Small module gear inspection method based on multi-faceted visual inspection and automatic loading and unloading

Abstract

The present application relates to a method for detecting small-module gears based on multi-faceted visual inspection and automatic loading and unloading. The method comprises: in a loading module, transporting the target gear to a lifting chute, placing the target gear in the lifting chute on a rotating table and rotating it along the rotating table axis according to the dynamic height difference relationship between the rotating table and the lifting chute provided in the chute section of the lifting chute; in a detection module, performing image acquisition and processing on the tooth surface of the rotating target gear to obtain a plurality of tooth surface images, transporting the target gear to a transparent carrier, performing image acquisition and processing on the upper end face and the lower end face of the target gear on the transparent carrier respectively to obtain an upper end face image and a lower end face image; in a unloading module, combining the tooth surface image, the upper end face image and the lower end face image to obtain a detection result, and transporting the target gear to a corresponding material box based on the detection result. The use of this method can improve the efficiency of detecting small-module gears.

Description

Technical Field

[0001] The present application relates to the technical field of gear detection, and in particular to a small-module gear detection method based on multi-faceted visual detection and automatic loading and unloading. Background Art

[0002] In the field of gear detection technology, it involves automatic online detection of small-module gears to replace traditional manual detection and improve detection efficiency.

[0003] Among the related small-module gear detection methods, at the level of image detection, contact measurement, monocular vision detection, multi-camera vision detection and laser scanning detection are usually used. However, the detection efficiency cannot match the production line rhythm, and only image detection solutions from the upper and lower end face perspectives are provided. There is a lack of image detection solutions from the tooth surface perspective, resulting in a high missed detection rate; at the level of loading and unloading, transportation methods such as robots are usually used. However, improper control of the clamping force of the robot or impact of the vibration plate can easily cause deformation of micro gears, especially damage to powder metallurgy or plastic gears; at the overall level, the image detection process and the loading and unloading process are designed separately, resulting in a large equipment footprint and signal interaction delay affecting the overall response speed. Summary of the Invention

[0004] Based on this, it is necessary to provide a small-module gear detection method, device, computer equipment and computer-readable storage medium based on multi-faceted visual inspection and automatic loading and unloading to address the above-mentioned technical problems, so as to ensure an efficient and safe loading and unloading process and an efficient and accurate visual inspection process during the inspection of small-module gears, thereby improving the overall response efficiency of small-module gear inspection.

[0005] In a first aspect, the present application provides a small-module gear detection method based on multi-faceted visual inspection and automatic loading and unloading, which is applied to a small-module gear detection device, wherein the small-module gear detection device includes a loading module, a detection module, and a blanking module. The method includes:

[0006] In the loading module, the target gear is transported to a preset lifting chute, and according to the dynamic height difference between a rotating platform provided in a slot section of the lifting chute and the lifting chute, the target gear in the lifting chute is placed on the rotating platform and rotated along the rotating axis of the rotating platform;

[0007] In the detection module, image acquisition and processing are performed on the tooth surface of the target gear rotating on the rotating platform to obtain a plurality of tooth surface images corresponding to the target gear; the target gear is transported to a preset transparent carrier, and image acquisition and processing are performed on the upper end surface and the lower end surface of the target gear on the transparent carrier to obtain upper end surface images and lower end surface images corresponding to the target gear;

[0008] In the blanking module, the tooth surface image, the upper end surface image, and the lower end surface image are combined to obtain a detection result corresponding to the target gear, and the target gear is transported to a corresponding material box based on the detection result.

[0009] In a second aspect, the present application further provides a small-module gear detection device based on multi-faceted visual inspection and automatic loading and unloading, which is applied to small-module gear detection equipment, and the device includes:

[0010] A loading module is used to transport the target gear to a preset lifting chute, and according to the dynamic height difference between a rotating table provided in a slot section of the lifting chute and the lifting chute, fix the target gear in the lifting chute on the rotating table and rotate it along the rotating axis of the rotating table;

[0011] a detection module, configured to perform image acquisition and processing on the tooth surface of a target gear rotating on the rotating platform to obtain a plurality of tooth surface images corresponding to the target gear, transport the target gear to a preset transparent carrier, and perform image acquisition and processing on the upper end surface and the lower end surface of the target gear on the transparent carrier to obtain an upper end surface image and a lower end surface image corresponding to the target gear;

[0012] The unloading module is used to combine the tooth surface image, the upper end surface image and the lower end surface image to obtain the detection result corresponding to the target gear, and transport the target gear to the corresponding material box based on the detection result.

[0013] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above steps when executing the computer program.

[0014] In a fourth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer program implements the above steps when executed by a processor.

[0015] The above-mentioned small-module gear detection method, device, computer equipment and computer-readable storage medium based on multi-faceted visual inspection and automatic loading and unloading, first, the target gear is stably introduced onto the table surface of the rotating table according to the dynamic height difference relationship between the lifting slide and the rotating table, thereby realizing efficient loading and accurate positioning of the target gear; secondly, the tooth surface images at different rotation angles are obtained according to the target gear in the rotating state, and the upper end face image and the lower end face image are obtained on the transparent carrier, thereby realizing image coverage acquisition of the full-dimensional structure of the target gear; thirdly, after analyzing and judging the image data of the target gear in each orientation, the target gear is classified and transported to the corresponding material box, thereby realizing efficient unloading and automatic sorting of the target gear; based on this, it is possible to realize automated visual inspection of the full-dimensional structure of small-module gears and automated loading and unloading during transportation, thereby improving the comprehensiveness of detection and processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 1. A schematic flow chart of a method for inspecting small-module gears based on multi-faceted visual inspection and automatic loading and unloading in one embodiment;

[0018] Figure 2 Schematic diagram of the partial structure of a loading module in a small-module gear detection device in one embodiment;

[0019] Figure 3 2. It is a structural schematic diagram of a small-module gear detection device in one embodiment;

[0020] Figure 4 for Figure 3 Schematic diagram of the local structure of the middle area A;

[0021] Figure 5 A schematic structural diagram of a small-module gear detection device in another embodiment;

[0022] Figure 6 1 is a structural block diagram of a small-module gear detection device based on multi-faceted visual inspection and automatic loading and unloading in one embodiment. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0024] In one embodiment, Figure 1 As shown, a small-module gear inspection method based on multi-faceted visual inspection and automatic loading and unloading is provided. This embodiment uses the method applied to a terminal as an example. It is understood that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through the interaction between the terminal and the server. In this embodiment, the method is applied to a small-module gear inspection device, which includes a loading module, an inspection module, and a blanking module. The method includes the following steps S101 to S103.

[0025] Among them, small module gear refers to a type of gear with a smaller gear module parameter, which is used to transmit power or control position in precision equipment, micro-mechanisms or light-load transmission occasions, such as gears with a module of 0.2, 0.3, 0.5, etc.

[0026] Among them, small module gear testing equipment refers to an automated system specifically used to detect the structural status of various parts of small module gears, that is, to conduct comprehensive testing of parameters such as size and morphology of small module gears during the manufacturing or assembly process.

[0027] Among them, the loading module refers to the functional module responsible for receiving and transporting gears in the small-module gear detection equipment, and is used to send multiple gears into the detection process in sequence; the detection module refers to the functional module responsible for image acquisition of gears in the small-module gear detection equipment, and is used to collect image data of gears at different perspectives; the unloading module refers to the functional module responsible for data analysis and processing and classification and collection of gears in the small-module gear detection equipment, and is used to identify and determine defects based on the image data of the gears, and guide the gears to the corresponding collection container.

[0028] Furthermore, based on the complete loading and unloading process and the inspection process, the loading module, inspection module and unloading module in the small-module gear inspection equipment are integrated into one and flexibly adapted. There is no need to manually adjust the mechanical structure and program when changing models. This not only improves the loading and unloading efficiency and the inspection efficiency, but also greatly reduces the overall footprint of the equipment to adapt to the compact layout of the workshop.

[0029] Step S101: In the loading module, the target gear is transported to a preset lifting chute. According to the dynamic height difference between the rotating table set in the lifting chute section and the lifting chute, the target gear in the lifting chute is placed on the rotating table and rotated along the rotating axis of the rotating table.

[0030] The target gear represents the small module gear to be tested.

[0031] Among them, the lifting chute refers to a transport channel component with height adjustment and guiding capabilities, which is used to guide the target gear from its entrance position to the turntable in the loading module, ensuring that the target gear can smoothly and safely enter the inspection preparation position of the turntable.

[0032] The rotating platform refers to a platform structural component with controllable rotation capability, which is used to carry the target gear and drive it to rotate at a constant speed around its own central axis.

[0033] For example, the target gear in the initial state is in the processing area corresponding to the loading module. In order to realize the automated detection process, the target gear needs to be moved to a pre-set detection preparation position by the loading module, that is, the target gear is guided from its original position to the table of the rotating table; wherein, the lifting chute is a transportation channel component that can adjust the height according to the current position of the target gear. Its structure includes a plurality of groove sections for guiding the target gear in sections, that is, during the transportation process of the target gear in the lifting chute, the target gear will slide along the trajectory of the lifting chute, and the lifting chute will change its own horizontal height so that the height difference between the rotating table set in the lifting chute section and the lifting chute changes, thereby intercepting the target gear in a specific groove section of the lifting chute, thereby ensuring that the target gear can stably fall to the table of the rotating table when approaching the rotating table. Furthermore, since the rotating table has a fixed rotation axis direction, once the target gear is placed on the table of the rotating table, it will start to rotate stably around the rotation axis of the rotating table as driven by the rotating table.

[0034] In step S102, in the detection module, the tooth surface of the target gear rotating on the rotating table is image-captured and processed to obtain multiple tooth surface images corresponding to the target gear. The target gear is transported to a preset transparent carrier, and the upper end face and the lower end face of the target gear on the transparent carrier are image-captured and processed respectively to obtain the upper end face image and the lower end face image corresponding to the target gear.

[0035] Among them, the tooth surface image represents the visual image data corresponding to the peripheral tooth surface area of ​​the target gear, which is used to analyze whether there are defects, breakage or manufacturing errors in the shape, spacing, and contour of each tooth; the upper end face image represents the visual image data corresponding to the upper end face area of ​​the target gear, which is used to identify whether the contour structure, geometric shape and assembly flatness of the upper end face of the gear meet the design standards; the lower end face image represents the visual image data corresponding to the lower end face area of ​​the target gear, which is used to identify whether the contour structure, geometric shape and assembly flatness of the lower end face of the gear meet the design standards.

[0036] Among them, the transparent carrier refers to a platform structural component whose material has a certain light transmittance, which is used to carry the target gear and simultaneously allows the bottom structure of the target gear to be observed in the upward direction and the top structure of the target gear to be observed in the downward direction.

[0037] For example, a target gear is securely placed on a rotating stage and rotated at a constant rate. The detection module continuously captures images of the target gear's tooth surfaces. This involves continuously capturing images of the rotating target gear's tooth surfaces, recording the specific tooth morphology information exposed at each rotation angle. Furthermore, since the target gear rotates circumferentially around its central axis on the rotating stage, tooth surface images corresponding to all of the target gear's tooth surfaces are progressively acquired over the course of one rotation (i.e., a 360-degree rotation of the target gear). Furthermore, during the tooth surface image acquisition process, the number of each tooth surface image frame is associated with the current rotation angle, ensuring that the complete sequence of the gear tooth surfaces can be restored during subsequent processing. After completing tooth surface image acquisition, the target gear is transferred from the rotating stage to a transparent stage. This stage allows for simultaneous or sequential imaging of both end faces of the target gear from above and below, thereby acquiring images of the upper and lower end faces of the target gear.

[0038] Step S103: In the blanking module, the tooth surface image, the upper end surface image, and the lower end surface image are combined to obtain a detection result corresponding to the target gear, and the target gear is transported to a corresponding material box based on the detection result.

[0039] The detection result represents the determination information generated after processing and analyzing the image data of the target gear, and is used to reflect whether the target gear meets the preset quality standards.

[0040] For example, a preset image detection algorithm is used to simultaneously analyze multiple image data of a target gear. Specifically, multiple tooth surface images are analyzed one by one, and geometric features such as the tooth structure's outline, tooth top contour, and gap distribution are compared in the images. These geometric features are statistically analyzed and summarized to determine whether the target gear has any anomalies or defects in its tooth surface morphology. Furthermore, the upper and lower end surface images are processed, and image edge lines and center point coordinates are extracted to detect deformations such as warping, depressions, or irregular expansion. Furthermore, the relative positional relationship between the upper and lower end surfaces is compared to determine whether the gear as a whole has installation or machining errors such as tilt or eccentricity. After completing the processing and analysis of all image data, a detection result containing multiple judgment indicators is generated. This detection result summarizes whether the target gear is qualified or unqualified, and provides annotations of the specific defect locations and types.

[0041] Furthermore, based on the test results, the target gear is diverted to the material box corresponding to its test results, where: if the target gear is a qualified product, it enters the material box corresponding to the qualified product for subsequent use; if the target gear is an unqualified product, it enters the material box corresponding to the unqualified product as waste or for subsequent repair.

[0042] In the above-mentioned small-module gear detection method based on multi-faceted visual inspection and automatic loading and unloading, first, the target gear is stably introduced onto the table surface of the rotating table according to the dynamic height difference relationship between the lifting slide and the rotating table, thereby realizing efficient loading and accurate positioning of the target gear; secondly, tooth surface images at different rotation angles are obtained according to the target gear in a rotating state, and the upper end face image and the lower end face image are obtained on the transparent carrier, thereby realizing image coverage acquisition of the full-dimensional structure of the target gear; thirdly, after analyzing and judging the image data of the target gear in various directions, the target gear is classified and transported to the corresponding material box, thereby realizing efficient unloading and automatic sorting of the target gear; based on this, it is possible to realize automated visual inspection of the full-dimensional structure of small-module gears and automated loading and unloading during transportation, thereby improving the comprehensiveness of detection and processing efficiency.

[0043] In an exemplary embodiment, the target gear is transported to a preset lifting chute, and according to the dynamic height difference relationship between the rotating table set in the lifting chute segment and the lifting chute, the target gear in the lifting chute is placed on the rotating table and rotated along the rotating axis of the rotating table, including steps S202 to S203.

[0044] In step S202, the lifting chute drives the target gear in the lifting chute to slide based on the height difference between the two ends thereof.

[0045] For example, the lifting chute has an inclination angle and a height difference formed by its structural design, so that the target gear can slide naturally after entering the lifting chute. That is, after the target gear enters the entrance position of the lifting chute, there is a clear height difference between the two ends of the lifting chute, that is, the entrance position of the lifting chute is at a higher height relative to its exit position. Therefore, under the action of gravity, the target gear moves downward along the groove section of the lifting chute.

[0046] Furthermore, the structure of the lifting chute itself is usually a trough body with a constrained channel shape, which is used to ensure that the target gear will not tilt, jump out or rotate abnormally during the sliding process. At the same time, the width and height of the trough section are adapted to the external parameters of the target gear, thereby ensuring that the sliding path is stable and the direction is clear.

[0047] Step S203: When the lifting chute is in the descending state, the table surface of the rotary table is higher than the bottom surface of the trough section of the lifting chute, and the rotary table intercepts the target gear sliding in the lifting chute.

[0048] Among them, the descending state indicates that the lifting chute is in a relatively low height position state, so that the bottom surface of the groove section adjacent to the turntable in the lifting chute is lower than the height of the turntable table surface, which is used to be intercepted by the turntable when the target gear slides to the groove section adjacent to the turntable in the sliding chute.

[0049] Exemplarily, the turntable is arranged in the slot section of the lifting chute, thereby dividing the slot section of the lifting chute into a first slot section and a second slot section, one end of the first slot section is the entrance position of the lifting chute and the other end is close to the turntable, and one end of the second slot section is the exit position of the lifting chute and the other end is close to the turntable.

[0050] When the lifting chute is in a descending state, the bottom surface height of the entire chute section of the lifting chute is lower than the preset reference height, and the bottom surface height of the first chute section is lower than the table surface height of the rotating table; at this time, when the target gear slides in the first chute section, its sliding trajectory will be blocked by the table surface of the rotating table, so that the target gear is intercepted by the rotating table and stops sliding in the first chute section.

[0051] Furthermore, the height setting of the turntable table is not fixed, but coordinated with the height change of the lifting chute, ensuring that the turntable has a certain interception ability when the lifting chute is in the descending state; the interception action of the turntable does not rely on active clamping, but forms a natural interception interface through the structural height difference, thereby ensuring that the target gear can accurately stop in front of the turntable after reaching the bottom of the first groove section, and then can realize passive interception of the target gear without using other limiting elements, ensuring that the target gear is in a controllable and stable stop state after sliding is completed.

[0052] In step S203, when the lifting chute is in the ascending state, the table surface of the turntable is lower than the bottom surface of the trough section of the lifting chute. The lifting chute drives the target gear intercepted by the turntable to slide onto the table surface of the turntable. The target gear is fixed on the turntable according to the adsorption unit provided on the table surface of the turntable so that the target gear rotates along the rotating axis of the turntable.

[0053] Among them, the rising state indicates that the lifting chute is in a relatively high height position state, so that the bottom surface of the groove section adjacent to the turntable in the lifting chute is lower than the height of the turntable surface, which is used to drive the intercepted target gear to continue to slide to the turntable surface.

[0054] The adsorption unit refers to a functional component provided on the surface of the rotating table for fixing the position of the target gear to ensure that the target gear does not shift or slide during the rotation process.

[0055] For example, when the lifting chute transitions from a descending state to an ascending state, the bottom surface of the entire chute section is higher than a preset reference height, and the bottom surface of the first chute section is higher than the height of the turntable surface. This causes the target gear, originally parked in front of the turntable, to change position again due to the height difference. At this point, guided by the lifting chute, the target gear continues to move forward in its original direction, sliding from the first chute section to the turntable surface. The sliding motion of the target gear does not rely on external traction, but rather, the structural adjustment of the lifting chute removes the original obstruction to the target gear, allowing it to continue its path from the interception position to the turntable.

[0056] Furthermore, once the target gear slides onto the turntable surface, a suction unit is installed on the turntable surface to secure it against shifting or slipping during rotation. This suction unit maintains the target gear on the turntable surface through suction and ensures that the center of the target gear is aligned with the rotation axis, allowing the target gear to maintain synchronous rotation even when the turntable begins rotating at a predetermined speed.

[0057] Optionally, the adsorption unit may represent four air holes evenly arranged on the surface of the turntable, and the adsorption and release functions of the airflow in the air holes are controlled by a pneumatic valve, thereby achieving the adsorption effect of the adsorption unit on the target gear on the turntable.

[0058] In this embodiment, first, the target gear is guided to slide based on the height difference at both ends of the lifting chute, thereby realizing the natural transportation of the target gear and ensuring that its direction is controlled; secondly, the sliding target gear is intercepted according to the height difference relationship between the lifting chute in the descending state and the turntable, so that the target gear stays stably in front of the turntable; thirdly, the intercepted target gear is driven onto the turntable surface according to the height difference relationship between the lifting chute in the ascending state and the turntable, and the target gear is fixed in combination with the adsorption unit, thereby ensuring that the target gear is accurately positioned and rotates with the turntable; based on this, the entire process from transportation, interception, to stable positioning can be completed through structural height coordination and adsorption fixation, thereby ensuring the accuracy and continuity of subsequent detection links.

[0059] In an exemplary embodiment, the method further includes step S301; when the lifting chute is in a descending state, the table surface of the turntable is higher than the bottom surface of the trough section of the lifting chute, and the turntable intercepts the target gear sliding in the lifting chute, including step S302; when the lifting chute is in an ascending state, the table surface of the turntable is lower than the bottom surface of the trough section of the lifting chute, and the lifting chute drives the target gear intercepted by the turntable to slide to the table surface of the turntable, including step S303.

[0060] In step S301, one end of the lifting chute is connected to a preset fixed chute. The fixed chute drives the target gear in the fixed chute to slide toward the lifting chute based on the height difference between the two ends.

[0061] The fixed chute refers to a transport channel component with a fixed structural position and a guiding capability, which is used to guide the target gear from its entrance position to the lifting chute in the loading module.

[0062] For example, one end of the lifting chute is connected to the fixed chute, that is, the entrance position of the lifting chute is connected to the exit position of the fixed chute. Since the fixed chute has a clear inclination angle in its structural design, after entering the lifting chute, the target gear slides along the groove section of the fixed chute and toward the entrance position of the lifting chute under the action of gravity. Furthermore, the structure of the fixed chute itself is usually a groove body with a constrained channel shape, which is used to ensure that the target gear will not tilt, jump out or rotate abnormally during the sliding process. At the same time, the width and height of the groove section are adapted to the external parameters of the target gear, thereby ensuring a stable sliding path and a clear direction.

[0063] In step S302, when the lifting chute is in a descending state, the bottom surface of the groove section at one end of the lifting chute connected to the fixed chute is lower than the bottom surface of the groove section of the fixed chute. The fixed chute drives the target gear in the fixed chute to slide into the lifting chute, and the rotating platform intercepts the target gear sliding in the lifting chute.

[0064] For example, Figure 2 A partial structural schematic diagram of a loading module in a small-module gear testing device is shown, wherein a rotating table 101 is arranged in a slot section of a lifting chute 102, thereby dividing the slot section of the lifting chute 102 into a first slot section 1021 and a second slot section 1022. One end of the first slot section 1021 is the entrance position of the lifting chute 102 and is connected to the exit position of the fixed chute 103, and the other end is close to the rotating table 101. One end of the second slot section 1022 is the exit position of the lifting chute 102 and the other end is close to the rotating table 101.

[0065] When the lifting chute 102 is in a descending state, the bottom surface height of the first groove section 1021 of the lifting chute 102 is lower than the bottom surface of the groove section of the fixed chute 103; at this time, when the target gear (not shown) slides to its exit position in the fixed chute 103, it will not be hindered by the lifting chute 102, but will continue to move forward and slide into the lifting chute 102; that is, the lifting chute 102 serves as a next-level channel, which receives the target gear flowing out of the fixed chute 103 and continues to guide the target gear to slide forward under its own inclined guiding action.

[0066] Since the rotating table 101 is arranged in the downstream direction of the first slot section 1021, and the lifting chute 102 is in a descending state at this time, the table height of the rotating table 101 is higher than the bottom height of the first slot section 1021. The rotating table 101 physically intercepts the target gear that has entered the first slot section 1021 of the lifting chute 102, that is, when the target gear slides from the fixed chute 103 to the lifting chute 102 and continues to move forward, its forward path will eventually be blocked by the rotating table 101, so that the target gear stops in front of the rotating table 101 and is in a stationary waiting state. This process, through the coordination of relative heights, not only realizes the function of smoothly introducing the target gear from the fixed chute 103 into the lifting chute 102, but also further completes the precise interception of the target gear in the first slot section 1021, ensuring that subsequent gears can enter the detection preparation position of the rotating table one by one, avoiding the occurrence of gear accumulation, loss of control or multiple pieces entering at the same time.

[0067] In step S303, when the lifting chute is in the ascending state, the bottom surface of the groove section at one end of the lifting chute connected to the fixed chute is higher than the bottom surface of the groove section of the fixed chute. The lifting chute intercepts the gear still in the fixed chute, and the lifting chute drives the target gear intercepted by the rotating table to slide to the table surface of the rotating table, so that the target gear is used as the gear to be detected in the current detection round.

[0068] For example, Figure 2 As shown, when the lifting chute 102 transitions from a descending state to an ascending state, the bottom surface of the first slot section 1021 of the lifting chute 102 is higher than the bottom surface of the slot section of the fixed chute 103. At this point, any gear sliding from the fixed chute 103 will be unable to pass the edge of the lifting chute 102 and continue to move forward, and will instead be structurally intercepted within the fixed chute 103. This design allows only one gear to be between the first slot section 1021 and the rotating platform 101 at any given time, thus providing both current limiting and buffering functions.

[0069] At the same time, since the rotating table 101 is arranged in the downstream direction of the first slot section 1021, and the lifting chute 102 is in an ascending state at this time, the table height of the rotating table 101 is lower than the bottom height of the first slot section 1021. Therefore, under the action of gravity, the target gear intercepted by the rotating table 101 will continue to slide from the exit position of the first chute 1021 to the table surface of the rotating table 101.

[0070] Once the target gear is detected and secured to the rotating table, it is considered the gear to be inspected in the current rotation and begins the subsequent rotation and image acquisition process. This process, through high-level coordination, not only achieves switching and separation between the upper and lower chutes, but also completes the transition from conveying to positioning of the target gear, providing a stable and consistent single-piece feeding mechanism.

[0071] For example Figure 2 As shown, the conveyor belt 104 transports the target gear in the direction of the gear rod 105. When the target gear reaches the front of the gear rod 105, the gear rod 105 guides the target gear into the entrance position of the fixed slide 103; wherein, the fixed slide 103 is fixed on the work table 400 according to the support rod, and the bottom surface of the groove wall at the entrance position of the fixed slide 103 is tangent to the plane of the conveyor belt 104, and the fixed slide 103 fits tightly with one end connected to the first slide 1021.

[0072] Furthermore, the lifting chute 102 is a follower of the cam 106 , and the cam 106 drives the lifting chute 102 to perform regular lifting motion of a preset period according to its preset contour curve, so that the lifting chute 102 alternates between the descending state and the ascending state.

[0073] Furthermore, Figure 2 As shown, the first slot segment 1021 has a slot wall extending outward at one end close to the turntable 101 to form an arc shape that wraps around the turntable 101. Therefore, when the lifting chute 102 is in a descending state, the target gear slides from the first slot segment 1021 onto the turntable 101 and is restricted by the arc-shaped slot wall extending outward from the first slot segment 1021, so that the center of the target gear is aligned with the center of the turntable 101.

[0074] The second groove section 1022 is Y-shaped, so that when the target gear moves from the rotating table 101 to the second groove section 1022, the target gear is received through an entrance with as large a space as possible to prevent the target gear from deviating from the expected movement trajectory when entering the second groove section 1022.

[0075] In this embodiment, first, the fixed chute guides the target gear to slide toward the lifting chute through the height difference at both ends, thereby realizing stable guidance of the initial conveying process; secondly, according to the relative height relationship between the lifting chute in the descending state and the fixed chute and the turntable, the target gear is smoothly transitioned from the fixed chute to the lifting chute and intercepted by the turntable to ensure that the target gear enters the turntable in sequence; according to the relative height relationship between the lifting chute in the ascending state and the fixed chute and the turntable, the remaining gears that have not entered the lifting chute are blocked to prevent multiple gears from flowing in, and the target gear intercepted by the turntable is driven to enter the turntable for subsequent image detection process; based on this, orderly introduction, interval control and single-piece positioning under the multi-level chute structure can be realized, thereby improving the rhythm consistency and stability of the loading link.

[0076] In an exemplary embodiment, the method further includes steps S401 to S404.

[0077] In step S401 , the descending state and the ascending state of the lifting chute are alternately executed according to a preset cycle.

[0078] For example, the ascending and descending states of the lifting chute are not controlled by a single trigger event, but are periodically switched according to a preset time control strategy. That is, the lifting chute switches between descending and ascending in sequence according to a set cycle, which matches the detection beat of each gear in the entire detection process. In this case, after the lifting chute is controlled to be in the descending state, the first gear is driven into the lifting chute and intercepted by the turntable; after the lifting chute is controlled to be in the ascending state, the intercepted gear is driven to slide to the turntable surface and fixed, and then image acquisition and analysis operations are performed; after completing the tooth surface image acquisition of one gear and unloading from the turntable, the lifting chute is controlled to return to the descending state again to prepare for the next gear. This cyclic alternation method uses the lifting chute as a key node in the detection beat of each gear, and its state changes serve as the timing control basis for the entire detection process, providing a clear timing basis for subsequent gear sliding, positioning, and rotation.

[0079] In step S402, after obtaining multiple tooth surface images corresponding to the target gear and separating the target gear from the rotating platform, the lifting chute is reset to the lowered state so that the gear in the fixed chute slides into the lifting chute, and the rotating platform intercepts the gear sliding in the lifting chute.

[0080] For example, after completing the tooth surface image acquisition of the current target gear and unloading it from the rotary table, the lifting chute is reset to the descending state. This state switching action does not rely on manual judgment, but is automatically triggered by the feedback signal of the detection completion and unloading action; the function of the lifting chute at this time is to restart the next round of feeding process, that is, to guide the next gear still in the fixed chute into the lifting chute, that is, in the descending state, drive the next gear intercepted in the fixed chute to smoothly enter the lifting chute from the fixed chute under the action of gravity, and when the gear slides in the lifting chute to the front of the rotary table, it is intercepted by the rotary table. In this way, it is possible to prepare for the entry of the next gear immediately after the detection of the previous gear is completed, saving time for the subsequent image acquisition process and ensuring the close connection between feeding and detection, so that the next gear can be in place in time, thereby maintaining the continuous operation rhythm of the equipment.

[0081] In step S403, the lifting chute is reset to the ascending state so that the lifting chute intercepts the gear still in the fixed chute, and the lifting chute drives the gear intercepted by the rotating table to slide to the table surface of the rotating table so that the gear will be used as the gear to be inspected in the next inspection round.

[0082] For example, after receiving and intercepting the next gear, the lifting chute is reset to its raised position. At this point, the lifting chute intercepts the gear still in the fixed chute, thereby forming effective single-piece flow control in the lifting chute. At the same time, the gear intercepted in the lifting chute is driven to continue sliding downward under the action of gravity and accurately slide onto the table surface of the turntable. In this way, not only is the gear intercepted by the turntable transported downward and accurately positioned, but the gear in the fixed chute is also intercepted and controlled through changes in relative height, making the entire feeding process appear to be a single-piece step-by-step, orderly advancement.

[0083] In step S404 , before the lifting chute is reset to the lowered state, a plurality of tooth surface images of the gear to be inspected in the next inspection round are obtained and the gear to be inspected in the next inspection round is separated from the rotating platform.

[0084] For example, before the lifting chute switches to the descending state, the necessary image detection and unloading actions are completed to ensure that the table surface of the turntable is in an empty and available state before another gear enters the turntable. That is, after confirming that there are no gears remaining on the turntable, the lifting chute is reset to the descending state to restart another round of feeding process.

[0085] In this embodiment, first, the rising state and the falling state of the lifting chute are executed alternately according to a preset cycle, thereby realizing orderly planning of the detection rhythm of each gear in the entire detection process; secondly, after the target gear completes the tooth surface image acquisition and leaves the rotating table, the lifting chute is set to the descending state, thereby ensuring that the next gear smoothly enters the lifting chute and is intercepted by the rotating table, and the gear still in the fixed chute is intercepted in the fixed chute; thirdly, the lifting chute is reset to the rising state and guides the intercepted gear to slide to the rotating table, thereby realizing precise positioning of the gear and single-piece feeding control; thirdly, after the current gear completes the tooth surface image acquisition and leaves the rotating table, the lifting chute is reset to the descending state. Based on this, in the scenario of batch small-module gear detection, the overall process of stable single-piece conveying, positioning and image detection driven by the detection rhythm can be cyclically executed, thereby improving the stability of automatic control and the consistency of detection rhythm.

[0086] In an exemplary embodiment, the target gear is fixed on the rotating table according to an adsorption unit provided on the table surface of the rotating table so that the target gear rotates along the rotating axis of the rotating table, including steps S501 to S503.

[0087] In step S501 , a preset photoelectric beamforming unit detects the current loading status of the turntable according to a detection light path set above the turntable.

[0088] In step S502 , if the photoelectric beam unit detects that the corresponding detection light path is blocked, it indicates that the current loading status of the rotary table is that the target gear is on the table surface of the rotary table, and a loading signal corresponding to the current loading status of the rotary table is generated.

[0089] Among them, the photoelectric beam unit refers to a non-contact detection component composed of a pair of corresponding transmitters and receivers, which is used to determine whether there is an obstruction in the target area by constructing a stable detection light path.

[0090] Among them, the current loading status of the turntable is used to indicate whether there is a load on the table top of the turntable; the loading signal represents a control trigger signal generated after confirming that the target gear is located on the table top of the turntable, which is used to trigger the adsorption function of the adsorption unit and the rotation function of the turntable.

[0091] For example, Figure 3 The following is a schematic diagram showing the structure of a small module gear detection device. Figure 4 yes Figure 3 The local structure diagram corresponding to area A in Figure 4 In the photoelectric beamforming unit 107, a stable detection optical path is pre-established between the transmitter and the receiver. This detection optical path is located at a specific height above the surface of the turntable 101, and its detection area completely covers the surface area of ​​the turntable 101. Furthermore, after the target gear 500 completes its sliding and lands on the surface of the turntable 101, the height of the target gear 500 body will exceed the height of the detection optical path. The body of the target gear 500 will then block the detection optical path, preventing the receiver in the photoelectric beamforming unit 107 from receiving the optical signal output by the transmitter, thereby determining that the target gear 500 is loaded on the surface of the turntable 101. Furthermore, the photoelectric beamforming unit 107 operates continuously during this process and monitors in real time whether the optical signal received by the receiver changes, thereby achieving real-time monitoring and identification of the loading status of the turntable 101. Furthermore, through the immediate feedback mechanism provided by the photoelectric beamforming unit 107, gear in-position confirmation can be completed with minimal delay, effectively improving the consistency and response efficiency of the overall detection cycle execution.

[0092] Optionally, the photoelectric radiation unit can be movably arranged above the table top of the turntable, so that the detection light path of the photoelectric radiation unit can be flexibly adjusted relative to a specific height position above the table top of the turntable, and the detection area of ​​the photoelectric radiation unit can be flexibly adjusted relative to the coverage area of ​​the turntable table top.

[0093] Step S503 : Based on the loading signal, the adsorption unit is driven to fix the target gear on the rotating table, and the rotating table is driven to rotate the target gear along the rotating axis of the rotating table.

[0094] For example, a loading signal is sent to a small-module gear detection device, which generates a control signal based on the loading signal and sends it to the adsorption unit and the rotary table, thereby controlling the adsorption unit to fix the target gear on the rotary table, and controlling the rotary table to rotate the target gear along the rotary table's axis of rotation. Furthermore, the activation method of the adsorption unit must be precisely matched with the design of the target gear material and the design of the rotary table surface material to ensure that the adsorption action of the adsorption unit must have sufficient adsorption strength to resist the inertial force generated during the rotation process, while not squeezing or deforming the target gear. Furthermore, the rotary table will only enter the rotation action after the target gear is loaded and the adsorption is stable, to ensure the stability and effectiveness of the tooth surface image acquisition of the target gear.

[0095] For example, in Figure 3 In the embodiment, when the target gear is on the rotating table, the target gear is in the shooting area set by the side shooting unit 201, so that the side shooting unit 201 performs image acquisition and processing on the tooth surface of the target gear in the rotating state to obtain multiple gear images; wherein, the side shooting unit 201 is fixedly arranged on the side of the rotating table, and its lens axis is vertically aligned with the rotation axis of the rotating table, ensuring that the shooting angle is completely perpendicular to the tooth surface of the target gear, thereby avoiding image distortion caused by perspective deviation, so that the shot image can truly reflect the geometric shape, edge contour and other information of the tooth surface of the target gear.

[0096] In this embodiment, first, the photoelectric beam unit realizes real-time monitoring and judgment of the current loading status of the turntable based on the detection light path set above the table surface of the turntable; secondly, it efficiently judges that the target gear has been placed on the turntable based on the blocked detection light path, thereby generating a loading signal for subsequent action control; furthermore, the adsorption function of the adsorption unit is driven according to the loading signal and the rotation function of the turntable is started, thereby ensuring the stable rotation of the target gear after the position is fixed; based on this, the efficient judgment of the corresponding loading status of the turntable and the safe and effective execution of the subsequent tooth surface image acquisition process are realized, thereby improving the degree of automation and action coordination of the detection process.

[0097] In an exemplary embodiment, transporting the target gear to a preset transparent carrier includes steps S601 and S602.

[0098] In step S601, after obtaining multiple tooth surface images of the target gear within a preset rotation angle range, a preset lever unit moves the target gear on the table surface of the rotating table into the groove section of the lifting slot according to the movable area set above the table surface of the rotating table.

[0099] The lever unit refers to a structural driving component that applies a directional lever force to a target object at a specific time, and is used to move the target gear on the rotating table from its original position and guide it into a subsequent sliding path.

[0100] For example, Figure 4 As shown, after the target gear 500 completes all tooth surface image acquisition on the rotating table 101, in order to smoothly move the target gear 500 out of the table surface of the rotating table 101, a lever unit 108 for performing a physical shifting operation is provided. The lever unit 108 is provided above the table surface of the rotating table 101, and its range of motion completely covers the table surface area of ​​the rotating table 101, and forms a stable shifting path through the shifting direction guidance. Since the target gear 500 has been fixed on the rotating table 101 by the adsorption unit, the physical shifting operation of the lever unit 108 needs to be performed after the adsorption is released, and the shifting direction needs to be aligned with the second slot section 1022 of the lifting chute to ensure that the target gear 500 can directly enter the second slot section 1022 of the lifting chute after being shifted, thereby realizing the physical transportation and handover of the target gear 500 from the rotating table 101 to the second slot section 1022.

[0101] Furthermore, the physical shifting operation of the lever unit can be completed through a single linear drive, avoiding multi-stage displacement or rotation interference, ensuring that the target gear remains stable during the shifting process, and preventing it from tipping, flipping or offsetting at the edge of the rotating table; furthermore, the shifting speed and force of the lever unit can be adaptively controlled according to the geometric parameters of the target gear, ensuring that the shifting is effective without causing damage to the target gear.

[0102] In step S602, after the lever unit shifts the target gear, it returns to its initial structural state, and the lifting slide drives the target gear in the lifting slide to slide onto the transparent platform based on the height difference between the two ends.

[0103] For example, after the lever unit completes the physical shifting operation on the target gear, in order to ensure that the subsequent gears can normally complete the unloading action of the same shifting path, the lever unit needs to automatically return to its initial structural state. According to the reset elastic component or linear guide structure inside the lever unit, the lever unit can be able to quickly and accurately return to its original position after performing a physical shifting operation, so as to avoid affecting the physical shifting operation of the lever unit in the next detection cycle.

[0104] Furthermore, after the target gear is moved into the second slot section of the lifting slot, it slides toward the exit position of the second slot section under the action of gravity until it slides out of the exit position of the second slot section and enters the transparent carrier.

[0105] Furthermore, there is a moving height difference between the exit position of the second groove section of the lifting slide and the transparent carrier. An elastic support member can be connected to the bottom of the second groove section so that when the target gear enters the second groove section, the elastic support member is compressed and presents a compressed state, so that the height position of the second groove section is lowered, thereby reducing the height difference between the exit position of the second groove section and the transparent carrier (the height difference can be reduced to zero), so that the target gear enters the transparent carrier more smoothly.

[0106] In this embodiment, first, the lever unit moves the target gear on the table top of the turntable into the groove section of the lifting slide according to the active area set above the table top of the turntable, thereby realizing the stable export of the target gear from the turntable to the next transport channel; secondly, the lifting slide guides the target gear to slide to the transparent carrier based on the height difference at both ends, thereby realizing the smooth transition of the target gear and the accurate placement of the subsequent detection position; based on this, the target gear can be automatically unloaded after the tooth surface image acquisition stage is completed and the path guidance in the subsequent upper and lower end face image acquisition stages can be realized, ensuring the smooth connection between each detection stage and the accuracy of position control.

[0107] In an exemplary embodiment, image acquisition and processing are performed on the upper end face and the lower end face of the target gear on the transparent carrier respectively to obtain the upper end face image and the lower end face image corresponding to the target gear, including steps S701 to S703; and the target gear is transported to the corresponding material box based on the detection results, including step S704.

[0108] In step S701 , the transparent carrier drives the target gear to rotate along the rotation axis of the transparent carrier.

[0109] For example, Figure 5 A structural schematic diagram of a small-module gear detection device from another perspective is shown, in which the target gear rotates counterclockwise around the rotating axis of the transparent carrier 301 on the transparent carrier 301, thereby guiding the movement direction of the target gear, so that the target gear rotating on the transparent carrier 301 appears in the shooting field of view, so as to facilitate the acquisition of the upper end face image and the lower end face image of the target gear.

[0110] In step S702, when the target gear passes through the shooting area of ​​the preset first shooting unit, the first shooting unit performs image acquisition and processing on the upper end surface of the target gear to obtain the upper end surface image corresponding to the target gear. The shooting angle of the first shooting unit is vertically downward relative to the surface of the transparent carrier.

[0111] Among them, the first shooting unit refers to an image acquisition component installed above the transparent carrier with the lens facing downward, which is used to obtain the upper end surface image of the target gear.

[0112] For example, Figure 5As shown, when the target gear rotates on the transparent carrier 301, the target gear will pass through the shooting area set by the first shooting unit 202 after a preset rotation angle, so that the first shooting unit 202 performs image acquisition and processing on the upper end face of the target gear to obtain a corresponding upper end face image; wherein, the first shooting unit 202 is fixedly arranged directly above the transparent carrier 301, and its lens axis is vertically aligned with the surface of the transparent carrier 301 to ensure that the shooting angle is completely vertical downward, thereby avoiding image distortion caused by perspective deviation, so that the captured image can truly reflect the geometric shape, edge contour, center hole structure and other information of the upper end face of the target gear.

[0113] In step S703, when the target gear passes through the shooting area of ​​the preset second shooting unit, the second shooting unit performs image acquisition and processing on the lower end surface of the target gear to obtain the lower end surface image corresponding to the target gear. The shooting angle of the second shooting unit is vertically upward relative to the surface of the transparent carrier.

[0114] Among them, the second shooting unit refers to an image acquisition component installed below the transparent carrier with the lens facing upward, which is used to obtain the lower end surface image of the target gear.

[0115] For example, Figure 5 As shown, when the target gear continues to rotate on the transparent carrier 301, the shooting area of ​​the second shooting unit 203 is set in the downstream direction of the shooting area of ​​the first shooting unit 202 in the transparent carrier 301, and the target gear will pass through the shooting area set by the second shooting unit 203 after a preset rotation angle, so that the second shooting unit 203 performs image acquisition and processing on the lower end face of the target gear to obtain the corresponding lower end face image; wherein, the second shooting unit 203 is fixedly set directly below the transparent carrier 301, and its lens axis is vertically aligned with the surface of the transparent carrier 301 to ensure that the shooting angle is completely vertical upward, thereby avoiding image distortion caused by viewing angle deviation, so that the captured image can truly reflect the geometric shape, edge contour, center hole structure and other information of the lower end face of the target gear.

[0116] Step S704: When the target gear passes through the air flow area of ​​the preset blowing unit, the target gear is blown into the corresponding material box according to the detection result. Different air flow paths of the blowing unit correspond to different material boxes.

[0117] Among them, the blowing unit refers to a sorting control component that outputs a directional airflow, which is used to blow the target gear into the corresponding material box.

[0118] For example, Figure 5As shown, in order to achieve the automatic drop of the target gear into the corresponding magazine 303, a plurality of blowing units 302 with different airflow paths are set in the transparent carrier 301 in the downstream direction relative to the shooting area of ​​the second shooting unit 203. These airflow channels are independent of each other and correspond to different magazines 303. After completing the recognition and judgment of the image data of the target gear and generating the corresponding detection results, a control signal is sent to the blowing unit 302. When the target gear enters the area where the airflow acts, the blowing unit 302 activates the corresponding airflow path according to the received control signal to generate a directional airflow and act on the target gear, so that the target gear leaves the original motion trajectory and is guided into the designated magazine 303, wherein the magazine 303 includes a magazine for sorting qualified products and a magazine for sorting unqualified products. This operation is a non-contact action, which avoids gear damage caused by mechanical collision, and can achieve fast response and high-frequency sorting.

[0119] In this embodiment, first, the transparent carrier drives the target gear to rotate around its rotating axis, so that the target gear passes through the shooting areas corresponding to the first shooting unit and the second shooting unit in sequence, thereby capturing the upper end face image vertically downward according to the first shooting unit, and capturing the lower end face image vertically upward according to the second shooting unit, thereby achieving accurate capture of the details of the upper and lower end faces; secondly, the transparent carrier drives the target gear to move to the air flow area of ​​the blowing unit, and the blowing unit activates the corresponding air flow path based on the detection result of the target gear to blow the target gear into the corresponding material box, thereby achieving automatic sorting of the target gear; based on this, the efficient acquisition of the upper and lower end face images of the target gear and the closed-loop linkage of image analysis and classification and sorting can be achieved, thereby improving the detection integrity and processing efficiency.

[0120] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0121] Based on the same inventive concept, embodiments of the present application further provide a small-module gear detection device based on multi-faceted visual inspection and automatic loading and unloading, which is used to implement the aforementioned small-module gear detection method based on multi-faceted visual inspection and automatic loading and unloading. The implementation solution provided by this device is similar to the implementation solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the small-module gear detection device based on multi-faceted visual inspection and automatic loading and unloading provided below can be found in the above-mentioned limitations of the small-module gear detection method based on multi-faceted visual inspection and automatic loading and unloading, and will not be repeated here.

[0122] In an exemplary embodiment, Figure 6 As shown, a small-module gear detection device based on multi-faceted visual inspection and automatic loading and unloading is provided, which is applied to small-module gear detection equipment. The device includes: a loading module 100, a detection module 200 and a unloading module 300, wherein:

[0123] The loading module 100 is used to transport the target gear to a preset lifting chute. Based on the dynamic height difference between the rotating platform provided in the chute section and the lifting chute, the target gear in the lifting chute is fixed on the rotating platform and rotated along the rotating axis of the rotating platform.

[0124] The detection module 200 is configured to perform image acquisition and processing on the tooth surface of a target gear rotating on a rotating stage to obtain multiple tooth surface images corresponding to the target gear, transport the target gear to a preset transparent carrier, and perform image acquisition and processing on the upper and lower end surfaces of the target gear on the transparent carrier to obtain upper and lower end surface images corresponding to the target gear;

[0125] The unloading module 300 is used to combine the tooth surface image, the upper end surface image and the lower end surface image to obtain the detection result corresponding to the target gear, and transport the target gear to the corresponding material box based on the detection result.

[0126] In an exemplary embodiment, the loading module 100 is also used for: the lifting chute drives the target gear in the lifting chute to slide based on the corresponding height difference at both ends; when the lifting chute is in a descending state, the table surface of the turntable is higher than the bottom surface of the groove section of the lifting chute, and the turntable intercepts the target gear sliding in the lifting chute; when the lifting chute is in an ascending state, the table surface of the turntable is lower than the bottom surface of the groove section of the lifting chute, and the lifting chute drives the target gear intercepted by the turntable to slide to the table surface of the turntable, and the target gear is fixed on the turntable according to the adsorption unit provided on the table surface of the turntable so that the target gear rotates according to the rotating axis of the turntable.

[0127] In an exemplary embodiment, the loading module 100 is also used for: one end of the lifting chute is connected to a preset fixed chute, and the fixed chute drives the target gear in the fixed chute to slide toward the lifting chute based on the corresponding height difference at both ends; when the lifting chute is in a descending state, the bottom surface of the groove section of the end of the lifting chute connected to the fixed chute is lower than the bottom surface of the groove section of the fixed chute, and the fixed chute drives the target gear in the fixed chute to slide into the lifting chute, and the rotary table intercepts the target gear sliding in the lifting chute; when the lifting chute is in an ascending state, the bottom surface of the groove section of the end of the lifting chute connected to the fixed chute is higher than the bottom surface of the groove section of the fixed chute, and the lifting chute intercepts the gear still in the fixed chute, and the lifting chute drives the target gear intercepted by the rotary table to slide to the table surface of the rotary table, so that the target gear is used as the gear to be detected in the current detection round.

[0128] In an exemplary embodiment, the loading module 100 is also used to: the descending state and the ascending state of the lifting chute are alternately executed according to a preset cycle; after obtaining multiple tooth surface images corresponding to the target gear and the target gear is detached from the rotating table, the lifting chute is reset to the descending state, so that the gear in the fixed chute slides into the lifting chute, and the rotating table intercepts the gear sliding in the lifting chute; the lifting chute is reset to the ascending state, so that the lifting chute intercepts the gear still in the fixed chute, and the lifting chute drives the gear intercepted by the rotating table to slide to the table surface of the rotating table, so that the gear is used as the gear to be inspected in the next inspection round; before the lifting chute is reset to the descending state, multiple tooth surface images of the gear to be inspected in the next inspection round are obtained and the gear to be inspected in the next inspection round is detached from the rotating table.

[0129] In an exemplary embodiment, the loading module 100 is also used for: a preset photoelectric radiation unit detects the current loading status of the turntable according to a detection light path set above the table surface of the turntable; if the photoelectric radiation unit detects that the corresponding detection light path is blocked, it indicates that the current loading status of the turntable is that the target gear is on the table surface of the turntable, and a loading signal corresponding to the current loading status of the turntable is generated. Based on the loading signal, the adsorption unit is driven to fix the target gear on the turntable, and the turntable is driven to rotate the target gear according to the rotating axis of the turntable.

[0130] In an exemplary embodiment, the detection module 200 is also used to: after obtaining multiple tooth surface images of the target gear within a preset rotation angle range, a preset lever unit moves the target gear on the table surface of the turntable to the groove section of the lifting slide according to the active area set above the table surface of the turntable; after moving the target gear, the lever unit restores to its initial structural state, and the lifting slide drives the target gear in the lifting slide to slide onto the transparent carrier based on the corresponding height difference at both ends.

[0131] In an exemplary embodiment, the unloading module 300 is also used for: the transparent carrier drives the target gear to rotate according to the rotating axis of the transparent carrier; when the target gear passes through the shooting area of ​​the preset first shooting unit, the first shooting unit performs image acquisition and processing on the upper end face of the target gear to obtain the upper end face image corresponding to the target gear, and the shooting angle of the first shooting unit is vertically downward relative to the surface of the transparent carrier; when the target gear passes through the shooting area of ​​the preset second shooting unit, the second shooting unit performs image acquisition and processing on the lower end face of the target gear to obtain the lower end face image corresponding to the target gear, and the shooting angle of the second shooting unit is vertically upward relative to the surface of the transparent carrier; when the target gear passes through the airflow area of ​​the preset blowing unit, the target gear is blown into the corresponding material box according to the detection result, and different airflow paths of the blowing unit correspond to different material boxes.

[0132] Each module in the aforementioned small-module gear inspection device based on multi-faceted visual inspection and automatic loading and unloading can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a computer device's memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0133] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in any of the above embodiments when executing the computer program.

[0134] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above embodiments are implemented.

[0135] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0136] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A small module gear detection method based on multi-faceted visual inspection and automatic loading and unloading, characterized in that: Applied to a small-module gear detection device, the small-module gear detection device includes a loading module, a detection module, and a blanking module; the method includes: In the loading module, the target gear is transported to a preset lifting chute, and according to the dynamic height difference relationship between a rotating table provided in a slot section of the lifting chute and the lifting chute, the target gear in the lifting chute is placed on the rotating table and rotated along the rotating axis of the rotating table, including: The lifting chute drives the target gear in the lifting chute to slide based on the height difference between the two ends; when the lifting chute is in a descending state, the table surface of the rotating table is higher than the bottom surface of the groove section of the lifting chute, and the rotating table intercepts the target gear sliding in the lifting chute; when the lifting chute is in an ascending state, the table surface of the rotating table is lower than the bottom surface of the groove section of the lifting chute, and the lifting chute drives the target gear intercepted by the rotating table to slide onto the table surface of the rotating table, and fixes the target gear on the rotating table according to the adsorption unit provided on the table surface of the rotating table so that the target gear rotates according to the rotating axis of the rotating table, including: A preset photoelectric beam unit detects the current loading status of the turntable according to a detection light path provided above the table surface of the turntable. If the photoelectric beam unit detects that the corresponding detection light path is blocked, it indicates that the current loading status of the turntable is that the target gear is on the table surface of the turntable, and a loading signal corresponding to the current loading status of the turntable is generated. Based on the loading signal, the adsorption unit is driven to fix the target gear on the turntable, and the turntable is driven to rotate the target gear along the rotation axis of the turntable. In the detection module, image acquisition and processing are performed on the tooth surface of the target gear rotating on the rotating platform to obtain a plurality of tooth surface images corresponding to the target gear; the target gear is transported to a preset transparent carrier, and image acquisition and processing are performed on the upper end surface and the lower end surface of the target gear on the transparent carrier to obtain upper end surface images and lower end surface images corresponding to the target gear; In the blanking module, the tooth surface image, the upper end surface image, and the lower end surface image are combined to obtain a detection result corresponding to the target gear, and the target gear is transported to a corresponding material box based on the detection result.

2. The method according to claim 1, characterized in that The method further comprises: One end of the lifting chute is connected to a preset fixed chute, and the fixed chute drives the target gear in the fixed chute to slide toward the lifting chute based on the height difference between the two ends; When the lifting chute is in a descending state, the table surface of the rotating platform is higher than the bottom surface of the trough section of the lifting chute, and the rotating platform intercepts the target gear sliding in the lifting chute, including: When the lifting chute is in a descending state, the bottom surface of the trough section of the end of the lifting chute connected to the fixed chute is lower than the bottom surface of the trough section of the fixed chute, the fixed chute drives the target gear in the fixed chute to slide into the lifting chute, and the rotating platform intercepts the target gear sliding in the lifting chute; When the lifting chute is in an ascending state, the table surface of the rotating table is lower than the bottom surface of the trough section of the lifting chute, and the lifting chute drives the target gear intercepted by the rotating table to slide onto the table surface of the rotating table, including: When the lifting chute is in an ascending state, the bottom surface of the groove section at one end of the lifting chute connected to the fixed chute is higher than the bottom surface of the groove section of the fixed chute, and the lifting chute intercepts the gear still in the fixed chute. The lifting chute drives the target gear intercepted by the rotating table to slide to the table surface of the rotating table, so that the target gear is used as the gear to be detected in the current detection round.

3. The method according to claim 2, characterized in that The method further comprises: The descending state and the ascending state of the lifting chute are alternately executed according to a preset cycle; After obtaining a plurality of tooth surface images corresponding to the target gear and separating the target gear from the rotating platform, the lifting chute is reset to a lowered state, so that the gear in the fixed chute slides into the lifting chute, and the rotating platform intercepts the gear sliding in the lifting chute; The lifting chute is reset to an ascending state so that the lifting chute intercepts the gear still in the fixed chute, and the lifting chute drives the gear intercepted by the rotating table to slide onto the table surface of the rotating table, so that the gear is used as the gear to be inspected in the next inspection round; Before the lifting chute is reset to the descending state, a plurality of tooth surface images of the gear to be inspected in the next inspection round are obtained and the gear to be inspected in the next inspection round is separated from the rotating platform.

4. The method according to claim 1, wherein The step of transporting the target gear to a preset transparent carrier comprises: After obtaining multiple tooth surface images of the target gear within a preset rotation angle range, a preset shifting lever unit shifts the target gear on the table surface of the rotating table into the groove section of the lifting chute according to the movable area provided above the table surface of the rotating table; After the lever unit shifts the target gear, it returns to its initial structural state. The lifting chute drives the target gear in the lifting chute to slide onto the transparent platform based on the height difference between the two ends.

5. The method according to claim 1, characterized in that The image acquisition and processing of the upper end surface and the lower end surface of the target gear on the transparent carrier are performed respectively to obtain the upper end surface image and the lower end surface image corresponding to the target gear, including: The transparent carrier drives the target gear to rotate along the rotation axis of the transparent carrier; When the target gear passes through a shooting area of ​​a preset first shooting unit, the first shooting unit performs image acquisition and processing on the upper end surface of the target gear to obtain an upper end surface image corresponding to the target gear. The shooting angle of the first shooting unit is vertically downward relative to the surface of the transparent carrier. When the target gear passes through the shooting area of ​​the preset second shooting unit, the second shooting unit performs image acquisition and processing on the lower end surface of the target gear to obtain an image of the lower end surface corresponding to the target gear, and the shooting angle of the second shooting unit is vertically upward relative to the surface of the transparent carrier; The step of transporting the target gear to a corresponding material box based on the detection result includes: When the target gear passes through the air flow area of ​​the preset blowing unit, the target gear is blown into the corresponding material box according to the detection result, and different air flow paths of the blowing unit correspond to different material boxes.

6. A small module gear detection device based on multi-faceted visual detection and automatic loading and unloading, characterized in that: Applicable to small module gear testing equipment, the device includes: A loading module is used to transport the target gear to a preset lifting chute, and according to the dynamic height difference between a rotating table provided in a slot section of the lifting chute and the lifting chute, fix the target gear in the lifting chute on the rotating table and rotate it along the rotating axis of the rotating table; a detection module, configured to perform image acquisition and processing on the tooth surface of a target gear rotating on the rotating platform to obtain a plurality of tooth surface images corresponding to the target gear, transport the target gear to a preset transparent carrier, and perform image acquisition and processing on the upper end surface and the lower end surface of the target gear on the transparent carrier to obtain an upper end surface image and a lower end surface image corresponding to the target gear; a material unloading module, configured to obtain a detection result corresponding to the target gear by combining the tooth surface image, the upper end surface image, and the lower end surface image, and transport the target gear to a corresponding material box based on the detection result; The loading module is further configured to: the lifting chute drives the target gear in the lifting chute to slide based on the height difference corresponding to the two ends; when the lifting chute is in a descending state, the table surface of the rotary table is higher than the bottom surface of the groove section of the lifting chute, and the rotary table intercepts the target gear sliding in the lifting chute; when the lifting chute is in an ascending state, the table surface of the rotary table is lower than the bottom surface of the groove section of the lifting chute, and the lifting chute drives the target gear intercepted by the rotary table to slide onto the table surface of the rotary table, and fixes the target gear on the rotary table according to the adsorption unit provided on the table surface of the rotary table so that the target gear rotates according to the rotating axis of the rotary table; It is also used for: a preset photoelectric radiation unit detects the current loading status of the turntable according to a detection light path set above the table surface of the turntable; if the photoelectric radiation unit detects that the corresponding detection light path is blocked, it indicates that the current loading status of the turntable is that the target gear is on the table surface of the turntable, and a loading signal corresponding to the current loading status of the turntable is generated; based on the loading signal, the adsorption unit is driven to fix the target gear on the turntable, and the turntable is driven to rotate the target gear according to the rotating axis of the turntable.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

Images