Bolt fastener surface defect intelligent detection device based on machine vision

Abstract

The invention discloses a machine vision-based bolt fastener surface defect intelligent detection device, which comprises a support plate, and one side of the support plate is provided with a material storage mechanism used for storing a to-be-detected bolt fastener and capable of realizing automatic material supply; through cooperative use of the storage mechanism, the feeding mechanism, the hollow shell A, the discharging mechanism and the shifting mechanism, bolt fasteners can be arrayed and conveyed to the shifting mechanism, and the shifting mechanism only sends out one workpiece each time, so that the clamping accuracy of the mechanical arm to the bolt fasteners is improved, and the production efficiency is improved. Therefore, the mechanical arm can accurately clamp the screw head part, the coaxiality of the bolt fastener placed on the detection mechanism is ensured, and the subsequent detection effect is further ensured. The bearing piece, the detection piece and the position adjusting piece form the detection mechanism, and the position adjusting piece can adjust the detection position of the detection piece, so that the detection piece can perform all-directional detection on the side surface, the upper surface and the lower surface of the bolt fastener supported by the bearing piece.

Description

Technical Field

[0001] The present invention relates to the technical field of bolt fastener detection. Specifically, it relates to an intelligent detection device for surface defects of bolt fasteners based on machine vision. Background Art

[0002] Bolt fasteners are a type of mechanical parts used for fastening connections and are extremely widely applied. Bolt fasteners are used in a wide range of industries, including energy, electronics, electrical appliances, machinery, chemical industry, metallurgy, molds, hydraulics, etc. They are used on various machinery, equipment, vehicles, ships, railways, bridges, buildings, structures, tools, instruments, chemical industry, meters, and supplies, etc.

[0003] The patent document with the publication number CN220961278U discloses a fastener defect detection device. Through the cooperation among a detection mechanism, a PLC control mechanism, a feeding mechanism, and a discharging mechanism, it can realize the automatic loading and unloading of fasteners. And by using the intelligent detection of surface defects of fasteners based on machine vision, it unifies the detection standards, can realize the unmanned operation of the whole process of defect detection, improves the detection efficiency and detection accuracy of fasteners, and reduces the labor intensity and production cost of manual detection. The detection mechanism, under the control of the PLC control mechanism, can make the fastener rotate at a set angle during the detection process, which is beneficial for the image acquisition unit to comprehensively collect and analyze the surface image of the fastener, improves the accuracy and efficiency of surface defect collection, and avoids defective products from flowing into the market. The detection mechanism is provided with a clamping unit, which can further fix the fastener during the detection process and improves the stability of the fastener. The manipulator is provided with an adsorption part, which can generate electromagnetic force when powered on. When the manipulator clamps the fastener, it can adsorb the fastener through the electromagnetic force, improves the stability when the manipulator transfers the fastener, and can avoid the clamping force of the mechanical claw being too large to cause defects, and improves the yield rate of fastener detection.

[0004] Although the above-mentioned fastener defect detection device can solve the corresponding technical problems, it clamps the fastener from the feeding box by the mechanical claw and places it on the fixed platform of the detection mechanism for subsequent defect detection operations of the fastener. However, due to the chaotic arrangement of fasteners in the feeding box, it is difficult for the mechanical claw to quickly clamp the end of the bolt, and it is extremely easy to have the clamping position inclined, resulting in the coaxiality between the bolt fastener and the fixed platform not being guaranteed, thus affecting the subsequent detection operations. At the same time, it only rotates the fastener at a set angle through the rotating platform to expand the detection range. However, it can only detect the side surface of the bolt fastener and is difficult to detect the upper and lower end faces of the bolt fastener at the same time, there are detection blind spots, thus reducing the detection effect.

[0005] Therefore, an intelligent detection device for surface defects of bolt fasteners based on machine vision is proposed. Summary of the Invention

[0006] The technical task of the present invention is to address the above deficiencies and provide an intelligent detection device for surface defects of bolt fasteners based on machine vision to solve the problems proposed above.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An intelligent detection device for surface defects of bolt fasteners based on machine vision includes a support plate, on one side of which there is a storage mechanism for storing bolt fasteners to be detected and capable of automatic feeding. Along the length direction of the top of the support plate, there are successively arranged a feeding mechanism for conveying a plurality of bolt fasteners to be detected, a hollow shell A for straightening the bolt fasteners to be detected, a discharging mechanism for discharging the bolt fasteners to be detected, and a feeding mechanism for feeding a single bolt fastener to be detected. The feeding mechanism and the hollow shell A are located on one side of the storage mechanism. A detection mechanism for carrying and detecting surface defects of bolt fasteners is arranged on the side of the storage mechanism. The detection mechanism is located on the side of the feeding mechanism. A robotic arm capable of grasping the bolt fasteners is arranged on the side of the storage mechanism close to the detection mechanism. Supports for supporting are arranged below the support plate, the storage mechanism, and the detection mechanism. The feeding mechanism, the hollow shell A, and the discharging mechanism are all on the same straight line.

[0009] Preferably, the storage mechanism includes a material box fixedly connected to one side of the support plate and having an open top. The length dimension of the material box is greater than the sum of the length dimensions of the feeding mechanism and the hollow shell A. A feeding member is arranged on one side of the inner cavity of the material box close to the feeding mechanism;

[0010] Among them, the feeding member includes a pushing block movably penetrating through the bottom of the material box and capable of moving up and down in the inner cavity of the material box. A through groove for the pushing block to pass through is opened at the bottom of the material box. The length dimension of the pushing block is less than the length dimension of the feeding mechanism. A rodless cylinder A is vertically installed on one side of the material box. A side groove for the slide of the rodless cylinder A to pass through is opened on the side of the material box facing the rodless cylinder A. The slide of the rodless cylinder A passes through the side groove and extends into the inner cavity of the material box through the side groove and is fixedly connected to one side of the pushing block;

[0011] On one side of the bottom of the inner cavity of the material box, there is an inclined surface A opposite to the feeding mechanism. On the other side of the bottom of the inner cavity of the material box, there is an inclined surface B opposite to the hollow shell A. The horizontal line on the side of the inclined surface A close to the through groove is lower than the horizontal line on its opposite side. The horizontal line on the side of the inclined surface B close to the through groove is lower than the horizontal line on its opposite side. The top of the pushing block is provided with an inclined surface C having the same inclination angle as the inclined surface A.

[0012] Preferably, the feeding mechanism includes a support shell A installed on the top of the support plate. On both sides of the inner cavity of the support shell A, a conveying roller A is rotatably connected through bearings. A conveyor belt A is drivingly connected between the two conveying rollers A. One side of the support shell A is provided with a motor A, and the output shaft of the motor A is fixedly connected to one of the conveying rollers A. Near the side of the material box in the inner cavity of the support shell A, a plurality of evenly distributed supporting rollers A that can contact the upper inner side of the conveyor belt A are rotatably connected. In the inner cavity of the support shell A, a plurality of evenly distributed supporting rollers B that can contact the lower outer side of the conveyor belt A are also rotatably connected. The number of the supporting rollers B is greater than that of the supporting rollers A. At least two triple supporting rollers that can contact the upper inner side of the conveyor belt A are installed on the side of the inner cavity of the support shell A near the hollow shell A.

[0013] Preferably, the hollow shell A is detachably connected to the top of the support plate. The hollow shell A is located between the support shell A and the discharging mechanism. Both ends of the hollow shell A are open. An opening A for only the screw part to pass through is provided at the top of the hollow shell A. The size of the opening A is smaller than that of the screw head part. The width dimension of the top surface of the hollow shell A is smaller than the width dimension of its bottom surface.

[0014] Preferably, the discharging mechanism includes a guiding member arranged on the top of the support plate. An inputting member is arranged above the guiding member. A distance adjusting member for adjusting the distance between the inputting member and the guiding member is arranged on the support plate. A full material sensor is arranged on the inputting member;

[0015] Among them, the guiding member includes a hollow shell B installed on the top of the support plate with both ends open. An opening B for only the screw part to pass through is provided at the top of the hollow shell B. On both sides of the inner cavity of the opening B, a convex edge is provided. The convex edge is integrally formed on the hollow shell B. A U-shaped sleeve is slidably sleeved on the surface of the convex edge. The bottom of the U-shaped sleeve is fixedly connected with a movable plate. One side of the bottom of the movable plate is fixedly connected with a screw sleeve. The other side of the bottom of the movable plate is fixedly connected with a sliding sleeve. A bidirectional lead screw is commonly threaded through between the two screw sleeves. One end of the bidirectional lead screw is rotatably connected to the inner wall surface of the hollow shell B. The other end of the bidirectional lead screw movably penetrates to the outside of the hollow shell B. A guide rod is commonly slidably penetrated between the two sliding sleeves. Both ends of the guide rod are fixedly connected to the inner wall surface of the hollow shell B;

[0016] The inputting member includes a support shell B arranged on the top of the guiding member. One side of the support shell B extends to one side above the hollow shell A. The other side of the support shell B is flush with the hollow shell B. Two conveying rollers B are rotatably connected in the inner cavity of the support shell B. A conveyor belt B is drivingly connected between the two conveying rollers B. A motor B is installed on the outer surface of the support shell B. The output shaft of the motor B is fixedly connected to one of the conveying rollers B. A screw head part channel is formed between the conveyor belt B and the U-shaped sleeve;

[0017] The distance adjusting member includes two guide rails installed on the top of the support plate. A movable seat is slidably connected between the two guide rails. One side of the movable seat is fixedly connected to the outer surface of the support shell B. A vertically arranged stud is threadedly penetrated through the movable seat.

[0018] The full material sensor is installed on one side of the support shell B facing the hollow shell A, and the full material sensor is located above the hollow shell A.

[0019] Preferably, the material pushing mechanism includes an electric push rod A installed on the top of the support plate. An installation seat is installed at the output end of the electric push rod A. The bottom of the installation seat is slidably connected to the top of the support plate. A limiting plate is detachably connected to the installation seat. A groove allowing only one bolt fastener to be detected to enter at a time is formed on one side of the limiting plate facing the hollow shell B. The top surfaces of the limiting plate, the hollow shell B, and the hollow shell A are all on the same plane.

[0020] Preferably, the detection mechanism includes a supporting member located on one side of the support plate and on the side of the electric push rod A. A detection member and a position adjusting member are provided on the supporting member.

[0021] Among them, the supporting member includes an upper supporting plate and a lower supporting plate arranged up and down. An optical glass disc is provided above the upper supporting plate. A plurality of support rods are fixedly connected between the optical glass disc and the lower supporting plate and are distributed at equal intervals in a ring shape.

[0022] The detection member includes a camera A provided on the upper supporting plate. A camera B is provided at the center above the optical glass disc. A camera C is provided at the center between the optical glass disc and the lower supporting plate.

[0023] The position adjusting member includes an electric push rod B installed between the upper supporting plate and the lower supporting plate. A support is fixedly connected to one side of the lower supporting plate surface away from the support plate. A rodless cylinder B is fixedly connected to the support and the lower supporting plate respectively. The camera B is installed on the sliding table of one of the rodless cylinders B. The camera C is installed on the sliding table of the other rodless cylinder B. A rodless cylinder C is provided above the upper supporting plate. The camera A is installed on the sliding table of the rodless cylinder C. A motor seat is installed at the bottom of the upper supporting plate. A motor C is installed on the motor seat. The output shaft of the motor C is fixedly connected with a gear. A toothed ring meshing with the gear is rotatably connected to the top of the upper supporting plate. The rodless cylinder C is installed on the top of the toothed ring.

[0024] Preferably, the robotic arm is installed on one side of the material box, and the robotic arm is located between the electric push rod A and the upper supporting plate.

[0025] Preferably, a support is installed at the bottom of each of the support plate, the material box, and the lower supporting plate.

[0026] Preferably, it further includes a control system electrically connected to the microcomputer. The rodless cylinder A, motor A, motor B, full material sensor, electric push rod A, camera A, camera B, camera C, electric push rod B, rodless cylinder B, rodless cylinder C, motor C, and robotic arm are all controlled by the control system.

[0027] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0028] 1. In the present invention, through the combined use of the material storage mechanism, feeding mechanism, hollow shell A, discharging mechanism, and material dialing mechanism, the arrangement and conveying of bolt fasteners to the material dialing mechanism can be achieved, and the material dialing mechanism only sends out one workpiece each time, so as to improve the accuracy of the robotic arm in clamping the bolt fasteners, enabling the robotic arm to accurately clamp the screw head part, ensuring the coaxiality of the bolt fasteners when placed on the detection mechanism, and thus ensuring the subsequent detection effect.

[0029] 2. In the present invention, the detection mechanism is composed of a supporting member, a detecting member, and an adjusting member. The adjusting member can adjust the detection position of the detecting member, enabling the detecting member to perform a full range of detections on the side surface, upper surface, and lower surface of the bolt fasteners supported by the supporting member, so as to detect all surface trace defects of the bolt fasteners, realize on-line full-defect detection of the bolt fasteners' surfaces, and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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 embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 Structural schematic of the embodiment of the present invention Figure 1 ;

[0032] Figure 2 Structural schematic of the embodiment of the present invention Figure 2 ;

[0033] Figure 3 Exploded view of the structure of the material storage mechanism of the embodiment of the present invention;

[0034] Figure 4 Exploded view of the structure of the support plate, feeding mechanism, hollow shell A, and discharging mechanism of the embodiment of the present invention;

[0035] Figure 5 Exploded view of the structure of the feeding mechanism of the embodiment of the present invention;

[0036] Figure 6 Explosion structure diagram of the material guiding part of the embodiment of the present invention;

[0037] Figure 7 Explosion structure diagram of the material conveying part and the distance adjusting part of the embodiment of the present invention;

[0038] Figure 8 Structure diagram of the material pushing mechanism of the embodiment of the present invention;

[0039] Figure 9 Structure diagram of the detection mechanism of the embodiment of the present invention Figure 1 ;

[0040] Figure 10 Structure diagram of the detection mechanism of the embodiment of the present invention Figure 2 。

[0041] In the figure: 100, support plate; 110, baffle; 120, inclined plate;

[0042] 200, storage mechanism; 210, material box; 211, through groove; 212, side groove; 213, inclined surface A; 214, inclined surface B; 220, feeding part; 221, pushing block; 2211, inclined surface C; 222, rodless cylinder A;

[0043] 300, feeding mechanism; 310, support shell A; 320, conveying roller A; 330, conveyor belt A; 340, motor A; 350, supporting roller A; 360, supporting roller B; 370, triple supporting roller;

[0044] 400, hollow shell A;

[0045] 500, discharging mechanism; 510, material guiding part; 511, hollow shell B; 512, convex edge; 513, U-shaped sleeve; 514, movable plate; 515, screw sleeve; 516, sliding sleeve; 517, bidirectional lead screw; 518, guide rod; 520, material conveying part; 521, support shell B; 522, conveying roller B; 523, conveyor belt B; 524, motor B; 530, distance adjusting part; 531, guide rail; 532, movable seat; 533, stud; 540, full material sensor;

[0046] 600, material pushing mechanism; 610, electric push rod A; 620, mounting seat; 630, limiting plate; 631, groove;

[0047] 700, detection mechanism; 710, supporting member; 711, upper support plate; 712, lower support plate; 713, optical glass plate; 714, supporting rod; 720, detection member; 721, camera A; 722, camera B; 723, camera C; 730, positioning member; 731, electric push rod B; 732, bracket; 733, rodless cylinder B; 734, rodless cylinder C; 735, motor seat; 736, motor C; 737, gear; 738, gear ring; 740, protective member; 741, baffle cover; 742, annular sleeve;

[0048] 800, Robotic arm;

[0049] 900. Support. DETAILED DESCRIPTION

[0050] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0051] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0052] Example 1

[0053] like Figures 1 - 10As shown in the figure, an intelligent detection device for surface defects of bolt fasteners based on machine vision according to an embodiment of the present invention includes a support plate 100 arranged horizontally. One side of the support plate 100 is provided with a storage mechanism 200 for storing bolt fasteners to be detected and capable of realizing automatic feeding. Along the length direction of the top of the support plate 100, a feeding mechanism 300 for conveying a plurality of bolt fasteners to be detected, a hollow shell A 400 for straightening the bolt fasteners to be detected, a discharging mechanism 500 for discharging the bolt fasteners to be detected, and a feeding mechanism 600 for feeding a single bolt fastener to be detected are sequentially arranged. The feeding mechanism 300 and the hollow shell A 400 are located on one side of the storage mechanism 200. A detection mechanism 700 for carrying and detecting surface defects of bolt fasteners is arranged on the side of the storage mechanism 200. The detection mechanism 700 is located on the side of the feeding mechanism 600. A robotic arm 800 capable of gripping bolt fasteners is arranged on one side of the storage mechanism 200 close to the detection mechanism 700. Supports 900 for support are arranged below the support plate 100, the storage mechanism 200, and the detection mechanism 700. The feeding mechanism 300, the hollow shell A 400, and the discharging mechanism 500 are on the same straight line. A collection box (not shown in the figure) for storing qualified and unqualified ones is also arranged on the side of the detection mechanism 700. After the surface defects of the bolt fasteners are detected by the detection mechanism 700, the robotic arm 800 can grip the detected bolt fasteners into the corresponding collection box for classified storage.

[0054] Embodiment 2

[0055] As Figures 1 - 10 shown, the difference between the intelligent detection device for surface defects of bolt fasteners based on machine vision provided in this embodiment and that in Embodiment 1 is that:

[0056] The storage mechanism 200 includes a feed bin 210 fixedly connected to one side of the support plate 100 and having an open top. The length dimension of the feed bin 210 is greater than the sum of the length dimensions of the feeding mechanism 300 and the hollow shell A 400. A feeding member 220 is provided on one side of the inner cavity of the feed bin 210 close to the feeding mechanism 300. The feeding member 220 includes a pushing block 221 movably penetrating through the bottom of the feed bin 210 and capable of moving up and down in the inner cavity of the feed bin 210. A through groove 211 for the pushing block 221 to pass through is opened at the bottom of the feed bin 210. The length dimension of the pushing block 221 is less than the length dimension of the feeding mechanism 300. A rodless cylinder A 222 is vertically installed on one side of the feed bin 210. A side groove 212 for the slide of the rodless cylinder A 222 to pass through is opened on the side of the feed bin 210 facing the rodless cylinder A 222. The slide of the rodless cylinder A 222 movably penetrates through the side groove 212 into the inner cavity of the feed bin 210 and is fixedly connected to one side of the pushing block 221. By starting the rodless cylinder A 222, the slide of the rodless cylinder A 222 can drive the pushing block 221 to move up and down in the inner cavity of the feed bin 210. When the pushing block 221 moves downward until its top is flush with the bottom of the inner cavity of the feed bin 210, the bolt fasteners stored in the inner cavity of the feed bin 210 can be stacked on the top of the pushing block 221. When the pushing block 221 moves upward, it can drive the bolt fasteners stacked on its top to move synchronously, so as to achieve the effect of automatic feeding. On one side of the bottom of the inner cavity of the feed bin 210, there is an inclined surface A 213 opposite to the feeding mechanism 300. On the other side of the bottom of the inner cavity of the feed bin 210, there is an inclined surface B 214 opposite to the hollow shell A 400. The horizontal line on the side of the inclined surface A 213 close to the through groove 211 is lower than the horizontal line on its opposite side. The horizontal line on the side of the inclined surface B 214 close to the through groove 211 is lower than the horizontal line on its opposite side. The top of the pushing block 221 is provided with an inclined surface C 2211 having the same inclination angle as the inclined surface A 213. By the combined use of the inclined surface A 213, the inclined surface B 214 and the inclined surface C 2211, the bolt fasteners in the inner cavity of the feed bin 210 can be guided. When the pushing block 221 moves upward to a raised state, the bolt fasteners in the inner cavity of the feed bin 210 can automatically roll and stack around the through groove 211 under the action of the inclined surface A 213, the inclined surface B 214 and their own gravity. When the pushing block 221 moves downward to a lowered state, the inclined surface C 2211 is flush with the inclined surface A 213. The bolt fasteners can automatically roll and stack on the top of the pushing block 221 under the action of the inclined surface A 213, the inclined surface B 214, the inclined surface C 2211 and their own gravity. Furthermore, when the pushing block 221 moves upward to a raised state again, it can drive the bolt fasteners stacked on its top to move up synchronously. And the bolt fasteners on the top of the pushing block 221 can automatically fall onto the feeding mechanism 300 due to the loss of the restraint of the feed bin 210, so as to ensure the normal feeding of the bolt fasteners.

[0057] The top of the support plate 100 is fixedly connected to a baffle 110 which is arranged opposite to the material box 210. One side of the baffle 110 is fixedly connected to the material box 210. A through hole is opened on the baffle 110 for the output shaft of the power supply motor A340 to pass through. The motor A340 is installed on the outer surface of the baffle 110. The baffle 110 can block the falling of the top of the conveyor belt A330, effectively preventing the bolt fasteners from falling to the periphery of the feeding mechanism 300. The inner wall surface of the baffle 110 is inclined and fixedly connected to an inclined plate 120 used in conjunction with the hollow shell A400. One side of the inclined plate 120 contacts the surface of the hollow shell A400. The horizontal line of the inclined plate 120 close to the hollow shell A400 is lower than the horizontal line of the opposite side. The inclined plate 120 can block the gap between the hollow shell A400 and the baffle 110, preventing the bolt fasteners from falling into the gap between the hollow shell A400 and the baffle 110.

[0058] The feeding mechanism 300 includes a support shell A310 installed on the top of the support plate 100, and both sides of the inner cavity of the support shell A310 are rotatably connected to a conveying roller A320 through bearings, and a conveyor belt A330 is transmission-connected between the two conveying rollers A320. A motor A340 is provided on one side of the support shell A310, and the output shaft of the motor A340 is fixedly connected to one of the conveying rollers A320. A plurality of supporting rollers A350 that are equidistantly distributed and can contact the inner upper part of the conveyor belt A330 are rotatably connected to the inner cavity of the support shell A310 near the material box 210 through bearings. The inner cavity of the support shell A310 is also rotatably connected to a plurality of supporting rollers B360 that are equidistantly distributed and can contact the outer lower part of the conveyor belt A330 through bearings. The number of supporting rollers B360 is greater than the number of supporting rollers A350. The inner cavity of the support shell A310 is close to the hollow At least two triple rollers 370 are installed on one side of the shell A400 and can contact the inner upper part of the conveyor belt A330. By starting the motor A340, the conveyor belt A330 can be driven to rotate through the output shaft of the motor A340, and the conveyor belt A330 can transport the bolt fasteners thereon toward the hollow shell A400. At the same time, the supporting rollers A350 and B360 can provide auxiliary support for the conveyor belt A330 to prevent the feeding mechanism 300 from collapsing due to the falling of the bolt fasteners. The triple rollers 370 can ensure that the side of the conveyor belt A330 close to the hollow shell A400 maintains a stable groove-shaped cross-section during operation, which can not only reduce the leakage of the bolt fasteners, but also pre-align the bolt fasteners to improve the alignment effect of the hollow shell A400.

[0059] The hollow shell A400 is detachably connected to the top of the support plate 100 by screws. The detachable connection by screws facilitates the disassembly and replacement of the corresponding adapted hollow shell A400 according to the model size of the bolt fastener to be detected. The hollow shell A400 is located between the support shell A310 and the discharging mechanism 500. Both ends of the hollow shell A400 are open. An opening A for only the screw part to pass through is provided at the top of the hollow shell A400, and the size of the opening A is smaller than the size of the screw head part. The width dimension of the top surface of the hollow shell A400 is smaller than the width dimension of its bottom surface. When the bolt fasteners are conveyed to the hollow shell A400 by the feeding mechanism 300, the screw parts of some bolt fasteners can just fall into the inner cavity of the hollow shell A400 through the opening, while the screw head parts can hang on the top of the hollow shell A400, and the other part of the bolt fasteners automatically fall into the inner cavity of the feed box 210 for subsequent feeding again.

[0060] The blanking mechanism 500 includes a material guiding member 510 disposed on the top of the support plate 100. Above the material guiding member 510, there is a material conveying member 520. On the support plate 100, there is a distance adjusting member 530 for adjusting the distance between the material conveying member 520 and the material guiding member 510. A full material sensor 540 is provided on the material conveying member 520. The material guiding member 510 includes a hollow shell B511 installed on the top of the support plate 100 and having open ends at both ends. An opening B through which only the screw part can pass is formed at the top of the hollow shell B511. On both sides of the inner cavity of the opening B, there is a convex edge 512. The convex edge 512 is integrally formed with the hollow shell B511. A U-shaped sleeve 513 is slidably sleeved on the surface of the convex edge 512. The bottom of the U-shaped sleeve 513 is fixedly connected with a movable plate 514. On one side of the bottom of the movable plate 514, a screw sleeve 515 is fixedly connected. On the other side of the bottom of the movable plate 514, a sliding sleeve 516 is fixedly connected. A bidirectional lead screw 517 is commonly threaded through and connected between the two screw sleeves 515. One end of the bidirectional lead screw 517 is rotatably connected to the inner wall surface of the hollow shell B511 through a bearing. The other end of the bidirectional lead screw 517 movably penetrates to the outside of the hollow shell B511. A guide rod 518 is commonly slidably penetrated and connected between the two sliding sleeves 516. Both ends of the guide rod 518 are fixedly connected to the inner wall surface of the hollow shell B511. By rotating the bidirectional lead screw 517, under the action of the thread, the two U-shaped sleeves 513 in the opening B can be driven to move towards or away from each other, and thus the distance between the two U-shaped sleeves 513 can be adjusted to realize the adjustment of the size of the opening B. Therefore, without disassembling and replacing the blanking mechanism 500, the size of the opening B can be adjusted to be adapted to the model size of the bolt fastener to be detected, so as to reduce the replacement cost. The material conveying member 520 includes a support shell B521 disposed on the top of the material guiding member 510. One side of the support shell B521 extends to one side above the hollow shell A400. The other side of the support shell B521 is flush with the hollow shell B511. Two conveying rollers B522 are rotatably connected to the inner cavity of the support shell B521 through bearings. A conveyor belt B523 is drivingly connected between the two conveying rollers B522. A motor B524 is installed on the outer surface of the support shell B521. The output shaft of the motor B524 is fixedly connected to one of the conveying rollers B522. A screw head part channel is formed between the conveyor belt B523 and the U-shaped sleeve 513. By starting the motor B524, the output shaft of the motor B524 can drive the conveyor belt B523 to rotate. Since the conveyor belt B523 contacts the screw head part, it can drive the screw head part in the screw head part channel, and then the bolt fasteners arranged in the opening B can move towards the material shifting mechanism 600.The distance adjusting member 530 includes two guide rails 531 installed on the top of the support plate 100. A movable seat 532 is slidably connected between the two guide rails 531. One side of the movable seat 532 is fixedly connected to the outer surface of the support shell B521. A vertically arranged stud 533 is threadedly penetrated through the movable seat 532. By rotating the stud 533, under the action of the thread, the movable seat 532 and the feeding member 520 can be driven to move up or down, so as to be able to adjust the height of the channel at the screw head part according to the model size of the bolt fastener to be detected; The full material sensor 540 is installed on one side of the support shell B521 facing the hollow shell A400. The full material sensor 540 is located above the hollow shell A400. The full material sensor 540 can monitor the conveying quantity in the opening B. When the number of bolt fasteners conveyed in the opening B reaches the set quantity, the monitoring data can be transmitted to the control system. The control system receives the monitoring data and controls the working states of the storage mechanism 200 and the feeding mechanism 300, so that the storage mechanism 200 and the feeding mechanism 300 stop working to save energy. Until the bolt fasteners are consumed by the set quantity, the control system controls the working states of the storage mechanism 200 and the feeding mechanism 300, so that the storage mechanism 200 and the feeding mechanism 300 start working to achieve the purpose of intermittent feeding.;

[0061] The material dialing mechanism 600 includes an electric push rod A610 installed on the top of the support plate 100 and arranged horizontally. The electric push rod A610 is arranged perpendicular to the length direction of the support plate 100. An installation seat 620 is installed at the output end of the electric push rod A610. The bottom of the installation seat 620 is slidably connected to the top of the support plate 100. A limiting plate 630 is detachably connected to the installation seat 620 by screws. The detachable connection by screws can facilitate the disassembly and replacement of the corresponding adapted limiting plate 630 according to the model size of the bolt fastener to be detected. A groove 631 for only one bolt fastener to be detected to enter each time is opened on one side of the limiting plate 630 facing the hollow shell B511. The top surfaces of the limiting plate 630, the hollow shell B511 and the hollow shell A400 are all on the same plane. When the electric push rod A610 is started, the output end of the electric push rod A610 can drive the limiting plate 630 and the groove 631 to move horizontally. When the feeding member 520 conveys the bolt fastener to be detected in the opening B, the limiting plate 630 can limit the bolt fastener to be detected, so that the outermost bolt fastener to be detected can be placed in the groove 631. When the limiting plate 630 moves, the bolt fastener to be detected in the groove 631 can be driven towards the detection mechanism 700 to ensure that only one workpiece is conveyed each time, with good reliability.

[0062] The detection mechanism 700 includes a supporting member 710 located on one side of the support plate 100 and on the side of the electric push rod A610. The supporting member 710 is provided with a detecting member 720 and an adjusting member 730;

[0063] Among them, the supporting member 710 includes an upper supporting plate 711 and a lower supporting plate 712 arranged vertically. Above the upper supporting plate 711, there is an optical glass disk 713. Between the optical glass disk 713 and the lower supporting plate 712, a plurality of support rods 714 arranged in an annular and equally spaced manner are fixedly connected in the vertical direction. The supporting member 710 can support the bolt fastener, enabling the supporting member 710 to stably maintain a certain state for the surface defect detection operation of the detection member 720; the detection member 720 includes a camera A 721 provided on the upper supporting plate 711, a camera B 722 provided at the center above the optical glass disk 713, and a camera C 723 provided at the center between the optical glass disk 713 and the lower supporting plate 712. The detection member 720 can detect the side surface, upper surface, and lower surface of the bolt fastener; the position adjustment member 730 includes electric push rods B 731 installed vertically between the upper supporting plate 711 and the lower supporting plate 712. There are three electric push rods B 731 arranged in an annular and equally spaced manner to ensure the support stability. By starting the electric push rods B 731, the upper supporting plate 711 and the camera A 721 can be driven to move vertically to adjust the up and down detection range of the camera A 721. On the side of the lower supporting plate 712 away from the support plate 100, a bracket 732 is fixedly connected. On the bracket 732 and the lower supporting plate 712, a linear cylinder B 733 arranged vertically is fixedly connected respectively. The camera B 722 is installed on the slide table of one of the linear cylinders B 733, and the camera C 723 is installed on the slide table of the other linear cylinder B 733. By starting the linear cylinder B 733, the camera B 722 and the camera C 723 can be driven to move vertically to adjust the distances between the camera B 722 and the bolt fastener, and between the camera C 723 and the bolt fastener. Above the upper supporting plate 711, a linear cylinder C 734 arranged horizontally is provided. The camera A 721 is installed on the slide table of the linear cylinder C 734. By starting the linear cylinder C 734, the camera A 721 can be driven to move horizontally to adjust the distance between the camera A 721 and the bolt fastener. At the bottom of the upper supporting plate 711, a motor base 735 is installed. On the motor base 735, a motor C 736 is installed. The output shaft of the motor C 736 is fixedly connected with a gear 737. The top of the upper supporting plate 711 is rotatably connected by a bearing with a gear ring 738 meshing with the gear 737. The linear cylinder C 734 is installed on the top of the gear ring 738. By starting the motor C 736, the output shaft of the motor C 736 can drive the gear ring 738, the linear cylinder C 734, and the camera A 721 to rotate around the bearing on the upper supporting plate 711, thereby being able to expand the horizontal detection range of the camera A 721 to achieve full - range detection;A protective member 740 is also provided on the supporting member 710. The protective member 740 includes a shield 741 fixedly sleeved on the surface of the gear 737. An annular sleeve 742 is sleeved on the surface of the gear ring 738. The annular sleeve 742 is fixedly connected to the shield 741, and the inner cavities of the annular sleeve 742 and the shield 741 communicate with each other. The annular sleeve 742 is fixedly connected to the surface of the upper support plate 711. The protective member 740 can shield and protect the teeth of the gear 737 and the gear ring 738, which helps to improve the safety when the gear 737 and the gear ring 738 rotate.;

[0064] The robotic arm 800 is installed on one side of the material box 210, and the robotic arm 800 is located between the electric push rod A 610 and the upper support plate 711. The robotic arm 800 can grasp the bolt fastener in the groove 631 and turn the bolt fastener around and place it at the center of the optical glass disc 713, so that the head position of the bolt of the bolt fastener contacts the optical glass disc 713, ensuring that the bolt fastener can stand stably on the optical glass disc 713 for subsequent surface defect detection operations.

[0065] One support 900 is installed at the bottom of each of the support plate 100, the material box 210, and the lower support plate 712. The support 900 can provide a support foundation for the support plate 100, the storage mechanism 200, and the detection mechanism 700, enabling the support plate 100, the storage mechanism 200, and the detection mechanism 700 to be stably placed at the required positions.

[0066] It also includes a control system electrically connected to the microcomputer. The rodless cylinder A 222, the motor A 340, the motor B 524, the full material sensor 540, the electric push rod A 610, the camera A 721, the camera B 722, the camera C 723, the electric push rod B 731, the rodless cylinder B 733, the rodless cylinder C 734, the motor C 736, and the robotic arm 800 are all controlled by the control system. The control system can adjust the working states or parameters of the rodless cylinder A 222, the motor A 340, the motor B 524, the full material sensor 540, the electric push rod A 610, the camera A 721, the camera B 722, the camera C 723, the electric push rod B 731, the rodless cylinder B 733, the rodless cylinder C 734, the motor C 736, and the robotic arm 800. The cameras A 721, B 722, and C 723 can collect images of the surface of the bolt fastener and send the collected results to the microcomputer through the control system for image comparison and analysis. Using intelligent surface defect detection by machine vision, the defect detection standards are unified, the unmanned operation of defect detection is realized, the working intensity of manual detection is greatly reduced, and the influence of human operation on the detection results can be avoided, improving the accuracy and efficiency of surface defect detection of fasteners.

[0067] Among them, the detection member 720 further includes:

[0068] A processing unit, configured to execute a spiral symmetric multimodal defect fusion scoring model:

[0069]

[0070] wherein the parameters are defined as:

[0071] determined by the installation angles of each camera, μ k : the optimal viewing angle of the k-th camera; σ k : the viewing angle effective range parameter (related to the camera focal length);

[0072] φ k corresponding to the 120° phase difference between camera B722, camera C723 and camera A721;

[0073] r0 is set to 0.8 times the calibration radius of the optical glass disk 713;

[0074] λ is automatically calibrated according to the bolt thread pitch;

[0075] S d : the comprehensive defect score (value range [0,1]);

[0076] θ: the angular variable in the polar coordinate system (corresponding to the bolt rotation angle);

[0077] r: the radial coordinate (corresponding to the bolt radius direction);

[0078] K: the number of cameras (K = 3 in the embodiment);

[0079] ω k (θ): the dynamic spatial weight of the k-th camera;

[0080] I k (r,θ): the polar coordinate image collected by the k-th camera;

[0081] R(r,θ): the polar coordinate image of the standard template;

[0082] The control system is configured to:

[0083] (g) When the spiral symmetric multimodal defect fusion scoring value S d > 0.35, control the robotic arm 800 to place the workpiece into the non-conforming product collection box;

[0084] (h) Dynamically adjust the scanning speed of camera A721 on the rodless cylinder C734 according to the S d value:

[0085]

[0086] Workflow

[0087] 1. Image preprocessing:

[0088] After the robotic arm positions the bolt in reverse, three cameras synchronously acquire images

[0089] Convert the image to I k (r,θ) through polar coordinate transformation;

[0090] 2. Dynamic parameter setting:

[0091] # Automatically configure parameters according to bolt specifications

[0092] r0 = bolt_head_radius * 0.8 # Set the sensitive area to 80% of the bolt head radius

[0093] λ = 1 / (thread_pitch * 2) # Adjust the radial attenuation based on the thread pitch

[0094] μ = [0, 2π / 3, 4π / 3] # The three cameras are equally angularly distributed

[0095] σ = [π / 6, π / 6, π / 6] # 60-degree effective range for each viewing angle

[0096] 3. Defect determination:

[0097] When S d > 0.35, it is determined as a non-conforming product;

[0098] When 0.15 < S d ≤ 0.35, trigger a secondary re-inspection;

[0099] When S d ≤ 0.15, it is determined as a conforming product.

[0100] Technical effects:

[0101] Helical symmetry enhancement: Strengthen the defect response of rotationally symmetric features such as threads through polar coordinate transformation;

[0102] Multi-modal fusion: Dynamic weights achieve adaptive fusion of the detection advantage intervals of the three viewing angles;

[0103] Radial sensitive focusing: The exponential decay term highlights the defect features in the key area;

[0104] Rotation invariance: Integral operation eliminates the detection deviation caused by the random rotation of the bolt.

[0105] Experimental data show that after adopting the HS-MDF scoring model, the detection accuracy of surface defects of M12 bolts has increased from 92.4% by the traditional method to 98.7%, the detection speed has increased by 40%, and the detection rate of cracks at the root of the thread has increased by more than 3 times.

[0106] Working principle:

[0107] S1. According to the model size of the bolt fastener to be detected, install the adapted hollow shell A400 on the support plate 100, install the adapted limit plate 630 on the mounting seat 620. By rotating the bidirectional lead screw 517, under the action of the thread, the bidirectional lead screw 517 drives the two nuts 515 on its surface to move towards or away from each other. The nut 515 drives the movable plate 514, the sliding sleeve 516 and the U-shaped sleeve 513 to move synchronously, so that the sliding sleeve 516 slides on the surface of the guide rod 518, and the U-shaped sleeve 513 slides on the surface of the convex edge 512, so as to adjust the distance between the two U-shaped sleeves 513, and the width adjustment operation of the opening B can be realized; Rotate the stud 533, and the stud 533 drives the movable seat 532 to move up or down between the two guide rails 531. The movable seat 532 drives the feeding member 520 and the full material sensor 540 to move up or down, and the height adjustment operation of the channel at the head of the bolt can be realized; Start the electric push rod B731, and the output end of the electric push rod B731 drives the upper support plate 711, the camera A721, the rodless cylinder C734, the motor seat 735, the motor C736, the gear 737, the toothed ring 738 and the protective member 740 to move up or down. Start the two rodless cylinders B733, so that the slide table of one rodless cylinder B733 drives the camera B722 to move up or down, and the slide table of the other rodless cylinder B733 drives the camera C723 to move up or down, and the detection height adjustment operation of the camera A721, the camera B722 and the camera C723 can be realized; Start the rodless cylinder C734, and the slide table of the rodless cylinder C734 drives the camera A721 to approach or move away from the optical glass disc 713, and the detection distance adjustment operation of the camera A721 and the optical glass disc 713 can be realized;

[0108] S2. Start the rodless cylinder A222, and the slide table of the rodless cylinder A222 drives the pushing block 221 to slide in the inner cavity of the through groove 211, so that the pushing block 221 moves upward. The slide table of the rodless cylinder A222 slides in the inner cavity of the side groove 212, so that the pushing block 221 drives the bolt fasteners stacked on the inclined surface C2211 to move up synchronously until the maximum limit. At this time, the side of the inclined surface C2211 close to the feeding mechanism 300 is flush with the conveyor belt A330. Under the guidance of the inclined surface C2211 and the action of its own gravity, the bolt fasteners on the inclined surface C2211 automatically roll onto the conveyor belt A330, and the feeding operation of the bolt fasteners can be realized;

[0109] S3. Start motor A340. The output shaft of motor A340 drives the conveying roller A320, conveyor belt A330, supporting roller A350, supporting roller B360, and triple supporting roller 370 to rotate synchronously. The conveyor belt A330 drives the bolt fasteners thereon to move towards the direction of the hollow shell A400. When the bolt fasteners gradually approach the hollow shell A400, the triple supporting roller 370 can pre-align the bolt fasteners, thus realizing the feeding operation of multiple bolt fasteners.

[0110] S4. When the conveyor belt A330 drives the bolt fasteners to move onto the hollow shell A400, through the opening A, the screw parts of some bolt fasteners can fall into the inner cavity of the hollow shell A400, while the head parts are suspended at the top of the hollow shell A400. For the other bolt fasteners whose screw parts fail to fall into the inner cavity of the hollow shell A400, under the guiding action of the inclined plate 120 and the side surface of the hollow shell A400, the bolt fasteners automatically fall back into the feed box 210, so as to utilize the feeding part 220 for the next feeding operation, thus realizing the alignment operation of the bolt fasteners.

[0111] S5. Start motor B524. Motor B524 drives the conveying roller B522 and conveyor belt B523 to rotate. Under the combined conveying action of the conveyor belt A330 and conveyor belt B523, the bolt fasteners on the hollow shell A400 will be conveyed through the opening B onto the hollow shell B511, thus realizing the arrangement operation of the bolt fasteners.

[0112] S6. The last bolt fastener arranged at the end can slide into the groove 631 under the conveying action and be suspended on the limiting plate 630. Start the electric push rod A610. The output end of the electric push rod A610 drives the mounting seat 620, limiting plate 630, and groove 631 to move towards the detection mechanism 700, so that the bolt fasteners on the limiting plate 630 move towards the detection mechanism 700, thus realizing the feeding operation of a single bolt fastener.

[0113] S7. Start the robotic arm 800. The robotic arm 800 grabs the bolt fastener on the limiting plate 630 and turns it around, placing the head part downward at the center of the top of the optical glass disc 713. Start motor C736. The output shaft of motor C736 drives the gear 737 to rotate. The gear 737 drives the toothed ring 738 to rotate. The toothed ring 738 drives the rodless cylinder C734 and camera A721 to rotate synchronously, so that the camera A721 can perform a circumferential movement around the bolt fastener on the optical glass disc 713 to expand the detection range of the camera A721. Thus, the camera A721, camera B722, and camera C723 can perform a full - range defect detection operation on the side surface, upper surface, and lower surface of the bolt fastener.

[0114] Through the above specific embodiments, those skilled in the art of the present invention can easily implement the present invention. However, it should be understood that the present invention is not limited to the above specific embodiments. Based on the disclosed embodiments, those skilled in the art can arbitrarily combine different technical features to achieve different technical solutions.

Claims

1. An intelligent detection device for surface defects of bolt fasteners based on machine vision, characterized in that, It includes a support plate (100), on one side of which there is a storage mechanism (200) for storing the bolt fasteners to be detected and capable of realizing automatic feeding. Along the length direction of the top of the support plate (100), there are successively arranged a feeding mechanism (300) for conveying a plurality of bolt fasteners to be detected, a hollow shell A (400) for straightening the bolt fasteners to be detected, a discharging mechanism (500) for discharging the bolt fasteners to be detected, and a feeding mechanism (600) for feeding a single bolt fastener to be detected. The feeding mechanism (300) and the hollow shell A (400) are located on one side of the storage mechanism (200). A detection mechanism (700) for carrying and detecting surface defects of the bolt fasteners is arranged on the side of the storage mechanism (200). The detection mechanism (700) is located on the side of the feeding mechanism (600). A robotic arm (800) capable of gripping the bolt fasteners is arranged on the side of the storage mechanism (200) close to the detection mechanism (700). Below the support plate (100), the storage mechanism (200), and the detection mechanism (700), there are all supports (900) for support. The feeding mechanism (300), the hollow shell A (400), and the discharging mechanism (500) are all on the same straight line.

2. The intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 1, characterized in that: The storage mechanism (200) includes a material box (210) fixedly connected to one side of the support plate (100) and with an open top. The length dimension of the material box (210) is greater than the sum of the length dimensions of the feeding mechanism (300) and the hollow shell A (400). On the side of the inner cavity of the material box (210) close to the feeding mechanism (300), there is a feeding part (220). Among them, the feeding part (220) includes a pushing block (221) movably penetrating through the bottom of the material box (210) and capable of moving up and down in the inner cavity of the material box (210). A through groove (211) for the pushing block (221) to pass through is opened at the bottom of the material box (210). The length dimension of the pushing block (221) is less than the length dimension of the feeding mechanism (300). A rodless cylinder A (222) is installed vertically on one side of the material box (210). A side groove (212) for the slide of the rodless cylinder A (222) to pass through is opened on the side of the material box (210) facing the rodless cylinder A (222). The slide of the rodless cylinder A (222) passes through the side groove (212) and movably penetrates into the inner cavity of the material box (210) and is fixedly connected to one side of the pushing block (221). A slope A (213) is disposed on one side of the bottom of the inner cavity of the material box (210) and is arranged opposite to the feeding mechanism (300); a slope B (214) is disposed on the other side of the bottom of the inner cavity of the material box (210) and is arranged opposite to the hollow shell A (400); a horizontal line of the slope A (213) on the side close to the through groove (211) is lower than a horizontal line on the opposite side; a horizontal line of the slope B (214) on the side close to the through groove (211) is lower than a horizontal line on the opposite side; and a slope C (2211) having the same inclination angle as the slope A (213) is disposed on the top of the pushing block (221).

3. The intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 2, wherein: The feeding mechanism (300) comprises a support shell A (310) mounted on the top of the support plate (100), and a conveying roller A (320) is rotatably connected to both sides of the inner cavity of the support shell A (310) through bearings, and a conveying belt A (330) is transmission-connected between the two conveying rollers A (320). A motor A (340) is provided on one side of the support shell A (310), and the output shaft of the motor A (340) is fixedly connected to one of the conveying rollers A (320). The inner cavity of the support shell A (310) is rotatably connected to the side of the material box (210). The support shell A (310) is connected to a plurality of supporting rollers A (350) which are evenly distributed and can contact the inner upper part of the conveyor belt A (330); the inner cavity of the support shell A (310) is also rotatably connected to a plurality of supporting rollers B (360) which are evenly distributed and can contact the outer lower part of the conveyor belt A (330); the number of the supporting rollers B (360) is greater than the number of the supporting rollers A (350); and at least two triple supporting rollers (370) which can contact the inner upper part of the conveyor belt A (330) are installed on one side of the inner cavity of the support shell A (310) close to the hollow shell A (400).

4. The intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 3, wherein: The hollow shell A (400) is detachably connected to the top of the support plate (100). The hollow shell A (400) is located between the support shell A (310) and the discharge mechanism (500). Both ends of the hollow shell A (400) are open. An opening A is provided on the top of the hollow shell A (400) for only the screw to pass through. The size of the opening A is smaller than the size of the screw head. The width of the top surface of the hollow shell A (400) is smaller than the width of its bottom surface.

5. The intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 1, characterized in that: The material discharging mechanism (500) comprises a material guide member (510) arranged on the top of the support plate (100), a material feeding member (520) is arranged above the material guide member (510), a distance adjusting member (530) for adjusting the distance between the material feeding member (520) and the material guide member (510) is arranged on the support plate (100), and a full material sensor (540) is arranged on the material feeding member (520); Among them, the material guiding member (510) includes a hollow shell B (511) installed at the top of the support plate (100) and open at both ends. An opening B through which only the screw part can pass is provided at the top of the hollow shell B (511). A convex edge (512) is provided on both sides of the inner cavity of the opening B. The convex edge (512) is integrally formed on the hollow shell B (511). A U-shaped sleeve (513) is slidably sleeved on the surface of the convex edge (512). A movable plate (514) is fixedly connected to the bottom of the U-shaped sleeve (513). A screw sleeve (515) is fixedly connected to one side of the bottom of the movable plate (514). A sliding sleeve (516) is fixedly connected to the other side of the bottom of the movable plate (514). A bidirectional lead screw (517) is commonly threaded through and connected between the two screw sleeves (515). One end of the bidirectional lead screw (517) is rotatably connected to the inner wall surface of the hollow shell B (511). The other end of the bidirectional lead screw (517) movably penetrates to the outside of the hollow shell B (511). A guide rod (518) is commonly slidably penetrated and connected between the two sliding sleeves (516). Both ends of the guide rod (518) are fixedly connected to the inner wall surface of the hollow shell B (511); The material conveying member (520) includes a support shell B (521) provided at the top of the material guiding member (510). One side of the support shell B (521) extends to one side above the hollow shell A (400). The other side of the support shell B (521) is flush with the hollow shell B (511). Two conveying rollers B (522) are rotatably connected in the inner cavity of the support shell B (521). A conveyor belt B (523) is drivingly connected between the two conveying rollers B (522). A motor B (524) is installed on the outer surface of the support shell B (521). The output shaft of the motor B (524) is fixedly connected to one of the conveying rollers B (522). A channel for the screw head part is formed between the conveyor belt B (523) and the U-shaped sleeve (513); The distance adjusting member (530) includes two guide rails (531) installed at the top of the support plate (100). A movable seat (532) is slidably connected between the two guide rails (531). One side of the movable seat (532) is fixedly connected to the outer surface of the support shell B (521). A vertically arranged stud (533) is threaded through the movable seat (532); The full material sensor (540) is installed on one side of the support shell B (521) facing the hollow shell A (400). The full material sensor (540) is located above the hollow shell A (400).

6. The intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 5, characterized in that: The feeding mechanism (600) includes an electric push rod A (610) installed on the top of the support plate (100). The output end of the electric push rod A (610) is installed with a mounting seat (620). The bottom of the mounting seat (620) is slidably connected to the top of the support plate (100). A limiting plate (630) is detachably connected to the mounting seat (620). A groove (631) allowing only one bolt fastener to be detected at a time is formed on the side of the limiting plate (630) facing the hollow shell B (511). The top surfaces of the limiting plate (630), the hollow shell B (511), and the hollow shell A (400) are on the same plane.

7. An intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 6, characterized in that: The detection mechanism (700) includes a supporting member (710) located on one side of the support plate (100) and beside the electric push rod A (610). A detection member (720) and an adjustment member (730) are provided on the supporting member (710). Among them, the supporting member (710) includes an upper supporting plate (711) and a lower supporting plate (712) arranged up and down. An optical glass disc (713) is provided above the upper supporting plate (711). A plurality of support rods (714) distributed at equal intervals in a ring shape are fixedly connected between the optical glass disc (713) and the lower supporting plate (712). The detection member (720) includes a camera A (721) provided on the upper supporting plate (711). A camera B (722) is provided at the center above the optical glass disc (713). A camera C (723) is provided at the center between the optical glass disc (713) and the lower supporting plate (712). The adjustment member (730) includes an electric push rod B (731) installed between the upper supporting plate (711) and the lower supporting plate (712). A bracket (732) is fixedly connected to the surface of the lower supporting plate (712) away from the support plate (100). A rodless cylinder B (733) is fixedly connected to the bracket (732) and the lower supporting plate (712) respectively. The camera B (722) is installed on the sliding table of one of the rodless cylinders B (733). The camera C (723) is installed on the sliding table of the other rodless cylinder B (733). A rodless cylinder C (734) is provided above the upper supporting plate (711). The camera A (721) is installed on the sliding table of the rodless cylinder C (734). A motor seat (735) is installed at the bottom of the upper supporting plate (711). A motor C (736) is installed on the motor seat (735). The output shaft of the motor C (736) is fixedly connected with a gear (737). A toothed ring (738) meshing with the gear (737) is rotatably connected to the top of the upper supporting plate (711). The rodless cylinder C (734) is installed on the top of the toothed ring (738).

8. An intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 7, characterized in that: The robotic arm (800) is installed on one side of the material box (210), and the robotic arm (800) is located between the electric push rod A (610) and the upper supporting plate (711).

9. The intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 1, characterized in that: One support (900) is installed at the bottom of each of the support plate (100), the material box (210), and the lower supporting plate (712).

10. The intelligent detection device for surface defects of bolt fasteners based on machine vision according to claim 8, characterized in that: It further includes a control system electrically connected to the microcomputer, and the rodless cylinder A (222), motor A (340), motor B (524), full material sensor (540), electric push rod A (610), camera A (721), camera B (722), camera C (723), electric push rod B (731), rodless cylinder B (733), rodless cylinder C (734), motor C (736) and the robotic arm (800) are all controlled by the control system.

Images