates 303 at the output ends of the plurality of feeding lifting cylinders 308 does not exceed the width of two conveying mechanisms 2. Such an arrangement can realize the grabbing of multiple middle limb tubes 61 at the same time, and each feeding adjustment plate 303 is also fixedly provided with a plurality of feeding guide rods 310, and the feeding guide rods 310 on each feeding adjustment plate 303 are symmetrically distributed along the feeding lifting cylinders 308, so that The stability of the loading adjustment plate 303 is increased during movement. When the loading lifting cylinder 308 is located between the two loading guide rods 310, the connection and movement of the loading lifting cylinder 308 and the loading adjustment plate 303 are not hindered. A channel is opened on the loading mounting plate 311, and the output end of the loading lifting cylinder 308 is connected through the loading adjustment plate 303, and the through groove 307 is long and strip-shaped, and the extension direction is the same as the extension direction of the adjustment rail 305. The free end of each loading guide rod 310 passes through the adjustment slide 304 and is slidably connected to the adjustment slide 304.

[0039] like Figure 5 and Figure 6 As shown, the unloading mechanism 4 includes an unloading rack 401 arranged on the frame 1, a unloading slide 405 is slidably arranged on the unloading rack 401, an unloading lifting cylinder 406 is fixedly arranged on the unloading slide 405, an unloading mounting plate 403 is fixedly arranged at the output end of the unloading lifting cylinder 406, an unloading clamp 402 is arranged at the bottom of the unloading mounting plate 403, and an unloading guide rod 404 is fixedly arranged on the top of the unloading mounting plate 403, and the free end of the unloading guide rod 404 slides through the unloading slide 405. Such an arrangement can ensure the stability of the unloading device when it moves.

[0040] Specifically, a driving motor 341, a driving pulley 342, a driven pulley 343 and a slide rail 348 are fixedly arranged on the loading mechanism 3 and the unloading mechanism 4. The loading slide 309 is slidably connected to the loading frame 301 through the slide rail 348, and the unloading slide 405 is slidably connected to the unloading frame 401 through the slide rail 348. The output end of the driving motor 341 is connected to the driving pulley 342, and the driven pulley 343 and the driving pulley 342 are connected by a transmission belt 344, and the loading slide 309 and the unloading slide 405 are both connected to the transmission belt 344.

[0041] Specifically, a limit plate 347, a limit sensor 346 and a limit block 345 are also provided on the feeding mechanism 3 and the unloading mechanism 4. The limit block 345 is installed on the feeding slide rail 348 or the unloading slide rail 348, the limit sensor 346 is installed on the feeding rack 301 or the unloading rack 401, and the limit plate 347 is installed on the feeding slide 309 and the unloading slide 405. When the limit sensor 346 senses the limit plate 347, the driving motor 341 will stop rotating to avoid exceeding the limit movement; and the limit block 345 is installed at both ends of the slide rail 348. If the limit sensor 346 fails, it can be limited again to prevent exceeding the limit movement.

[0042] The working process of this embodiment is as follows: Fig. 9 As shown, the spring piece 64 installed on the middle limb tube 61 is in a U-shape, and the marbles 63 are installed at both ends of the spring piece 64 and extend to both sides of the spring piece 64, as shown in FIG. Figure 8 As shown, a through locking hole 62 is opened on the middle limb tube 61 , and the marble 63 will extend out from the two locking holes 62 when installed on the middle limb tube 61 .

[0043] When working, the feeding mechanism 3 needs to move the middle limb tube 61 installed with the marbles 63 to the conveying mechanism 2. When the feeding mechanism 3 is moving the middle limb tube 61, the driving motor 341 installed on the feeding frame 301 will start to rotate. The rotating driving motor 341 will drive the driving pulley 342 to rotate. After the driving pulley 342 rotates, it will drive the transmission belt 344 to move. When the driving pulley 342 and the driven pulley 343 of the feeding frame 301 rotate, it will drive the feeding slide on the feeding frame 301. The loading frame 309 moves along the slide rail 348 on the loading frame 301, and the loading mounting plate 311 fixed on the loading slide 309 will move with the loading slide 309, and in this process, the adjusting cylinder 306 on the loading mounting plate 311 will drive the adjusting slide 304 to move along the adjusting rail 305 on the loading mounting plate 311 to adjust the position of the loading adjusting plate 303. When the loading clamp 302 on the loading adjusting plate 303 is located just above the middle limb tube 61, the loading lifting cylinder 306 on the adjusting slide 304 will move. 8 will stretch, driving the feeding adjustment plate 303 to move downward, and the feeding clamp 302 on the feeding adjustment plate 303 will grab the middle limb tube 61. After the feeding clamp 302 grabs the middle limb tube 61, the feeding lifting cylinder 308 will shorten, driving the feeding adjustment plate 303 to move upward, and at the same time, the driving motor 341 on the feeding mechanism 3 will rotate in the opposite direction, so that the feeding slide 309 moves in the opposite direction along the slide rail 348 to the top of the conveying mechanism 2. The driving motor 341 will stop rotating, and then the adjusting cylinder 306 will drive the adjusting slide 304 again. Move along the adjustment rail 305 to adjust the position of the middle limb tube 61 so that the middle limb tube 61 is located directly above the feeding clamp 211 on the lower conveying mechanism 2. At this time, the loading lifting cylinder 308 on the adjusting slide 304 will extend, pushing the loading adjustment plate 303 to move downward. When the middle limb tube 61 grasped by the loading clamp 302 enters the feeding clamp 211 on the conveying mechanism 2, the feeding rack will clamp the middle limb tube 61, and the loading clamp 302 will be released, and the loading lifting cylinder 308 will be shortened, driving the loading adjustment plate 303 to move upward.

[0044] When the feeding clamp 211 on the conveying mechanism 2 clamps the middle limb tube 61, the feed sensor 209 will detect that the conveying motor 212 will rotate. After the conveying motor 212 rotates, it will drive the feeding drive wheel 216 to rotate. After the feeding drive wheel rotates, it will drive the chain 206 to move through the feeding belt 218. After the chain 206 moves, it will drive the chain plate 207 to move. After the chain plate 207 moves, it will drive the middle limb tube 61 to move through the feeding clamp. When the middle limb tube 61 moves with the chain 206, it will pass through the detection mechanism 5. When the middle limb tube 61 passes through the detection mechanism 5 again, the detection device 52 will detect the quality of the marbles 63 installed on the middle limb tube 61. After the middle limb tube 61 moves with the chain 206 and is detected by the discharge sensor 210, if the positioning sensor 214 on the chain plate 207 also moves and is detected by the positioning sensor 214, the transmission motor will stop rotating.

[0045] When the conveying motor 212 stops rotating, the driving motor 341 on the unloading mechanism 4 will rotate, and the driving pulley 342 will drive the transmission belt 344 to move. After the transmission belt 344 moves, it will drive the unloading slide 405 to move along the slide rail 348. When the unloading slide 405 moves to the top of the middle limb tube 61 on the conveying mechanism 2, the driving motor 341 on the unloading mechanism 4 will stop, and then the unloading lifting cylinder 406 will extend to push the unloading mounting plate 403 to move downward. When the unloading clamp 402 on the unloading mounting plate 403 clamps the middle limb tube 61, the unloading lifting cylinder 406 will rise to remove the middle limb tube 61 from the feeding clamp 211, and then the driving motor 341 on the unloading mechanism 4 will rotate in the opposite direction, and the unloading slide 405 will be driven by the transmission belt 344 to move in the opposite direction along the slide rail 348 to realize the unloading of the middle limb tube 61.

[0046] In order to make the equipment more convenient to move, at least four universal wheels 9 are provided at the bottom of the rack 1 to meet the movement of the rack 1. At the same time, in order to make the rack 1 more stable during operation, at least four supporting legs 8 are installed at the bottom of the rack 1 for support, and the supporting legs 8 are connected to the rack 1 through threads, so that the horizontality of the rack 1 can be adjusted during installation, and the adaptability is stronger; the controller 7 installed on the rack 1 can control the overall operation of the equipment.

[0047] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for detecting the installation quality of crutch shrapnel and marbles, characterized in that: include: Using the detection device to identify the marbles to be detected to obtain a marble installation image, preprocessing the marble installation image to obtain a preprocessed image; wherein the preprocessing of the marble installation image includes graying, denoising and contrast enhancement; Perform edge detection on the preprocessed image, and use Hough transform detection to obtain the axis direction vector of the marble and the normal vector of the marble installation surface according to the edge detection result; The marble installation quality result is obtained by calculating the normal vector of the marble installation surface and the axis direction vector.

2. The method for detecting the installation quality of crutch shrapnel and marble according to claim 1, characterized in that: Edge detection on the preprocessed image includes: Use the Canny edge detection algorithm to detect edges in the image; Adjust the threshold parameters of the Canny algorithm to ensure that the edges of the marble and the mid-limb tube are completely extracted.

3. The method for detecting the installation quality of crutch shrapnel and marble according to claim 1, characterized in that: According to the edge detection results, the axis direction vector of the marble and the normal vector of the marble installation surface are obtained by using Hough transform detection, including: Hough transform is used to detect the edge straight line of the mid-limb tube and the edge straight line of the marble; Extract the axis of the mid-limb canal and the axis of the marble; The normal vector of the mounting surface is obtained by calculation according to the slope of the axis of the mid-limb tube; The direction vector of the marble axis is obtained by calculating the slope of the marble axis.

4. The method for detecting the installation quality of crutch shrapnel and marble according to claim 1, characterized in that: The marble installation quality results obtained by calculating the normal vector of the marble installation surface and the axis direction vector include: Calculate the dot product of the marble axis direction vector and the mounting surface normal vector; Calculate the angle between the two using the dot product formula: Among them, A is the direction vector of the marble axis, and B is the normal vector of the mounting surface; Determine the size of the angle θ and the allowable error E. If θ≤E, the quality of the marble installation does not meet the requirements, otherwise the quality of the marble installation does not meet the requirements.

5. A device for detecting the installation quality of crutch shrapnel and marbles, characterized in that: The invention comprises a frame (1), wherein the frame (1) is used to install a loading mechanism (3), a conveying mechanism (2), a unloading mechanism (4) and a detection mechanism (5); The conveying mechanism (2) is used to convey the mid-limb tube (61); The detection mechanism (5) is arranged on the conveying mechanism (2) and is used to detect the installation quality of the marbles (63) on the middle limb tube (61). The detection mechanism (5) comprises a mounting frame (51) fixed on the conveying mechanism (2). A detection device (52) is arranged on a set of opposite inner walls of the mounting frame (51). When the middle limb tube (61) moves, it will pass through the inner side of the mounting frame (51). The loading mechanism (3) is located at one end of the conveying mechanism (2) and is used to transfer the middle limb tube (61) to the conveying mechanism (2); The unloading mechanism (4) is located at the other end of the conveying mechanism (2) and is used to remove the middle limb tube (61) on the conveying mechanism (2).

6. The crutch shrapnel and marble installation quality detection device according to claim 5, characterized in that: The conveying mechanism (2) comprises a plurality of supports (201) fixed on the frame (1), the plurality of supports (201) being divided into two groups, a side plate (202) being fixedly arranged on each group of supports (201), and the two side plates (202) being parallel to each other, a driving sprocket (203) and a driven sprocket (204) being rotatably arranged on each side plate (202), the driving sprocket (203) and the driven sprocket (204) on the same side plate (202) being connected in a sleeve manner via a chain (206), a plurality of chain plates (207) being fixedly arranged on the chain (206), and a feeding clamp (211) being fixedly arranged on each chain plate (207).

7. The crutch shrapnel and marble installation quality detection device according to claim 5, characterized in that: The feeding mechanism (3) comprises a feeding frame (301) fixed on the frame (1), a feeding slide (309) slidably arranged on the feeding frame (301), a feeding mounting plate (311) fixedly arranged on the feeding slide (309), an adjusting cylinder (306) fixedly arranged on the feeding mounting plate (311), an adjusting slide (304) slidably arranged on one side of the adjusting cylinder (306), the adjusting slide (304) being connected to the output end of the adjusting cylinder (306), a feeding lifting cylinder (308) fixedly arranged on the adjusting slide (304), a feeding adjusting plate (303) fixedly arranged on the output end of the feeding lifting cylinder (308), and a feeding clamp (302) arranged on the feeding adjusting plate (303).

8. The crutch shrapnel and marble installation quality detection device according to claim 7, characterized in that: The number of the feeding lifting cylinder (308) is at least one, the arrangement direction of the plurality of the feeding lifting cylinders (308) is perpendicular to the conveying direction of the conveying mechanism (2), and the arrangement length of the feeding adjustment plates (303) at the output ends of the plurality of the feeding lifting cylinders (308) does not exceed the width of two conveying mechanisms (2), and each of the feeding adjustment plates (303) is also fixedly provided with a plurality of feeding guide rods (310), and the feeding guide rods (310) on each of the feeding adjustment plates (303) are symmetrically distributed along the feeding lifting cylinder (308), and the free end of each of the feeding guide rods (310) passes through the adjustment slide (304) and is slidably connected to the adjustment slide (304).

9. The crutch shrapnel and marble installation quality detection device according to claim 7, characterized in that: The unloading mechanism (4) comprises an unloading frame (401) arranged on the frame (1), a unloading slide (405) is slidably arranged on the unloading frame (401), a unloading lifting cylinder (406) is fixedly arranged on the unloading slide (405), an unloading mounting plate (403) is fixedly arranged at the output end of the unloading lifting cylinder (406), and an unloading clamp (402) is arranged on the unloading mounting plate (403).

10. The crutch shrapnel and marble installation quality detection device according to claim 9, characterized in that: The loading mechanism (3) and the unloading mechanism (4) are both fixedly provided with a driving motor (341), a driving pulley (342), a driven pulley (343) and a slide rail (348); the loading slide (309) is slidably connected to the loading frame (301) via the slide rail (348); the unloading slide (405) is slidably connected to the unloading frame (401) via the slide rail (348); the output end of the driving motor (341) is connected to the driving pulley (342); the driven pulley (343) and the driving pulley (342) are connected in a sleeve manner via a transmission belt (344); and the loading slide (309) and the unloading slide (405) are both connected to the transmission belt (344).

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