Full-automatic defect detection machine for transmission belt

Abstract

The invention discloses a full-automatic defect detection machine for a transmission belt. The full-automatic defect detection machine comprises a feeding device, a material taking manipulator, a detection device and a sorting mechanism, the feeding device comprises a rotary disc assembly and a plurality of material frames. The material taking manipulator comprises a material taking support, a horizontal driving mechanism and a material taking mechanism, the material taking mechanism comprises a material taking seat and at least one material taking assembly arranged on the material taking seat, and the material taking mechanism can horizontally move relative to the material taking support under the driving of the horizontal driving mechanism; the detection device comprises a detection frame and a detection mechanism arranged on the detection frame, and the detection mechanism comprises at least one detection assembly. The system is compact in structure, small in occupied space and high in space utilization rate, full-automatic feeding, taking and discharging, defect detection and sorting are achieved through cooperation of the feeding device, the taking mechanical arm, the detection device and the sorting mechanism, the working efficiency is high, the detection quality is high, the production cycle is effectively shortened, and the production cost is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of conveyor belt detection, and particularly to a fully automatic conveyor belt defect detector. Background Art

[0002] The conveyor belt is an indispensable component in the transmission of mechanical equipment. After production, the appearance of the conveyor belt needs to be inspected before packaging and shipping. Generally, the appearance inspection of the conveyor belt is carried out manually. First, the conveyor belt is placed on a cross bar, and the conveyor belt is rotated one week to check whether there are appearance defects such as wrinkles, pits, wear, and scratches on the conveyor belt. If there are, the defective conveyor belt is removed in time. This manual method not only has a large labor intensity, is time-consuming and laborious, but also is prone to fatigue after long-term manual operation, resulting in low work efficiency. At the same time, manual inspection is easily affected by human factors, resulting in missed inspections or misjudgments, and the inspection quality is poor. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a fully automatic conveyor belt defect detector.

[0004] In order to achieve the above purpose, the technical solution provided by an embodiment of the present invention is as follows:

[0005] A fully automatic conveyor belt defect detector includes a feeding device, a picking manipulator, a detection device, and a sorting mechanism;

[0006] The feeding device includes a turntable assembly and a plurality of racks arranged at intervals along the circumference on the turntable assembly and capable of being driven by the turntable assembly. The racks are used for hanging a plurality of conveyor belts to be detected;

[0007] The picking manipulator includes a picking support, a horizontal driving mechanism installed on the picking support, and a picking mechanism connected to the horizontal driving mechanism. The picking mechanism includes a picking seat and at least one picking component arranged on the picking seat. The picking mechanism can horizontally move relative to the picking support under the drive of the horizontal driving mechanism to grab the conveyor belt on the rack and transfer the conveyor belt to the detection device;

[0008] The detection device includes a detection rack and a detection mechanism arranged on the detection rack. The detection mechanism includes at least one detection component, and the detection component is used for defect detection of the conveyor belt transferred by the picking component;

[0009] The sorting mechanism is used to transfer the conveyor belt detected by the detection component to the corresponding position.

[0010] As a further improvement of the present invention, each of the racks includes a material loading component, a transfer component, a material pushing component, and a material pressing component. The material loading component is used for hanging a plurality of the transmission belts to be detected. The transfer component is connected to the end of the material loading component. The material pushing component is used for sequentially pushing the plurality of the transmission belts on the material loading component to the transfer component to wait for the picking component to grab. The material pressing component is located above the material loading component.

[0011] As a further improvement of the present invention, the material loading component includes a support arm, two horizontally arranged material loading rods, and a side plate. The support arm is in a cantilever shape. One end of the support arm is installed on the turntable body, and the other end radially extends out of the turntable body and is installed with the side plate. The material loading rods are parallel to the support arm and are located above the support arm. One end of each material loading rod is connected to the turntable body or the support arm, and the other end is connected to the side plate.

[0012] As a further improvement of the present invention, the transfer component includes two horizontally arranged transfer brackets. One end of each of the two transfer brackets is fixedly installed on the side plate. The material loading rods and the transfer brackets are respectively located inside and outside the side plate.

[0013] As a further improvement of the present invention, the picking component includes a rotation driving member, a bearing member connected to the rotation driving member, a picking member connected to the bearing member, and two material supporting members. The rotation driving member is connected to the picking seat and drives the bearing member to rotate horizontally. The picking member is located between the two material supporting members.

[0014] As a further improvement of the present invention, the picking seat includes a base plate and a vertical plate fixedly connected to the upper part of the base plate. The upper part of the vertical plate is fixedly connected to the sliding part of the horizontal driving mechanism. The rotation driving member is connected to the lower part of the base plate. The bearing member includes a bearing mounting plate. The rotation driving member and the picking member are both connected to the bearing mounting plate and are respectively located on two opposite surfaces of the bearing mounting plate.

[0015] As a further improvement of the present invention, the material supporting member includes a material supporting rod and a push plate capable of horizontally moving along the material supporting rod. The material supporting rod is fixedly connected to the bearing mounting plate. A push-pull cylinder is arranged on the bearing mounting plate. The cylinder body of the push-pull cylinder is fixed to the bearing mounting plate, and the cylinder rod of the push-pull cylinder is fixedly connected to the push plate.

[0016] As a further improvement of the present invention, the picking member includes a jaw driving member and two jaws driven by the jaw driving member to move up and down and open and close.

[0017] As a further improvement of the present invention, the detection component includes a base, an image extraction component, and a driving component and a discharging component arranged on the base. The driving component includes a driving part, a first transmission component connected to the driving part and driven by the driving part, and a second transmission component connected to the first transmission component. The second transmission component includes a first transmission pulley and a second transmission pulley arranged side by side and a third transmission pulley located below the first transmission pulley and the second transmission pulley. Both the first transmission pulley and the second transmission pulley are connected to the first transmission component, and the third transmission pulley can move in the vertical direction.

[0018] As a further improvement of the present invention, one of the first transmission pulley and the second transmission pulley is in the shape of a frustum with a larger outer diameter and a smaller inner diameter, and the other is in the shape of a frustum with a smaller outer diameter and a larger inner diameter.

[0019] As a further improvement of the present invention, the detection component further includes a limiting component. The limiting component includes a first limiting member and a second limiting member. The first limiting member includes a first limiting wheel, and the first limiting wheel cooperates with the first transmission pulley. The second limiting member includes a second limiting wheel, and the second limiting wheel cooperates with the second transmission pulley;

[0020] Both the first limiting wheel and the second limiting wheel are in the shape of a cone. The cone shape of the first limiting wheel is opposite to that of the first transmission pulley, and the cone shape of the second limiting wheel is opposite to that of the second transmission pulley.

[0021] As a further improvement of the present invention, the image extraction component includes four photographing cameras. Two of the photographing cameras are arranged opposite to each other in the horizontal direction to respectively photograph two sides of the transmission belt, and the other two photographing cameras are arranged opposite to each other in the vertical direction to respectively photograph the back and the bottom surface of the transmission belt.

[0022] As a further improvement of the present invention, the sorting mechanism includes at least one handling component. The handling component includes:

[0023] A handling bracket;

[0024] A first driving member, one end of which is hinged to the handling bracket;

[0025] A connecting rod assembly, which includes a fixed rod, an input rod, a connecting rod, and an output rod. The fixed rod is fixedly connected to the handling bracket. One end of the input rod is hinged to the fixed rod, and one end of the input rod extends out of the fixed rod to form an input part. The input part is hinged to the other end of the first driving member. The connecting rod is parallel to the input rod. One end of the connecting rod is hinged to the fixed rod. The other end of the input rod and the other end of the connecting rod are both hinged to the output rod;

[0026] A second driving member, one end of the second driving member is hinged to the output rod;

[0027] A handling member, a first end portion of the handling member is hinged to the other end of the second driving member, and the handling member is hinged to the output rod near the first end portion, so that a second end portion of the handling member can be driven by the second driving member to tilt downward or tilt upward around a hinge point near the first end portion.

[0028] As a further improvement of the present invention, a swing axis of the input rod intersects with a swing axis of the handling member.

[0029] As a further improvement of the present invention, the handling member includes a handling frame and two handling rods connected to the handling frame. Each handling rod includes a first rod body and a second rod body. The first rod body is horizontally and perpendicularly connected to the handling frame, the second rod body is arranged at an obtuse angle with the first rod body, and the second rod body is arranged obliquely upward.

[0030] As a further improvement of the present invention, two picking components are arranged side by side at intervals on the picking seat, two detecting components are arranged on the detecting frame, the number of the handling components is two, and each picking component can be driven by the horizontal driving mechanism to move to grab the transmission belt on the material rack and transfer the transmission belt to the corresponding detecting component, and the corresponding handling component transfers the qualified transmission belt detected by the detecting component to a qualified position.

[0031] As a further improvement of the present invention, the sorting mechanism further includes a defective product obtaining mechanism. The defective product obtaining mechanism is located on a side of the detecting frame close to the material rack, and the defective transmission belt detected by the detecting component is transferred into a defective product box through the defective product obtaining mechanism. The defective product box is located inside the detecting frame.

[0032] The beneficial effects of the present invention are:

[0033] (1) The structure of the present invention is compact, occupies a small space, and has a high space utilization rate. Through the cooperation of the feeding device, the picking manipulator, the detecting device and the sorting mechanism, full-automatic feeding, picking and placing of materials, defect detection and sorting are realized, the working efficiency is high, the detection quality is high, and the production cycle and production cost are effectively reduced.

[0034] (2) By pressing a plurality of transmission belts to be detected by the pressing component, the disorder of the transmission belts is avoided, which is convenient for subsequent sequential separation of the transmission belts to be detected and is also convenient for the picking mechanism to pick up the transmission belts.

[0035] (3) While the material taking member of the material taking mechanism takes materials from the conveyor belt, the two material supporting members on both sides of the material taking member pass through the conveyor belt and support the conveyor belt, facilitating the rapid transfer of the conveyor belt to the detection assembly to realize the subsequent rapid detection of the conveyor belt.

[0036] (4) Through the same horizontal driving mechanism, the two material taking assemblies can be driven to move to the corresponding detection assemblies respectively to realize the alternate material taking and detection flow operation, improving the material taking and detection efficiency of the conveyor belt.

[0037] (5) Through the cooperation of the first conveyor belt pulley, the second conveyor belt pulley and the third conveyor belt pulley, the conveyor belt to be detected can be supported and the conveyor belt can be fully unfolded, facilitating the comprehensive image extraction of the conveyor belt by the image extraction assembly, with automatic detection, high detection efficiency, good detection quality, and the third conveyor belt pulley can move in the vertical direction, facilitating the detection of conveyor belts of different lengths and having a wide detection range.

[0038] (6) The structure is simple and occupies little space. Through the cooperation of the first driving member and the connecting rod assembly, the handling assembly can be made to dock with the detection assembly or the qualified product rack, and a hinge point is formed between the handling rack and the output rod. Through the second driving member, it is convenient to drive the handling rack to tilt upward or downward, so that the conveyor belt after detection can be very conveniently docked and then the conveyor belt is released onto the qualified product rack to realize the rapid and smooth taking and placing of the conveyor belt.

[0039] (7) A corresponding plurality of workstations and a plurality of racks are provided. When one of the racks is waiting at the loading position for the material taking mechanism to take materials and detect, the conveyor belt can be mounted and prepared on the empty rack at the material preparation position. After the conveyor belt at the loading position is loaded, through the automatic rotation of the turntable assembly, the rack full of conveyor belts and waiting at the waiting position can be rotated to the loading position to continue loading, ensuring the continuous loading of the conveyor belt to be detected and improving the subsequent material taking and detection efficiency. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0041] Figure 1 It is a schematic diagram of the overall structure of the preferred embodiment of the present invention;

[0042] Figure 2 It is a schematic diagram of the structure of the loading device of the preferred embodiment of the present invention;

[0043] Figure 3Schematic structural diagram of mounting multiple drive belts to be detected on the rack of the loading device according to the preferred embodiment of the present invention;

[0044] Figure 4 Schematic structural diagram of the rack of the loading device according to the preferred embodiment of the present invention when the feeding of all drive belts is completed;

[0045] Figure 5 Schematic structural diagram of the support arm, linear drive member and side plate of the loading device according to the preferred embodiment of the present invention;

[0046] Figure 6 Schematic structural diagram of the rotary drive mechanism of the loading device according to the preferred embodiment of the present invention;

[0047] Figure 7 Schematic structural diagram of the material taking manipulator according to the preferred embodiment of the present invention;

[0048] Figure 8 Schematic structural diagram of the material taking mechanism of the material taking manipulator according to the preferred embodiment of the present invention;

[0049] Figure 9 Bottom view structural diagram of the material taking mechanism of the material taking manipulator according to the preferred embodiment of the present invention;

[0050] Figure 10 Schematic structural diagram of the detection device according to the preferred embodiment of the present invention;

[0051] Figure 11 First perspective structural diagram of the detection component of the detection device according to the preferred embodiment of the present invention;

[0052] Figure 12 Second perspective structural diagram of the detection component of the detection device according to the preferred embodiment of the present invention;

[0053] Figure 13 Schematic structural diagram of the state where the handling component moves to the vicinity of the detection component to receive qualified drive belts according to the preferred embodiment of the present invention;

[0054] Figure 14 Another perspective structural diagram of the handling component according to the preferred embodiment of the present invention;

[0055] Figure 15 Schematic diagram of the state where the handling component moves to the qualified product rack according to the preferred embodiment of the present invention;

[0056] Figure 16 Schematic diagram of the state where the handling component releases qualified drive belts to the qualified product rack according to the preferred embodiment of the present invention;

[0057] Figure 17Schematic diagram of the defective product acquisition mechanism and the defective product box of the preferred embodiment of the present invention. Detailed implementation manners

[0058] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] Please refer to Figure 1 、 Figure 2 、 Figure 7 、 Figure 10 、 Figure 13 , a fully automatic conveyor belt defect detector, including a feeding device 1, a picking manipulator 2, a detection device 3 and a sorting mechanism. The feeding device 1 includes a turntable assembly 11 and a plurality of racks 12 arranged at intervals along the circumference on the turntable assembly 11 and capable of being driven by the turntable assembly 11. The racks 12 are used for hanging a plurality of conveyor belts 5 to be detected. The picking manipulator 2 includes a picking support 21, a horizontal driving mechanism 22 installed on the picking support 21, and a picking mechanism 23 connected to the horizontal driving mechanism 22. The picking mechanism 23 includes a picking seat 231 and at least one picking component 232 arranged on the picking seat 231. The picking mechanism 23 can horizontally move relative to the picking support 21 under the drive of the horizontal driving mechanism 22 to grab the conveyor belt 5 on the rack 12 and transfer the conveyor belt 5 to the detection device 3. The detection device 3 includes a detection frame 31 and a detection mechanism arranged on the detection frame 31. The detection mechanism includes at least one detection component 32, and the detection component 32 is used for defect detection of the conveyor belt 5 transferred by the picking component 232. The sorting mechanism is used to transfer the conveyor belt 5 detected by the detection component 32 to the corresponding position.

[0060] Please refer to Figure 2The turntable assembly 11 includes a turntable body 111 and a rotary drive mechanism 112. The rotary drive mechanism 112 is connected to the bottom of the turntable body 111 and drives the turntable body 111 to rotate around its own central axis. One end of each material rack 12 is installed on the turntable body 111 at intervals along the circumferential direction, and the other end extends radially out of the turntable body 111. Each material rack 12 includes a loading assembly 121, a transfer assembly 122, a pushing assembly 123 and a pressing assembly 124. The loading assembly 121 is used to mount multiple transmission belts 5 to be tested. The transfer assembly 122 is connected to the end of the loading assembly 121. The pushing assembly 123 is used to push the multiple transmission belts 5 on the loading assembly 121 to the transfer assembly 122 in sequence to wait for the material picking assembly 232 to grab it. The pressing assembly 124 is located above the loading assembly 121. The loading device 1 also includes a plurality of workstations, including a preparation position 13, a waiting position 14 and a loading position 15. The plurality of material racks 12 correspond to the plurality of workstations, and the turntable assembly 11 drives the plurality of material racks 12 to stay at or pass through the plurality of workstations.

[0061] See also Figure 2 , Figure 3 , Figure 4 The loading assembly 121 includes a support arm 1211, two horizontally arranged loading rods 1212, and a side plate 1213. The support arm 1211 is cantilevered, one end of the support arm 1211 is mounted on the turntable body 111, and the other end radially extends out of the turntable body 111 and is mounted with a side plate 1213. The loading rod 1212 is parallel to the support arm 1211 and is located above the support arm 1211. One end of each loading rod 1212 is connected to the turntable body 111 or the support arm 1211, and the other end is connected to the side plate 1213. Such an arrangement improves the stability of the installation of the two loading rods 1212 and the transfer assembly 122, so that the transmission belt 5 to be tested moves stably and smoothly along the two loading rods 1212, and the transmission belt 5 falls on the transfer assembly 122 with stability.

[0062] In this embodiment, the transfer assembly 122 includes two horizontally arranged transfer brackets 1221. One end of each of the two transfer brackets 1221 is fixedly installed on the side plate 1213. The material-carrying rod 1212 and the transfer brackets 1221 are respectively located inside and outside the side plate 1213. The other end of each of the two transfer brackets 1221 is a free end. Here, the inner and outer directions in the inner and outer sides refer to the direction along which the conveyor belt 5 moves. In this way, by the pushing component 123, the conveyor belt 5 is pushed away from the two material-carrying rods 1212, and the conveyor belt 5 falls onto the two transfer brackets 1221, facilitating the picking component 232 to pick up the conveyor belt 5. To prevent the conveyor belt 5 from slipping out of the transfer bracket 1221, it is preferred that a limiting groove 1222 is provided on the transfer bracket 1221. Specifically, the transfer bracket 1221 is rod-shaped, the limiting groove 1222 is located on the upper part of the transfer bracket 1221, and both the front and rear ends of the limiting groove 1222 on the transfer bracket 1221 along the transmission direction are higher than the limiting groove 1222, so that the conveyor belt 5 can be stopped at the limiting groove 1222 to prevent it from falling off.

[0063] Please refer to Figure 2 , Figure 4 , Figure 5 , the pushing component 123 includes a linear driving member 1231 and a pushing member 1232 connected to the linear driving member 1231 and driven by the linear driving member 1231. The pushing member 1232 can move along the two material-carrying rods 1212 to push the conveyor belt 5 forward one by one, hang it on the transfer bracket 1221, and wait to be picked up by the picking mechanism 23 in the subsequent process.

[0064] Please refer to Figure 4 , Figure 5 , the linear driving member 1231 includes a first driving motor 12311, a first synchronous belt 12312, a driving pulley 12313 connected to the first driving motor 12311, and a driven pulley 12314 connected to the driving pulley 12313 through the first synchronous belt 12312. The material-carrying assembly 121 further includes a slide rail 1214 provided on the support arm 1211 and a slider 1215 slidably connected to the slide rail 1214. The driving pulley 12313 and the driven pulley 12314 are respectively located at both ends of the slide rail 1214. The slider 1215 is fixedly installed on the first synchronous belt 12312, and the pushing member 1232 is fixedly installed on the slider 1215. The first driving motor 12311 drives the driving pulley 12313 to rotate, and the driving pulley 12313 drives the first synchronous belt 12312 to move, thereby driving the slider 1215 and the pushing member 1232 on the slider 1215 to move. It can be understood that in some other embodiments, the linear driving member 1231 can also be a linear motor, a lead screw assembly, etc. The specific structure of the linear driving member 1231 is not limited herein.

[0065] In this embodiment, the pusher 1232 includes a support plate 12321 and a pusher plate 12322 connected to the end of the support plate 12321 and extending vertically upward. The support plate 12321 is fixedly installed on the slider 1215. Through grooves 12323 are provided on both sides of the pusher plate 12322 that cooperate with the two loading rods 1212. Each loading rod 1212 passes through the corresponding through groove 12323, facilitating the movement of the pusher plate 12322 along the loading rod 1212.

[0066] To improve the stability of the pusher 1232, it is preferred that at least one reinforcing plate 12324 is connected between the pusher plate 12322 and the support plate 12321. Specifically, the number of reinforcing plates 12324 is two.

[0067] In this embodiment, one end of the loading rod 1212 is connected to the turntable body 111. Specifically, an L-shaped seat 1216 is connected to one end of each loading rod 1212, and the L-shaped seat 1216 is installed on the turntable body 111.

[0068] Please refer to Figure 2 、 Figure 4 , the pressing component 124 includes a pressing frame 1241, at least one pressing cylinder 1242 provided on the pressing frame 1241, and a pressing rod 1243 connected to the pressing cylinder 1242 and driven by the pressing cylinder 1242. The pressing frame 1241 is provided on the turntable body 111, and the pressing rod 1243 is located above the loading component 121. It is preferred that the number of pressing cylinders 1242 is two, and the two pressing cylinders 1242 act on the same pressing rod 1243 simultaneously, facilitating better driving of the pressing rod 1243 to press the belt 5 to be detected and avoiding the disorder of the belt 5. Of course, it can be understood that the number of pressing cylinders 1242 can be adjusted as needed. For example, it can be set to three, and the three pressing cylinders 1242 drive the same pressing rod 1243. It can also be set with two pressing cylinders 1242 and two pressing rods 1243, and each pressing cylinder 1242 drives the corresponding pressing rod 1243, as long as it can achieve pressing multiple belts 5, which is not limited herein.

[0069] Please refer to Figure 2 、 Figure 6 , the rotary drive mechanism 112 includes a motor component 1121, a speed reducer 1122 connected to the motor component 1121, a dividing head 1123 connected to the speed reducer 1122, and a disc 1124 connected to the dividing head 1123. The central axis of the disc 1124 coincides with the central axis of the turntable body 111, and the turntable body 111 is connected above the disc 1124. It can be understood that the rotary drive mechanism 112 can also adopt structures such as a motor combined with a gear assembly, or a motor combined with a worm and worm wheel assembly, etc., which is not limited herein.

[0070] Preferably, a plurality of material racks 12 are evenly spaced along the circumferential direction of the turntable body 111, and the plurality of workstations correspond to the plurality of material racks 12 one by one. In this embodiment, six material racks 12 and six workstations are provided, and each material rack 12 corresponds to a workstation. The six workstations include a stock preparation position 13, four waiting positions 14, and a loading position 15. At this time, the stock preparation position 13 is as close as possible to the loading position 15 in the normal rotation direction of the turntable body 111, so as to prevent the empty material rack 12 from not being stocked in time and rotating to the position of the loading position 15, resulting in no material available for the material rack 12 at the loading position 15, and ensuring continuous loading.

[0071] Please refer to Figures 7 - 8 , the material taking assembly 232 includes a rotation driving member 2321, a carrier member 2322 connected to the rotation driving member 2321, a material taking member 2323 and two material supporting members 2324 connected to the carrier member 2322. The rotation driving member 2321 is connected to the material taking seat 231 and drives the carrier member 2322 to rotate horizontally. The material taking member 2323 is located between the two material supporting members 2324. While the material taking member 2323 takes materials from the conveyor belt 5, the two material supporting members 2324 on both sides of the material taking member 2323 both pass through the conveyor belt 5 and support the conveyor belt 5, facilitating the rapid transfer of the conveyor belt 5 to the detection assembly 32 to realize the subsequent rapid detection of the conveyor belt.

[0072] The material taking seat 231 includes a base plate 2311 and a vertical plate 2312 fixedly connected to the upper part of the base plate 2311. The upper part of the vertical plate 2312 is fixedly connected to the sliding part of the horizontal driving mechanism 22 and slides along the horizontal driving mechanism 22. The rotation driving member 2321 is connected to the lower part of the base plate 2311. The carrier member 2322 includes a carrier mounting plate 23221. The rotation driving member 2321 and the material taking member 2323 are both connected to the carrier mounting plate 23221 and are respectively located on two opposite surfaces of the carrier mounting plate 23221. Specifically, the rotation driving member 2321 is located on the upper surface of the carrier mounting plate 23221, and the material taking member 2323 is located on the lower surface of the carrier mounting plate 23221.

[0073] In this embodiment, the rotation driving member 2321 is a rotary cylinder. The body of the rotary cylinder is fixedly connected to the lower part of the base plate 2311, and the rotating table of the rotary cylinder is fixedly connected to the carrier mounting plate 23221. It can be understood that the rotation driving member 2321 is not limited to the rotary cylinder, and can also be a hydraulic motor, a pneumatic motor, or a linear motor cooperating with a rack and pinion assembly.

[0074] In this embodiment, the material supporting member 2324 includes a material supporting rod 23241 and a push plate 23242 capable of horizontally moving along the material supporting rod 23241. The material supporting rod 23241 is fixedly connected to the bearing mounting plate 23221. A push-pull cylinder 23243 is arranged on the bearing mounting plate 23221. The cylinder body of the push-pull cylinder 23243 is fixed to the bearing mounting plate 23221, and the cylinder rod of the push-pull cylinder 23243 is fixedly connected to the push plate 23242. When the material taking member 2323 takes materials, the material supporting rod 23241 simultaneously passes through the conveyor belt 5 and supports the conveyor belt 5; when discharging and transferring to the detection assembly 32, the material supporting rod 23241 can also serve as a guide rod to facilitate the linearity of the push plate 23242 moving horizontally along the material supporting rod 23241 towards the detection assembly 32, and the conveyor belt 5 can be quickly pushed to the detection assembly 32. The push-pull cylinder 23243 is started, and the cylinder rod of the push-pull cylinder 23243 pushes the push plate 23242 to move horizontally along the material supporting rod 23241, facilitating the quick and smooth pushing of the conveyor belt 5 to the detection assembly 32.

[0075] To better achieve the stable connection between the material supporting rod 23241 and the bearing mounting plate 23221, please refer to Figure 9 , preferably, a first bearing seat 23222 is fixedly connected to the lower surface of the bearing mounting plate 23221, and one end of the material supporting rod 23241 horizontally penetrates and is fixedly connected to the first bearing seat 23222. To better achieve the stable connection between the push-pull cylinder 23243 and the bearing mounting plate 23221, preferably, a second bearing seat 23223 is fixedly connected to the bearing mounting plate 23221, and the cylinder body of the push-pull cylinder 23243 is fixed to the second bearing seat 23223. Preferably, the second bearing seat 23223 is in an inverted L shape. To better achieve the stable connection between the material taking member 2323 and the bearing mounting plate 23221, preferably, a bearing rod 23224 is fixedly connected to the lower surface of the bearing mounting plate 23221, and the bearing rod 23224 partially extends out of the bearing mounting plate 23221, and the material taking member 2323 is installed at one end of the bearing rod 23224 extending out of the bearing mounting plate 23221. To prevent interference with the rotary cylinder, the bearing rod 23224 can be installed on the lower surface of the bearing mounting plate 23221.

[0076] In this embodiment, the material taking member 2323 includes a jaw driving member 23231 and two jaws 23232 driven by the jaw driving member 23231 to move up and down and open and close, facilitating the quick clamping of the conveyor belt to be detected.

[0077] Please refer back to Figure 7, the horizontal driving mechanism 22 includes a first horizontal moving mechanism 221 and a second horizontal moving mechanism 222 connected to the first horizontal moving mechanism 221. The first horizontal moving mechanism 221 is disposed on the material taking bracket 21, and the material taking mechanism 23 is connected to the second horizontal moving mechanism 222. The moving direction of the first horizontal moving mechanism 221 is perpendicular to the moving direction of the second horizontal moving mechanism 222. Both the first horizontal moving mechanism 221 and the second horizontal moving mechanism 222 adopt linear motors. It can be understood that the first horizontal moving mechanism 221 and the second horizontal moving mechanism 222 can also adopt a combination structure of a motor and a synchronous belt, a structure of a motor cooperating with a rack and pinion, or a linear guide rail slider structure, which is not limited herein. Specifically, the upper part of the vertical plate 2312 is fixedly connected to the second horizontal moving mechanism 222.

[0078] To further improve the smoothness of the horizontal movement of the material taking mechanism 23, it is preferable that a guiding component 24 is provided on the material taking bracket 21. The guiding component 24 is parallel to the first horizontal moving mechanism 221. A supporting seat 25 is fixed to the second horizontal moving mechanism 222. One end of the supporting seat 25 is movably connected to the first horizontal moving mechanism 221, and the other end of the supporting seat 25 is movably connected to the guiding component 24. The guiding component 24 can be a combination structure of a guide rail and a slider.

[0079] Please refer to Figures 10 - 12 , the detection component 32 includes a base 321, an image extraction component 322, and a driving component and a discharging component disposed on the base 321. The driving component includes a driving part 3231, a first transmission component 3232 connected to the driving part 3231 and driven by the driving part 3231, and a second transmission component 3233 connected to the first transmission component 3232. The second transmission component 3233 includes a first transmission pulley 32331 and a second transmission pulley 32332 arranged side by side and a third transmission pulley 32333 located below the first transmission pulley 32331 and the second transmission pulley 32332. Both the first transmission pulley 32331 and the second transmission pulley 32332 are connected to the first transmission component 3232, and the third transmission pulley 32333 can move in the vertical direction.

[0080] The base 321 is fixed on the detection rack 31. The image extraction component 322 is used to obtain the image of the conveyor belt 5. The conveyor belt 5 to be detected is limited on the driving component and driven by the driving component to rotate the conveyor belt 5 to be detected, facilitating the image extraction component 322 to conduct a comprehensive defect detection on the conveyor belt 5 to be detected. The conveyor belt 5 to be detected is sleeved and tensioned on the first conveyor belt pulley 32331, the second conveyor belt pulley 32332, and the third conveyor belt pulley 32333. The first transmission component 3232 drives the first conveyor belt pulley 32331 and the second conveyor belt pulley 32332 to rotate, causing the conveyor belt 5 to be detected and the third conveyor belt pulley 32333 to rotate, facilitating the image extraction component 322 to comprehensively and quickly collect the image of the conveyor belt 5 to be detected. The third conveyor belt pulley 32333 can adjust its position in the vertical direction, facilitating conveyor belts of different lengths to be sleeved and tensioned on the first conveyor belt pulley 32331, the second conveyor belt pulley 32332, and the third conveyor belt pulley 32333, and applicable to the detection of conveyor belts of different lengths.

[0081] Please refer to Figure 11 、 Figure 12 , the first conveyor belt pulley 32331 is in the shape of a frustum of a cone with a larger outer diameter and a smaller inner diameter, and the second conveyor belt pulley 32332 is in the shape of a frustum of a cone with a smaller outer diameter and a larger inner diameter. By adopting two tapers in different directions, the conveyor belt 5 twists when passing through the first conveyor belt pulley 32331 and the second conveyor belt pulley 32332, facilitating the image extraction component 322 to more clearly obtain the side structure of the conveyor belt and facilitating understanding whether there are defects in this side structure, such as whether the wire rope is peeled off from the rubber. The direction of grasping the conveyor belt 5 to be detected from the material rack 12 and then sleeving it on the first conveyor belt pulley 32331 and the second conveyor belt pulley 32332 is the direction from the outside to the inside. It can be understood that the first conveyor belt pulley 32331 can also be set in the shape of a frustum of a cone with a smaller outer diameter and a larger inner diameter, and at this time, the second conveyor belt pulley 32332 is in the shape of a frustum of a cone with a larger outer diameter and a smaller inner diameter.

[0082] Please refer to Figure 11 、 Figure 12, the detection component 32 further includes a limiting component. The limiting component includes a first limiting member 3251 and a second limiting member 3252. The first limiting member 3251 includes a first limiting wheel 32511, and the first limiting wheel 32511 cooperates with the first belt pulley 32331. The second limiting member 3252 includes a second limiting wheel 32521, and the second limiting wheel 32521 cooperates with the second belt pulley 32332. Both the first limiting wheel and the second limiting wheel are conical. The taper of the first limiting wheel is opposite to that of the first belt pulley, and the taper of the second limiting wheel is opposite to that of the second belt pulley. When the first belt pulley 32331 is in the shape of a frustum with a larger outer diameter and a smaller inner diameter, and the second belt pulley 32332 is in the shape of a frustum with a smaller outer diameter and a larger inner diameter, at this time, the first limiting wheel 32511 is in the shape of a cone with a smaller outer diameter and a larger inner diameter to adapt to the first belt pulley 32331, and the second limiting wheel 32521 is in the shape of a cone with a larger outer diameter and a smaller inner diameter to adapt to the second belt pulley 32332. Through the arrangement of the first limiting wheel 32511 and the second limiting wheel 32521, the belt 5 to be detected can be pressed, preventing the arching of the belt to be detected after torsion, which is convenient for image acquisition. It can be understood that when the first belt pulley 32331 is in the shape of a frustum with a smaller outer diameter and a larger inner diameter, and the second belt pulley 32332 is in the shape of a frustum with a larger outer diameter and a smaller inner diameter, at this time, the first limiting wheel 32511 is in the shape of a cone with a larger outer diameter and a smaller inner diameter to adapt to the first belt pulley 32331, and the second limiting wheel 32521 is in the shape of a cone with a smaller outer diameter and a larger inner diameter to adapt to the second belt pulley 32332.

[0083] To facilitate the first limiting wheel 32511 and the second limiting wheel 32521 to press or separate from the belt to be detected, preferably, the first limiting member 3251 further includes a first rotary cylinder 32512. The first rotary cylinder 32512 is connected to the first limiting wheel 32511 and drives the first limiting wheel 32511, so that the first limiting wheel 32511 can cooperate on the outside of the first belt pulley 32331 to limit the belt passing through between the first belt pulley 32331 and the first limiting wheel 32511. The second limiting member 3252 further includes a second rotary cylinder 32522. The second rotary cylinder 32522 is connected to the second limiting wheel 32521 and drives the second limiting wheel 32521, so that the second limiting wheel 32521 can cooperate on the outside of the second belt pulley 32332 to limit the belt passing through between the second belt pulley 32332 and the second limiting wheel 32521. The fixed end of the first rotary cylinder 32512 is fixed, the first limiting wheel 32511 is rotatably connected to the output end of the first rotary cylinder 32512, the fixed end of the second rotary cylinder 32522 is fixed, and the second limiting wheel 32521 is rotatably connected to the output end of the second rotary cylinder 32522.

[0084] In order to remove impurities on the conveyor belt to obtain a clearer image, it is preferred that the second rotating cylinder 32522 is connected to a brush 32523. The second rotating cylinder 32522 can drive the brush 32523 to press on the conveyor belt to be detected or rotate away from the conveyor belt to separate. It can be understood that a brush can also be connected to the first rotating cylinder 32512, or brushes are connected to both the first rotating cylinder 32512 and the second rotating cylinder 32522.

[0085] Preferably, the driving part 3231 includes a second driving motor 3234. The first transmission component 3232 includes a first synchronous pulley 32321 driven by the second driving motor 3234 and a second synchronous pulley 32323 connected to the first synchronous pulley 32321 through a second synchronous belt 32322. The first synchronous pulley 32321 and the second synchronous pulley 32323 are respectively connected to the second transmission pulley 32332 and the first transmission pulley 32331.

[0086] The detection component 32 further includes a mounting vertical plate 3261, a linear driving part 3262 connected to the mounting vertical plate 3261, and a support 3263 connected to the linear driving part 3262. The third transmission pulley 32333 is rotatably connected to the support 3263. The mounting vertical plate 3261 is fixed on the detection frame 31. The linear driving part 3262 is a combined structure of a motor and a lead screw. It can be understood that the linear driving part 3262 can also be a linear motor, a motor and a gear-rack assembly, etc., which are not limited herein. Through the drive of the linear driving part 3262, the support 3263 drives the third transmission pulley 32333 to move in the vertical direction.

[0087] In order to achieve discharging after the conveyor belt is detected, it is preferred that the discharging component includes two first discharging members 3241 arranged side by side. The two first discharging members 3241 are respectively located on both sides of the second transmission component 3233. Each first discharging member 3241 includes a first discharging cylinder 32411 and a discharging rod 32412 connected to the first discharging cylinder 32411. Specifically, the two first discharging members 3241 are respectively located on both sides of the first transmission pulley 32331 and the second transmission pulley 32332, and are used for pushing the conveyor belt 5 in the width direction. The fixed end of the first discharging cylinder 32411 is fixed on the base 321, and the output end of the first discharging cylinder 32411 drives the discharging rod 32412 to move outwards, pushing the conveyor belt away from the first transmission pulley 32331, the second transmission pulley 32332 and the third transmission pulley 32333.

[0088] To more smoothly achieve the unloading of the conveyor belt, preferably, the unloading assembly further includes a second unloading member 3242 located above the two first unloading members 3241. The second unloading member 3242 includes a second unloading cylinder 32421 and an unloading block 32422 connected to the second unloading cylinder 32421. The fixed end of the second unloading cylinder 32421 is fixed, and the output end of the second unloading cylinder 32421 drives the unloading block 32422 to move outwards, further pushing the conveyor belt away from the first belt pulley 32331, the second belt pulley 32332, and the third belt pulley 32333.

[0089] Preferably, the image extraction assembly 322 includes four photographing cameras. Two of the photographing cameras are arranged opposite to each other in the horizontal direction to respectively photograph the two sides of the conveyor belt 5, and the other two photographing cameras are arranged opposite to each other in the vertical direction to respectively photograph the back and the bottom surface of the conveyor belt 5. It can be understood that it is not limited to four photographing cameras. Five or more photographing cameras can also be set to more comprehensively extract the image of the conveyor belt. At the same time, an X-ray device can also be set. The X-ray device is directed at the bending part of the conveyor belt at the first belt pulley 32331 or the second belt pulley 32332 for photographing the cross-section of the conveyor belt 5 to judge whether there are air bubbles inside the conveyor belt 5 and the arrangement of the cords, etc.

[0090] To better focus and position the photographing camera, and thus better extract the image of the bottom surface of the conveyor belt 5, preferably, the photographing camera for photographing the bottom surface of the conveyor belt is located directly below the gap formed between the first belt pulley 32331 and the second belt pulley 32332.

[0091] It is set that the four photographing cameras are respectively a first photographing camera 3221, a second photographing camera 3222, a third photographing camera 3223, and a fourth photographing camera 3224. Among them, the first photographing camera 3221 and the second photographing camera 3222 are arranged opposite to each other in the horizontal direction and respectively face the two sides of the conveyor belt 5. The third photographing camera 3223 and the fourth photographing camera 3224 are arranged opposite to each other in the vertical direction. The third photographing camera 3223 is located above the conveyor belt 5 and faces the back of the conveyor belt 5. The fourth photographing camera 3224 is located directly below the gap formed between the first belt pulley 32331 and the second belt pulley 32332 to photograph the bottom surface of the conveyor belt 5.

[0092] Please refer to Figures 13 - 16, the handling assembly 41 includes a handling bracket 411, a first driving member 412, a link assembly 413, a second driving member 414, and a handling member 415. The handling bracket 411 is installed on the material taking bracket 21 and is used to provide support for the first driving member 412, the link assembly 413, the second driving member 414, and the handling member 415. One end of the first driving member 412 is hinged to the handling bracket 411. The link assembly 413 includes a fixed rod 4131, an input rod 4132, a connecting rod 4133, and an output rod 4134. The fixed rod 4131 is fixedly connected to the handling bracket 411. One end of the input rod 4132 is hinged to the fixed rod 4131, and one end of the input rod 4132 extends out of the fixed rod 4131 to form an input portion 41321. The input portion 41321 is hinged to the other end of the first driving member 412. The connecting rod 4133 is parallel to the input rod 4132, and one end of the connecting rod 4133 is hinged to the fixed rod 4131. The other ends of the input rod 4132 and the connecting rod 4133 are both hinged to the output rod 4134. One end of the second driving member 414 is hinged to the output rod 4134. The first end portion 4151 of the handling member 415 is hinged to the other end of the second driving member 414, and the handling member 415 is hinged to the output rod 4134 near the first end portion 4151, so that the second end portion 4152 of the handling member 415 can be tilted downward or tilted upward around the hinge point 4153 near the first end portion 4151 under the action of the second driving member 414.

[0093] To facilitate the handling member 415 to move near the detection assembly 32 and receive the conveyor belt transmitted by the detection assembly 32 under the cooperation of the first driving member 412, the link assembly 413, and the second driving member 414, it is preferred that the swing axis of the input rod 4132 intersects with the swing axis of the handling member 415.

[0094] To better realize the movement of the second driving member 414 driving the handling member 415 around the hinge point 4153, it is preferred that the second driving member 414 extends in the vertical direction.

[0095] Please refer to Figure 13 , the output rod 4134 includes an output rod body 41341 and a bearing plate 41342 connected to one side of the output rod body 41341. The other ends of the input rod 4132 and the connecting rod 4133 are both hinged to the output rod body 41341. One end of the second driving member 414 and the handling member 415 near the first end portion 4151 are respectively hinged to the upper part and the lower part of the bearing plate 41342.

[0096] In this embodiment, the handling member 415 includes a handling frame 4154 and two handling rods 4155 connected to the handling frame 4154. The handling rod 4155 includes a first rod body 41551 and a second rod body 41552. The first rod body 41551 is horizontally and perpendicularly connected to the handling frame 4154. The second rod body 41552 is arranged at an obtuse angle with the first rod body 41551 and is inclined upward. At this time, the handling frame 4154 is hinged to the lower part of the bearing plate 41342, and the handling rod 4155 can quickly catch the conveyor belt and can quickly release the conveyor belt for storing the conveyor belt.

[0097] Please refer to Figure 14 、 Figure 15 , the bearing plate 41342 includes a bearing plate body 413421, a first convex block 413422 and a second convex block 413423 that extend outward along the upper and lower ends of the bearing plate body 413421 respectively. One end of the second driving member 414 is hinged to the first convex block 413422. The second convex block 413423 is arranged to incline downward, and the handling frame 4154 is hinged to the second convex block 413423 near the first end 4151.

[0098] Please refer to Figure 13 、 Figure 14 , the handling frame 4154 includes a first substrate 41541 parallel to the output rod body 41341, a second substrate 41542 perpendicular to the first substrate 41541 and extending in a direction away from the handling rod 4155, and at least one third substrate 41543 connected to the second substrate 41542. The third substrate 41543 is perpendicular to the first substrate 41541 and the second substrate 41542. The two handling rods 4155 are respectively connected to both ends of the same side of the first substrate 41541. The free end of the second substrate 41542 is hinged to the other end of the second driving member 414. The third substrate 41543 is hinged to the second convex block 413423. At this time, the third substrate 41543 and the second convex block 413423 form a hinge point 4153. Preferably, the number of the third substrates 41543 is two, and the second convex block 413423 is partially located between the two third substrates 41543, which improves the stability of the hinge between the third substrate 41543 and the second convex block 413423 and improves the flexibility of the third substrate 41543 to rotate around the hinge point 4153.

[0099] The second driving member 414 includes a second driving cylinder 4141. The fixed end of the second driving cylinder 4141 is hinged to the output rod 4134, and the driving end of the second driving cylinder 4141 is hinged to the first end 4151 of the handling member 415. Specifically, the fixed end of the second driving cylinder 4141 is hinged to the first convex block 413422 of the bearing plate 41342, and the driving end of the second driving cylinder 4141 is hinged to the free end of the second substrate 41542.

[0100] In this embodiment, the first driving member 412 includes a first driving cylinder 4121. The fixed end of the first driving cylinder 4121 is connected with a receiving seat 4122. The receiving seat 4122 is hinged to the handling bracket 411. The driving end of the first driving cylinder 4121 is hinged to the input portion 41321.

[0101] The fixing rod 4131 includes two fixing rod bodies 41311 arranged in parallel. Both of the two fixing rod bodies 41311 extend out of the handling bracket 411. One end of the input rod 4132 and one end of the connecting rod 4133 are both hinged to the two fixing rod bodies 41311 and located between the two fixing rod bodies 41311.

[0102] Please refer to Figure 13 、 Figure 14 The handling bracket 411 includes a receiving plate 4111 and a mounting plate 4112 vertically connected to the receiving plate 4111 and extending out of the receiving plate 4111. A rib plate 4113 is connected between the receiving plate 4111 and the mounting plate 4112. The mounting plate 4112 extends in the vertical direction. One ends of the two fixing rod bodies 41311 are respectively connected to two side surfaces of the mounting plate 4112, and the other ends of the two fixing rod bodies 41311 extend out of the mounting plate 4112.

[0103] Preferably, two picking components 232 are arranged side by side at intervals on the picking seat 231. Two detecting components 32 are arranged on the detecting frame 31. The number of the handling components 41 is two. Each picking component 232 can move under the drive of the horizontal driving mechanism 22 to grab the transmission belt 5 on the rack 12 and transfer the transmission belt 5 to the corresponding detecting component 32, and the corresponding handling component 41 transfers the qualified transmission belt detected by the detecting component 32 to the qualified position.

[0104] Through one horizontal driving mechanism 22, the two picking components 232 can be driven to alternately pick materials from the rack 12. The two picking components 232 respectively correspond to the two detecting components 32, that is, each picking component 232 can move to the corresponding detecting component 32 or the rack 12 under the drive of the horizontal driving mechanism 2. On the one hand, the structure is simplified. On the other hand, the utilization rate of the mechanism, the picking efficiency and the detecting efficiency are improved. At the same time, each handling component 41 can transfer the qualified transmission belt detected by the corresponding detecting component 32 to the qualified position, and the transfer efficiency is high.

[0105] In order to store the qualified transmission belts after detection, preferably, qualified product racks 61 are respectively arranged on both sides of the detecting frame 31 to respectively store the qualified transmission belts detected by the two detecting components 2. At this time, the qualified position is at the qualified product rack 61.

[0106] In order to facilitate obtaining and storing the unqualified transmission belts detected by the detecting component 32, please refer to Figure 17, the sorting mechanism further includes a defective product acquisition mechanism 62. The defective product acquisition mechanism 62 is located on the side of the detection rack 31 close to the material rack 12. The unqualified conveyor belts detected by the detection component 32 are transferred into the defective product box 63 through the defective product acquisition mechanism 62. The defective product box 63 is located inside the detection rack 31. One side of the defective product box 63 close to the defective product acquisition mechanism 62 is open, facilitating the defective product acquisition mechanism 62 to transfer the unqualified conveyor belts into the defective product box 63. A switch door 631 is provided on the side of the defective product box 63 away from the defective product acquisition mechanism 62. Please refer to Figure 10 , which is convenient for taking out the unqualified conveyor belts from the defective product box 63 without affecting the detection. Preferably, the defective product acquisition mechanism 62 includes a first support frame 621, two first waste acquisition driving cylinders 622 fixed to the first support frame 621, and two second support frames 623 respectively connected to the two first waste acquisition driving cylinders 622. Each second support frame 623 is fixed with a second waste acquisition driving cylinder 624 and a waste acquisition claw 625. A waste pushing plate 626 is provided on each waste acquisition claw 625. The driving end of the second waste acquisition driving cylinder 624 is fixedly connected to the waste pushing plate 626. The first support frame 621 is fixedly connected to the defective product box 63. Both of the two first waste acquisition driving cylinders 622 are driven horizontally and in opposite driving directions. When the detection device 3 detects that the conveyor belt 5 is a defective product, the first waste acquisition driving cylinder 622 drives the second support frame 623 to move horizontally, so that the waste acquisition claw 625 faces the conveyor belt of the detection component 32. The detection component 32 pushes out the unqualified conveyor belt, and the waste acquisition claw 625 catches the unqualified conveyor belt. The first waste acquisition driving cylinder 622 returns to its original position, and the second waste acquisition driving cylinder 624 drives the waste pushing plate 626 to act to push the unqualified conveyor belt into the defective product box 63.

[0107] When the present invention is in use, the first driving motor 12311 is started to drive the driving pulley 12313 to rotate. The driving pulley 12313 drives the first synchronous belt 12312 to move, thereby driving the slider 1215 and the pushing member 1232 on the slider 1215 to move. The pushing member 1232 pushes the plurality of conveyor belts 5 to move along the two loading rods 1212, and the conveyor belt 5 located at the forefront in the moving direction falls on the two transfer brackets 1221 and waits to be grabbed by the picking manipulator 2. The pressing cylinder 1242 drives the pressing rod 1243 to press on the remaining plurality of conveyor belts 5 on the two loading rods 1212. After the plurality of conveyor belts 5 on the material rack 12 at the loading position 15 are pushed and loaded by the pushing member 1232, the motor member 1121 is started, and the turntable body 111 is driven to rotate through the speed reducer 1122, the indexing cam 1123, and the disc 1124, so as to rotate the material rack 12 full of conveyor belts 5 at the waiting position 14 to the loading position 15. The operator mounts the conveyor belts 5 on the empty material rack 12 at the stockpiling position 13.

[0108] Set the two material taking components 232 as the first material taking component and the second material taking component respectively, and the two detection components 32 as the first detection component and the second detection component respectively. The rack 12 at the loading position 15 is located on the perpendicular bisector of the two detection components 32. In the initial state, the first material taking component faces the rack 12, and the second material taking component faces the second detection component. Set the movement towards the rack 12 as backward movement, and the movement away from the rack 12 as forward movement. Set the movements perpendicular to the direction of forward or backward movement as left movement and right movement respectively. The second horizontal movement mechanism 222 drives the material taking mechanism 23 to move backward towards the rack 12. The jaw driving part 23231 of the first material taking component is activated, and the two jaws 23232 clamp the belt 5 to be detected on the rack 12. At the same time, the two supporting rods 23241 on both sides of the material taking part 2323 pass through the belt 5 and support the belt 5. The first material taking component completes the material taking; the first horizontal movement mechanism 221 drives the second horizontal movement mechanism 222 and the material taking mechanism 23 thereon to move rightward. At the same time, the rotation driving part 2321 of the first material taking component is activated, driving the bearing part 2322 and the material taking part 2323 to rotate horizontally by 180° together; the second horizontal movement mechanism 222 drives the material taking mechanism 23 to move forward towards the first detection component. The push-pull cylinder 23243 of the first material taking component is activated, pushing the push plate 23242 to push the belt 5 to the first detection component. The first detection component detects the belt. At the same time, the second material taking component of the material taking mechanism 23 rotates horizontally, so that the second material taking component faces the rack 12; the second horizontal movement mechanism 222 drives the material taking mechanism 23 to move backward. The two jaws 23232 of the second material taking component clamp the belt 5 to be detected on the rack 12. At the same time, the two supporting rods 23241 on both sides of the material taking part 2323 pass through the belt 5 and support the belt 5. The second material taking component completes the material taking; the first horizontal movement mechanism 221 drives the second horizontal movement mechanism 222 and the material taking mechanism 23 thereon to move leftward. At the same time, the rotation driving part 2321 of the second material taking component is activated, driving the bearing part 2322 and the material taking part 2323 to rotate horizontally by 180° together; the second horizontal movement mechanism 222 drives the material taking mechanism 23 to move forward towards the second detection component. The push-pull cylinder 23243 of the second material taking component is activated, pushing the push plate 23242 to push the belt 5 to the second detection component. The second detection component detects the belt 5. At the same time, the rotation driving part 2321 of the first material taking component is activated, driving the bearing part 2322 and the material taking part 2323 to rotate horizontally by 180° together. The first material taking component faces the rack 12. Repeat the above movements to realize the alternate material taking of the belt 5.

[0109] When the above-mentioned material taking component 232 sets the grabbed conveyor belt 5 to be detected to the corresponding detection component 32, the conveyor belt 5 surrounds the first conveyor belt pulley 32331, the second conveyor belt pulley 32332 and the third conveyor belt pulley 32333. The upper side of the conveyor belt 5 hangs on the first conveyor belt pulley 32331 and the second conveyor belt pulley 32332. The first rotary cylinder 32512 drives the first limiting wheel 32511 to rotate, and the second rotary cylinder 32522 drives the second limiting wheel 32521 to rotate and press on the conveyor belt 5 respectively. The linear drive part 3262 drives the third conveyor belt pulley 32333 to adjust the position of the third conveyor belt pulley 32333 in the vertical direction, so that the conveyor belt is tensioned on the first conveyor belt pulley 32331, the second conveyor belt pulley 32332 and the third conveyor belt pulley 32333. The drive motor 3234 is started, and drives the first conveyor belt pulley 32331 and the second conveyor belt pulley 32332 to rotate through the first transmission component 3232, so that the conveyor belt 5 to be detected and the third conveyor belt pulley 32333 rotate. The first camera 3221, the second camera 3222, the third camera 3223 and the fourth camera 3224 comprehensively and quickly collect the images of the conveyor belt 5 to be detected. After the detection is completed, the linear drive part 3262 drives the third conveyor belt pulley 32333 to adjust the position of the third conveyor belt pulley 32333 in the vertical direction to loosen the conveyor belt 5. The first rotary cylinder 32512 drives the first limiting wheel 32511 to rotate, and the second rotary cylinder 32522 drives the second limiting wheel 32521 to rotate and separate from the conveyor belt 5 respectively. The first discharging cylinder 32411 drives the discharging rod 32412, and the second discharging cylinder 32421 drives the discharging block 32422 to push out the detected conveyor belt.

[0110] When it is detected that the conveyor belt is a qualified product, the first driving cylinder 4121 is activated to drive the input part 41321. The input rod 4132 and the connecting rod 4133 drive the output rod 4134 and the handling member 415 to swing together to the detection assembly 32. The detection assembly 32 pushes out the detected qualified conveyor belt and drops it onto the two second rod bodies 41552 of the handling rod 4155. The second driving cylinder 4121 drives the handling member 415 to return to face the qualified product rack 61 through the connecting rod assembly 413. The driving end of the second driving cylinder 4141 contracts to pull the second substrate 41542. The second substrate 41542 drives the third substrate 41543 to rotate around the hinge point 4153, causing the two second rod bodies 41552 of the handling rod 4155 to tilt downward, and releasing the qualified conveyor belt onto the qualified product rack 61. After that, the driving end of the second driving cylinder 4141 drives outward to push the second substrate 41542. The second substrate 41542 drives the third substrate 41543 to rotate around the hinge point 4153, causing the two second rod bodies 41552 of the handling rod 4155 to tilt upward to complete the reset. When it is detected that the conveyor belt is a defective product, the defective product acquisition mechanism 62 pushes the defective conveyor belt into the defective product box 63.

Claims

1. A fully automatic defect detection machine for transmission belts, characterized in that: It includes a feeding device, a material taking manipulator, a detection device and a sorting mechanism; The feeding device comprises a turntable assembly, and a plurality of material racks which are arranged on the turntable assembly at intervals along the circumferential direction and can be driven by the turntable assembly, wherein the material racks are used to mount a plurality of transmission belts to be tested; The material-grabbing manipulator comprises a material-grabbing support, a horizontal driving mechanism installed on the material-grabbing support, and a material-grabbing mechanism connected to the horizontal driving mechanism. The material-grabbing mechanism comprises a material-grabbing seat and at least one material-grabbing component arranged on the material-grabbing seat. The material-grabbing mechanism can move horizontally relative to the material-grabbing support under the drive of the horizontal driving mechanism to grab the transmission belt on the material rack and transfer the transmission belt to the detection device. The detection device includes a detection frame and a detection mechanism arranged on the detection frame, wherein the detection mechanism includes at least one detection component, and the detection component is used to perform defect detection on the transmission belt transferred by the material taking component; The sorting mechanism is used to transfer the transmission belt detected by the detection component to a corresponding position.

2. The fully automatic defect detection machine for transmission belts according to claim 1 is characterized in that: Each of the material racks includes a loading component, a transfer component, a pushing component and a pressing component. The loading component is used to mount the multiple transmission belts to be tested. The transfer component is connected to the end of the loading component. The pushing component is used to push the multiple transmission belts on the loading component to the transfer component in sequence to wait for being grabbed by the material picking component. The pressing component is located above the loading component.

3. The fully automatic defect detection machine for transmission belts according to claim 2 is characterized in that: The loading assembly includes a support arm, two horizontally arranged loading rods, and a side plate. The support arm is in a cantilever shape, one end of the support arm is installed on the turntable body, and the other end radially extends out of the turntable body and is installed with the side plate. The loading rod is parallel to the support arm and located above the support arm. One end of each of the loading rods is connected to the turntable body or the support arm, and the other end is connected to the side plate.

4. The fully automatic defect detection machine for transmission belts according to claim 3 is characterized in that: The transfer assembly includes two transfer brackets arranged horizontally, one end of the two transfer brackets is fixedly mounted on the side plate, and the loading rod and the transfer bracket are respectively located at the inner and outer sides of the side plate.

5. The fully automatic defect detection machine for transmission belts according to claim 1 is characterized in that: The material picking assembly includes a rotating driving member, a supporting member connected to the rotating driving member, and a material picking member and two material supporting members connected to the supporting member. The rotating driving member is connected to the material picking seat and drives the supporting member to rotate horizontally. The material picking member is located between the two material supporting members.

6. The fully automatic defect detection machine for transmission belts according to claim 5 is characterized in that: The material picking seat includes a base plate and a vertical plate fixedly connected to the upper part of the base plate, the upper part of the vertical plate is fixedly connected to the sliding part of the horizontal driving mechanism, the rotating driving member is connected to the lower part of the base plate, the supporting member includes a supporting mounting plate, the rotating driving member and the material picking member are both connected to the supporting mounting plate and are respectively located on two opposite surfaces of the supporting mounting plate.

7. The fully automatic defect detection machine for transmission belts according to claim 6 is characterized in that: The support member includes a support rod and a push plate that can move horizontally along the support rod. The support rod is fixedly connected to the load-bearing mounting plate. A push-pull cylinder is provided on the load-bearing mounting plate. The cylinder body of the push-pull cylinder is fixed to the load-bearing mounting plate. The cylinder rod of the push-pull cylinder is fixedly connected to the push plate.

8. The fully automatic defect detection machine for transmission belts according to claim 5, characterized in that: The material taking component comprises a clamping jaw driving component and two clamping jaws driven by the clamping jaw driving component to perform up and down opening and closing movements.

9. The fully automatic defect detection machine for transmission belts according to claim 1, characterized in that: The detection component includes a base, an image capture component, and a drive component and a discharge component arranged on the base, the drive component includes a drive part, a first transmission component connected to the drive part and driven by the drive part, and a second transmission component connected to the first transmission component, the second transmission component includes a first transmission pulley and a second transmission pulley arranged side by side and a third transmission pulley located below the first transmission pulley and the second transmission pulley, the first transmission pulley and the second transmission pulley are both connected to the first transmission assembly, and the third transmission pulley can move in a vertical direction.

10. The fully automatic defect detection machine for transmission belts according to claim 9, characterized in that: One of the first transmission pulley and the second transmission pulley is in the shape of a truncated cone with a larger outer side and a smaller inner side, while the other is in the shape of a truncated cone with a smaller outer side and a larger inner side.

11. The fully automatic defect detection machine for transmission belts according to claim 10, characterized in that: The detection assembly further includes a limit assembly, the limit assembly includes a first limit member and a second limit member, the first limit member includes a first limit wheel, the first limit wheel cooperates with the first transmission pulley, the second limit member includes a second limit wheel, the second limit wheel cooperates with the second transmission pulley; The first limiting wheel and the second limiting wheel are both conical in shape. The first limiting wheel has a cone shape opposite to that of the first transmission belt pulley, and the second limiting wheel has a cone shape opposite to that of the second transmission belt pulley.

12. The fully automatic defect detection machine for transmission belts according to claim 9, characterized in that: The image capture component includes four cameras, two of which are arranged opposite to each other in the horizontal direction to respectively photograph the two side surfaces of the transmission belt, and the other two cameras are arranged opposite to each other in the vertical direction to respectively photograph the back surface and the bottom surface of the transmission belt.

13. The fully automatic defect detection machine for transmission belts according to claim 1, characterized in that: The sorting mechanism comprises at least one transport component, and the transport component comprises: Transport bracket; a first driving member, one end of which is hinged to the transport bracket; A connecting rod assembly, the connecting rod assembly comprising a fixed rod, an input rod, a connecting rod and an output rod, the fixed rod being fixedly connected to the transport bracket, one end of the input rod being hinged to the fixed rod, and one end of the input rod extending outward from the fixed rod to form an input portion, the input portion being hinged to the other end of the first driving member, the connecting rod being parallel to the input rod, one end of the connecting rod being hinged to the fixed rod, and the other ends of the input rod and the connecting rod being hinged to the output rod; a second driving member, one end of which is hinged to the output rod; A transport member, wherein the first end of the transport member is hinged to the other end of the second driving member, and the transport member is hinged to the output rod near the first end, so that the second end of the transport member can tilt downward or tilt upward around a hinge point near the first end under the action of the second driving member.

14. The fully automatic transmission belt defect detection machine according to claim 13, characterized in that: The swing axis of the input rod intersects with the swing axis of the transport member.

15. The fully automatic defect detection machine for transmission belts according to claim 13, characterized in that: The transport member includes a transport frame and two transport rods connected to the transport frame. Each of the transport rods includes a first rod body and a second rod body. The first rod body is horizontally and vertically connected to the transport frame. The second rod body is arranged at an obtuse angle to the first rod body and is inclined upward.

16. The fully automatic defect detection machine for transmission belts according to claim 13, characterized in that: Two material picking assemblies are arranged side by side on the material picking seat, two detection assemblies are arranged on the detection rack, and the number of the conveying assemblies is two. Each of the material picking assemblies can move under the drive of the horizontal driving mechanism to grab the transmission belt on the material rack and transfer the transmission belt to the corresponding detection assembly, and the corresponding conveying assembly transfers the qualified transmission belt detected by the detection assembly to a qualified position.

17. The fully automatic defect inspection machine for transmission belts according to claim 1, characterized in that: The sorting mechanism also includes a defective product acquisition mechanism, which is located on a side of the detection frame close to the material rack. The defective product acquisition mechanism is used to transfer the unqualified transmission belts detected by the detection component to a defective product box, and the defective product box is located in the detection frame.

Images