Full-automatic Rockwell hardness detection system with machine vision

Abstract

The invention aims to provide the full-automatic Rockwell hardness detection system with the machine vision, which is high in automation degree and capable of automatically sorting qualified products and unqualified products. The device comprises a base, an open hole is formed in the right side of the base, and a discharging groove is formed below the open hole; the picking module is arranged on one side of the base and is used for picking an anchorage device clamping piece; the code marking module is arranged on the left side of the base and used for marking an anchorage device clamping piece; the plurality of detection modules are arranged on the upper surface of the base and are used for detecting the hardness of the anchorage device clamping piece; the sorting module is arranged in the open hole, and the upper portion of the sorting module is fixedly connected with a visual detection assembly used for detecting the appearance; the discharging groove is in sliding connection with a storage box used for collecting qualified products and unqualified products, and the storage box is located below the discharging end of the sorting module. The invention is applied to the technical field of Rockwell hardness detection systems.

Description

Technical Field

[0001] The present invention relates to the technical field of Rockwell hardness testing systems, and in particular to a fully automatic Rockwell hardness testing system with machine vision. Background Art

[0002] Anchor clips play a key role in securing steel strands in prestressed concrete structures. Their hardness is a crucial factor influencing anchoring performance. Clips with higher hardness provide better engagement and anchoring, ensuring effective prestress transfer and, consequently, structural safety and stability. To ensure the safety and stability of clip anchors, post-production testing of clip anchor clip hardness is essential.

[0003] At present, the method for testing the hardness of anchor clips is that the staff places a single clip on the test table of the Rockwell hardness tester, and pre-positions the clip through a simple clamping mechanism or an auxiliary table. After the anchor clip is positioned, the staff adjusts the pressure value of the Rockwell hardness tester so that the indenter contacts the surface of the specimen, and applies the initial test force without impact, vibration, swing and overload. Then, the test rod is adjusted to the reference position, the test main force is loaded, and then the test main force is repeatedly applied near the center distance of the anchor compression piece to detect the hardness at different positions. The overall testing process is relatively long. When a large number of anchor compression pieces need to be tested, the testing staff have to repeat the actions continuously, the manual operation efficiency is low, and a large amount of manpower and material resources are required, which cannot meet the rapid testing needs and low-cost testing needs of batch products. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a fully automatic Rockwell hardness testing system with machine vision that has a high degree of automation and can automatically sort qualified and unqualified products.

[0005] The technical solution adopted by the present invention is: the present invention includes a base, a mounting groove is formed on the left side of the base, an opening is formed on the right side of the base, and a discharge trough is formed below the opening; a picking module is arranged on one side of the base, for picking up the anchor clip; a coding module is arranged in the mounting groove, for scanning and identifying the anchor clip; a plurality of detection modules, and a plurality of the detection modules are arranged on the upper surface of the base, for detecting the hardness of the anchor clip; a sorting module is arranged in the opening, and the upper part of the sorting module is fixedly connected to a visual detection component; the discharge trough is slidably connected to a storage box for collecting qualified products and unqualified products, and the storage box is located below the discharge end of the sorting module.

[0006] Furthermore, the picking module includes a support seat, a manipulator device, a mounting plate, a fixed plate, a slide device and a clamping member, the manipulator device is arranged on the upper surface of the support seat, the upper surface of the mounting plate is fixedly connected to the movable end of the manipulator device, the fixed plate is fixedly connected to the lower surface of the mounting plate, the slide device is fixedly connected to the mounting plate, the fixed plate is symmetrically provided with two guide rails, the clamping member slides with the two guide rails through a slider, the clamping member is fixedly connected to the movable end of the slide device, the front end of the clamping member is formed with a picking block for picking up the anchor clip, and the upper part of the mounting plate is provided with a positioning camera for detecting the position of the anchor clip.

[0007] Furthermore, the coding module includes a connecting plate, a first displacement device, a micro-slide, a coding connector and a laser coding device, one end of the connecting plate is fixedly connected to the base, the first displacement device is fixedly connected to the other end of the connecting plate, the micro-slide is fixedly connected to the movable section of the first displacement device, one end of the coding connector is fixedly connected to the movable end of the micro-slide, and the other end of the coding connector is detachably connected to the laser coding device through an adjustment block, and a visual positioning component is provided on one side of the laser coding device.

[0008] Furthermore, the micro-slide includes a first displacement member, a second displacement member and two adjustment rods. The first displacement member is fixedly connected to the movable end of the first displacement device, the second displacement member is slidably matched with the first displacement member, and two adjacent side surfaces of the first displacement member are provided with mounting blocks. Each of the adjustment rods is correspondingly arranged in the corresponding mounting block, and two adjacent side surfaces of the second displacement member are provided with push plates that push and match with the corresponding adjustment rods.

[0009] Furthermore, the detection module includes a hardness detection device, a connecting seat fixedly connected to one side of the hardness detection device, a displacement adjustment device fixedly connected to one end of the connecting seat, an adjustment plate connected to the movable end of the displacement adjustment device, and a test bench that slides with the adjustment plate for positioning the anchor clip. A connecting rod is provided on one side of the test bench, and the adjustment plate is formed with a slot that slides with the connecting rod. The middle part of the connecting rod is threadedly connected to a locking block for limiting pushing.

[0010] Furthermore, one end of the connecting seat is formed with a mounting groove for connecting the displacement adjustment device, an extension plate is provided above the mounting groove, and two guide rods are formed above the extension plate, and the two guide rods are guided and matched with the upper end of the adjustment plate.

[0011] Furthermore, the sorting module includes a sorting seat fixedly connected to the opening, a rotating groove is formed at the bottom of the sorting seat, a sorting plate is rotatably connected in the rotating groove, a sorting drive device is fixedly connected to the outer side of the bottom of the sorting seat, the movable end of the sorting drive device is fixedly connected to one end of the sorting plate, and a positioning block for positioning the anchor clip is formed in the middle of the sorting plate, and the positioning block is located below the visual detection component.

[0012] Furthermore, a first connecting plate for fixed connection of the visual detection component is formed on the upper portion of the sorting seat, a cover plate is formed above the first connecting plate, and a connecting pipe for line connection is opened in the middle of the cover plate.

[0013] Furthermore, the visual detection component includes a displacement adjustment member, a mounting seat, a detection camera, a positioning plate and a fill light. The fixed end of the displacement adjustment member is fixedly connected to the upper part of the sorting seat, the movable end of the displacement adjustment member is fixedly connected to the mounting seat, the detection camera is fixedly connected to the lower end of the mounting seat through a card plate, the positioning plate is fixedly connected to the middle part of the sorting seat, the fill light is fixedly connected to the lower end of the positioning plate, and the fill light is located below the detection camera.

[0014] Furthermore, a discharge trough for storing undetected anchor clips is formed in the middle of the front side of the base, and a plurality of partitions arranged at equal intervals are provided in the discharge trough.

[0015] The beneficial effects of the present invention are: since the present invention adopts a picking module, a coding module, a detection module and a sorting module, it can perform hardness tests on multiple anchor clips at the same time, and can conduct unmanned batch testing of the Rockwell hardness values of anchor clips, and can feed back, summarize and analyze the measurement data to determine whether they are qualified products and classify them for recycling. It can also flexibly meet the hardness testing requirements of anchor clips of different specifications, and has the advantages of high testing efficiency, accurate testing accuracy, high degree of automation, strong versatility, wide range of applications and low testing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a first structural schematic diagram of the present invention; Figure 2 It is a second structural schematic diagram of the present invention; Figure 3 It is a structural diagram of the pickup module of the present invention; Figure 4 is an exploded view of the base of the present invention; Figure 5 is an exploded view of the pickup module of the present invention; Figure 6 It is a structural diagram of the coding module of the present invention; Figure 7yes Figure 6 A partial enlarged view of part A; Figure 8 It is a structural schematic diagram of the micro-slide table of the present invention; Figure 9 It is a structural diagram of the detection module of the present invention; Figure 10 is an exploded view of the detection module of the present invention; Figure 11 It is a schematic diagram of the structure of the sorting module and the visual detection component of the present invention; Figure 12 It is a structural schematic diagram of the sorting seat of the present invention; Figure 13 It is a structural schematic diagram of the visual detection component of the present invention.

[0017] In the picture: 1. Base; 11. Opening; 12. Discharge chute; 13. Discharge chute; 14. Partition; 15. Storage box; 2. Picking module; 21. Support base; 22. Manipulator device; 23. Mounting plate; 24. Fixing plate; 25. Slide device; 26. Gripping claw; 27. Guide rail; 28. Picking block; 29. Positioning camera; 3. Marking module; 31. Connecting plate; 32. First displacement device; 33. Micro-slide; 331. First displacement member; 332. Second displacement member; 333. Adjustment rod; 334. Mounting block; 335. Push plate; 34. Marking connector; 35. Laser marking device; 36. Adjustment block; 37. Visual positioning member; 4. Detection module; 41. Hardness detection device; 42. Connecting seat; 421. Mounting slot; 422. Extension plate; 423. Guide rod; 43. Displacement adjustment device; 44. Adjustment plate; 45. Test bench; 46. Connecting rod; 47. Locking block; 48. Slot; 5. Sorting module; 51. Sorting seat; 52. Rotating trough; 53. Sorting plate; 54. Sorting drive device; 55. Positioning block; 56. First connecting plate; 57. Cover plate; 58. Connecting pipe; 6. Visual inspection component; 61. Displacement adjustment member; 62. Mounting seat; 63. Inspection camera; 64. Positioning plate; 65. Fill light; 66. Card board. DETAILED DESCRIPTION

[0018] like Figures 1 to 13As shown, in this embodiment, the present invention includes a base 1, a mounting groove 421 is formed on the left side of the base 1, an opening 11 is formed on the right side of the base 1, and a discharge trough 12 is formed below the opening 11; a picking module 2 is arranged on one side of the base 1, for picking up the anchor clip; a coding module 3 is arranged in the mounting groove 421, for scanning and identifying the anchor clip; a number of detection modules 4, and a number of the detection modules 4 are all arranged on the upper surface of the base 1, for detecting the hardness of the anchor clip; a sorting module 5 is arranged in the opening 11, and the upper part of the sorting module 5 is fixedly connected to the visual detection component 6; the discharge trough 12 is slidably connected to a storage box 15 for collecting qualified products and unqualified products, and the storage box 15 is located below the discharge end of the sorting module 5.

[0019] The storage box 15 for collecting qualified products and unqualified products is provided with two spaced boxes, and the two spaced boxes are connected together with a baffle. The outer surface of the baffle is provided with a handle for the staff to hold, pull out and put in. A regulating component is provided on the rear side of the base 1. The regulating component is electrically connected to the picking module 2, the coding module 3, the detection module 4 and the sorting module 5, and is used to transmit feedback signals and control signals, thereby controlling the hardness detection process of the anchor clip. The discharge trough 13 is located at the front end of the base 1. The staff will place the pre-arranged anchor clips in the discharge trough 13, and the picking module 2 will grab a single piece of anchor clip for testing each time through the clamping claw 26; The picking module 2, the coding module 3, the detection module 4 and the sorting module 5 are used to perform hardness tests on multiple anchor clips at the same time. The Rockwell hardness values of the anchor clips can be tested in batches without human intervention. The measurement data can be fed back, summarized and analyzed to determine whether they are qualified products and classified for recycling. The hardness test requirements of anchor clips of different specifications can be flexibly met. The system has the advantages of high testing efficiency, accurate testing accuracy, high degree of automation, strong versatility, wide application range and low testing cost.

[0020] In this embodiment, the picking module 2 includes a support base 21, a manipulator device 22, a mounting plate 23, a fixed plate 24, a slide device 25 and a clamping claw member 26. The manipulator device 22 is arranged on the upper surface of the support base 21, the upper surface of the mounting plate 23 is fixedly connected to the movable end of the manipulator device 22, the fixed plate 24 is fixedly connected to the lower surface of the mounting plate 23, the slide device 25 is fixedly connected to the mounting plate 23, the fixed plate 24 is symmetrically provided with two guide rails 27, the clamping claw member 26 slides with the two guide rails 27 through a slider, the clamping claw member 26 is fixedly connected to the movable end of the slide device 25, the front end of the clamping claw member 26 is formed with a picking block 28 for picking up the anchor clip, and the upper part of the mounting plate 23 is provided with a positioning camera 29 for detecting the position of the anchor clip.

[0021] The manipulator device 22 is a six-axis manipulator, and the slide device 25 is a screw slide. The screw is driven by a rotating motor to rotate, thereby realizing the forward and backward movement of the clamping claw 26. The positioning camera 29 fixed on the upper part of the mounting plate 23 records the front end position of the clamping claw in real time. The positioning camera 29 is an industrial camera based on time-of-flight ToF technology. The specific model can refer to Basler Tof. It can collect depth data of objects and even the entire scene. It is suitable for picking and placing applications in logistics and production environments, and improves the accuracy of the clamping claw 26 in picking up the anchor clip. The clamping claw 26 is a pneumatic clamping claw, and the opening and closing of the clamping claw 26 is controlled by air pressure. The picking block 28 at the front end of the clamping claw 26 is made of rubber. The rubber picking block 28 provides a buffer during the picking process of the anchor clip to avoid excessive force of the clamping claw 26 and damage to the anchor clip.

[0022] In this embodiment, the coding module 3 includes a connecting plate 31, a first displacement device 32, a micro-slide 33, a coding connector 34 and a laser coding device 35. One end of the connecting plate 31 is fixedly connected to the base 1, the first displacement device 32 is fixedly connected to the other end of the connecting plate 31, the micro-slide 33 is fixedly connected to the movable section of the first displacement device 32, one end of the coding connector 34 is fixedly connected to the movable end of the micro-slide 33, and the other end of the coding connector 34 is detachably connected to the laser coding device 35 through an adjustment block 36. A visual positioning component 37 is provided on one side of the laser coding device 35.

[0023] The other end of the marking connector 34 is formed with two arc-shaped grooves. The laser marking device 35 is fixed to the marking connector 34 by an adjustment block 36. The staff can adjust the tilt angle according to the marking position of the anchor clips of different sizes to improve the compatibility of the entire equipment. The first displacement component is a screw slide cylinder, which drives the screw to rotate through a rotating motor to realize the up and down displacement adjustment of the laser coding device 35. The micro slide 33 is used to adjust the X-axis and Y-axis directions of the laser coding device 35 to ensure the laser coding position. The fiber laser marking machine, ultraviolet laser coding equipment, CO2 laser coding equipment or laser inkjet coding equipment, the anchor clip is tested after online marking during the detection process to realize the automation and intelligence of the production process. The visual positioning part 37 on one side of the laser coding device 35 is a CCD visual positioning industrial camera, which uses a high-precision CCD camera to locate the current position of the product, calculate the XY coordinates and deflection angle of the workpiece, and transmit the information to the marking card. The anchor clip is picked up by the manipulator device 22 to the corresponding marking position for accurate marking of the anchor clip.

[0024] In this embodiment, the micro-slide 33 includes a first displacement member 331, a second displacement member 332 and two adjustment rods 333. The first displacement member 331 is fixedly connected to the movable end of the first displacement device 32, and the second displacement member 332 is slidably matched with the first displacement member 331. The two adjacent side surfaces of the first displacement member 331 are respectively provided with mounting blocks 334. Each of the adjustment rods 333 is correspondingly arranged in the corresponding mounting blocks 334. The two adjacent side surfaces of the second displacement member 332 are respectively provided with push plates 335 that push and match with the corresponding adjustment rods 333.

[0025] The first displacement member 331 and the second displacement member 332 control the relative positions in the X-axis direction and the Y-axis direction through the adjustment rod 333. The front end of the adjustment rod 333 is a push rod, and the middle part of the adjustment rod 333 is connected and fixed to the mounting block 334. The rear end of the adjustment rod 333 can be turned into a knob, which drives the push rod to extend and retract through the thread to adjust the displacement distance between the first displacement member 331 and the second displacement member 332, thereby achieving the effect of fine-tuning in the X-axis direction and the Y-axis direction.

[0026] In this embodiment, the detection module 4 includes a hardness detection device 41, a connecting seat 42 fixedly connected to one side of the hardness detection device 41, a displacement adjustment device 43 fixedly connected to one end of the connecting seat 42, an adjustment plate 44 connected to the movable end of the displacement adjustment device 43, and a test table 45 that slides with the adjustment plate 44 for positioning the anchor clip. A connecting rod 46 is provided on one side of the test table 45, and the adjustment plate 44 is formed with a slot 48 that slides with the connecting rod 46. The middle part of the connecting rod 46 is threadedly connected with a locking block 47 for limiting pushing.

[0027] The hardness testing device 41 is an electric Rockwell hardness tester, which can realize electric loading, automatic switching of test force application, maintenance and removal, simple and quick operation, automatic test force compensation, greatly improved force accuracy, automatic correction of high, medium and low hardness values, and can automatically record the hardness data of the corresponding code anchor clip; The displacement adjustment device is a telescopic cylinder used to drive the test platform 45 to move forward and backward to adjust the test point of the anchor clip. A certain space is left between the locking block 47 and the end of the connecting rod 46 to ensure that the adjustment plate 44 can stably push the test platform 45 forward and backward without affecting the test platform 45 from moving up and down with the anchor clip pressure test; The test bench 45 is a rectangular parallelepiped with a sloped top surface. A semi-cylindrical semi-circular support is formed in the middle of the inclined platform. The arc top surface of the semi-circular support is closely fitted with the inner cavity surface of the anchor clip, and the length of the semi-circular support is not less than the length of the anchor clip. It can accommodate the hardness test requirements of multiple specifications of anchor clips with the same diameter and different lengths, and has the advantages of strong versatility and a wide range of applications.

[0028] In this embodiment, a mounting groove 421 for connecting the displacement adjustment device 43 is formed at one end of the connecting seat 42, and an extension plate 422 is provided above the mounting groove 421. Two guide rods 423 are formed above the extension plate 422. The two guide rods 423 are guided and cooperated with the upper end of the adjustment plate 44. The guide rod 423 structure enables the displacement adjustment device to remain stable during the movement before and after the test.

[0029] In this embodiment, the sorting module 5 includes a sorting seat 51 fixedly connected to the opening 11, a rotating groove 52 is formed at the bottom of the sorting seat 51, and a sorting plate 53 is rotatably connected in the rotating groove 52. A sorting drive device 54 is fixedly connected to the outer side of the bottom of the sorting seat 51, and the movable end of the sorting drive device 54 is fixedly connected to one end of the sorting plate 53. A positioning block 55 for positioning the anchor clip is formed in the middle of the sorting plate 53, and the positioning block 55 is located below the visual detection component 6.

[0030] The sorting drive device 54 is a rotary motor, which controls the sorting plate 53 to rotate clockwise or counterclockwise, and drops the anchor clip placed on the positioning block 55 into the corresponding position of the material storage box 15. The structure is simple and the material sorting is fast and effective.

[0031] In this embodiment, a first connecting plate 56 is formed on the upper portion of the sorting seat 51 to which the visual inspection assembly 6 is fixedly connected. A cover plate 57 is formed above the first connecting plate 56. A connecting pipe 58 for circuit connection is provided in the middle of the cover plate 57. The cover plate 57 is used to reduce the influence of external light on the visual inspection assembly 6 during the visual inspection of the anchor clip, further improving the accuracy of the visual inspection.

[0032] In this embodiment, the visual detection component 6 includes a displacement adjustment member 61, a mounting seat 62, a detection camera 63, a positioning plate 64 and a fill light 65. The fixed end of the displacement adjustment member 61 is fixedly connected to the upper part of the sorting seat 51, and the movable end of the displacement adjustment member 61 is fixedly connected to the mounting seat 62. The detection camera 63 is fixedly connected to the lower end of the mounting seat 62 through a clamping plate 66. The positioning plate 64 is fixedly connected to the middle part of the sorting seat 51. The fill light 65 is fixedly connected to the lower end of the positioning plate 64. The fill light 65 is located below the detection camera 63.

[0033] The displacement adjustment member 61 is a micro-adjustment member that adjusts the height of the detection camera 63 in the Z-axis direction through a threaded rod, adjusts the focal length of the visual detection, and improves the effectiveness of the detection; Inspection camera 63 is used for appearance inspection of anchor clips. If the hardness test finds that the hardness of the clip is too low, the anchor clip may further undergo plastic deformation during later use. When the hardness is too high, although the plastic deformation is small during the hardness test, it may cause the anchor clip to become more brittle, reduce its toughness, and generate cracks during the pressure test, affecting the anchoring performance. The inspection camera 63 model can be the CV-2000 / CV-5000 series, with high resolution and fast image acquisition and processing capabilities, and can collect clear images to facilitate subsequent defect detection algorithms to perform precise analysis.

[0034] In this embodiment, a trough 13 for storing untested anchor clips is formed in the middle of the front side of the base 1. The trough 13 is provided with a number of equally spaced partitions 14. The staff places the pre-sorted anchor clips in the trough 13, and the partitions 14 are used to separate multiple groups of anchor clips.

[0035] Working principle of the present invention: The staff places the pre-arranged anchor clips in the discharge trough 13. The manipulator device 22 scans and identifies the anchor clips above the discharge trough 13 through the positioning camera 29, records the placement position of the anchor clips, adjusts the visual components according to the recorded displacement size and model of the anchor clips, and adjusts the Z-axis height, X-axis and Y-axis positions and tilt angles of the laser coding device 35; During the inspection, the manipulator device 22 drives the clamping claw 26 to approach the anchor clip of the discharge trough 13, and the clamping claw 26 picks up the single anchor clip. The manipulator device 22 moves the anchor clip to the coding position of the coding module 3, and the laser coding device 35 laser marks the anchor clip. The coding information is synchronously fed back and recorded into the control component. Then the manipulator assembly puts the anchor clip into one of the test benches 45, and the highest position of the arc surface of the anchor clip is aligned with the center of the pressure head of the hardness detection device 41. The hardness testing device rises to perform a pre-compression test, and the pressure head contacts the highest position of the arc surface of the anchor clip and maintains a predetermined pre-compression time, and then drops to contact the pre-compression force. The hardness testing device rises again to automatically load the test main force to perform the first hardness test. After the pressure head and the highest position of the arc surface of the anchor clip are maintained for a predetermined test time, the hardness is recorded and fed back to the control assembly, the test main force is released, the displacement adjustment device 43 adjusts the position of the test bench 45, and the hardness test is repeated until the three-point hardness test is completed. During the hardness test, the manipulator device 22 picks up the next anchor clip, marks it, and puts it into another detection module 4; After the hardness test of the anchor clip is completed, the clamping claw 26 picks it up and puts it into the positioning block 55, and the inspection camera 63 inspects the appearance of the anchor clip. If there are any damages or cracks in the hardness appearance of the anchor clip during the hardness test, it is an unqualified product that affects the anchoring performance. The sorting drive device 54 drives the sorting plate 53 to rotate, so that the unqualified anchor clips fall into the unqualified product side of the storage box 15, and the qualified products fall into the qualified product side of the storage box 15.

[0036] Although the embodiments of the present invention are described with practical solutions, they do not limit the meaning of the present invention. For those skilled in the art, it is obvious to modify the implementation scheme and combine it with other solutions based on this description.

Claims

1. A fully automatic Rockwell hardness testing system with machine vision, characterized in that: include: A base (1), wherein an opening (11) is formed on the right side of the base (1), and a discharge chute (12) is formed below the opening (11); A picking module (2) is provided on one side of the base (1) and is used to pick up the anchor clip; A marking module (3) is arranged on the left side of the base (1) and is used to mark the anchor clip; A plurality of detection modules (4), wherein the plurality of detection modules (4) are arranged on the upper surface of the base (1) and are used to detect the hardness of the anchor clip; A sorting module (5) is arranged in the opening (11), and a visual inspection component (6) for inspecting appearance is fixedly connected to the upper portion of the sorting module (5); The discharge chute (12) is slidably connected to a storage box (15) for collecting qualified products and unqualified products, and the storage box (15) is located below the discharge end of the sorting module (5).

2. The fully automatic Rockwell hardness testing system with machine vision according to claim 1, characterized in that: The picking module (2) includes a support base (21), a manipulator device (22), a mounting plate (23), a fixing plate (24), a slide device (25) and a clamping claw (26), wherein the manipulator device (22) is arranged on the upper surface of the support base (21), the upper surface of the mounting plate (23) is fixedly connected to the movable end of the manipulator device (22), the fixing plate (24) is fixedly connected to the lower surface of the mounting plate (23), and the slide device (25) is fixedly connected to the lower surface of the mounting plate (23). The fixing plate (24) is fixedly connected to the mounting plate (23), and two guide rails (27) are symmetrically provided on the fixing plate (24). The clamping jaw (26) is slidably matched with the two guide rails (27) through a slider. The clamping jaw (26) is fixedly connected to the movable end of the slide device (25). A picking block (28) for picking up the anchor clip is formed at the front end of the clamping jaw (26), and a positioning camera (29) for detecting the position of the anchor clip is provided on the upper part of the mounting plate (23).

3. The fully automatic Rockwell hardness testing system with machine vision according to claim 1, characterized in that: The coding module (3) includes a connecting plate (31), a first displacement device (32), a micro-slide (33), a coding connector (34) and a laser coding device (35), one end of the connecting plate (31) is fixedly connected to the base (1), the first displacement device (32) is fixedly connected to the other end of the connecting plate (31), the micro-slide (33) is fixedly connected to the movable section of the first displacement device (32), one end of the coding connector (34) is fixedly connected to the movable end of the micro-slide (33), the other end of the coding connector (34) is detachably connected to the laser coding device (35) via an adjustment block (36), and a visual positioning member (37) is provided on one side of the laser coding device (35).

4. The fully automatic Rockwell hardness testing system with machine vision according to claim 3, characterized in that: The micro-slide (33) includes a first displacement member (331), a second displacement member (332) and two adjustment rods (333), wherein the first displacement member (331) is fixedly connected to the movable end of the first displacement device (32), the second displacement member (332) is slidably matched with the first displacement member (331), two adjacent side surfaces of the first displacement member (331) are provided with mounting blocks (334), each of the adjustment rods (333) is correspondingly arranged in the corresponding mounting blocks (334), and two adjacent side surfaces of the second displacement member (332) are provided with push plates (335) that push and match with the corresponding adjustment rods (333).

5. The fully automatic Rockwell hardness testing system with machine vision according to claim 1, characterized in that: The detection module (4) includes a hardness detection device (41), a connecting seat (42) fixedly connected to one side of the hardness detection device (41), a displacement adjustment device (43) fixedly connected to one end of the connecting seat (42), an adjustment plate (44) connected to the movable end of the displacement adjustment device (43), and a test bench (45) for slidably cooperating with the adjustment plate (44) for positioning the anchor clip, a connecting rod (46) being provided on one side of the test bench (45), the adjustment plate (44) being formed with a slot (48) slidably cooperating with the connecting rod (46), and a locking block (47) for limiting and pushing being threadedly connected to the middle part of the connecting rod (46).

6. The fully automatic Rockwell hardness testing system with machine vision according to claim 5, characterized in that: One end of the connecting seat (42) is formed with a mounting groove (421) for connecting the displacement adjustment device (43), an extension plate (422) is provided above the mounting groove (421), and two guide rods (423) are formed above the extension plate (422), and the two guide rods (423) are in guiding engagement with the upper end of the adjustment plate (44).

7. The fully automatic Rockwell hardness testing system with machine vision according to claim 1, characterized in that: The sorting module (5) includes a sorting seat (51) fixedly connected to the opening (11), a rotating groove (52) is formed at the bottom of the sorting seat (51), a sorting plate (53) is rotatably connected in the rotating groove (52), a sorting drive device (54) is fixedly connected to the outer side of the bottom of the sorting seat (51), a movable end of the sorting drive device (54) is fixedly connected to one end of the sorting plate (53), a positioning block (55) for positioning an anchor clip is formed in the middle of the sorting plate (53), and the positioning block (55) is located below the visual detection component (6).

8. The fully automatic Rockwell hardness testing system with machine vision according to claim 7, characterized in that: A first connecting plate (56) for fixed connection of the visual detection assembly (6) is formed on the upper portion of the sorting seat (51), a cover plate (57) is formed above the first connecting plate (56), and a connecting pipe (58) for line connection is opened in the middle of the cover plate (57).

9. The fully automatic Rockwell hardness testing system with machine vision according to claim 7, characterized in that: The visual inspection component (6) includes a displacement adjustment member (61), a mounting seat (62), a detection camera (63), a positioning plate (64) and a fill light (65), wherein the fixed end of the displacement adjustment member (61) is fixedly connected to the upper part of the sorting seat (51), the movable end of the displacement adjustment member (61) is fixedly connected to the mounting seat (62), the detection camera (63) is fixedly connected to the lower end of the mounting seat (62) through a card plate (66), the positioning plate (64) is fixedly connected to the middle part of the sorting seat (51), the fill light (65) is fixedly connected to the lower end of the positioning plate (64), and the fill light (65) is located below the detection camera (63).

10. The fully automatic Rockwell hardness testing system with machine vision according to claim 1, characterized in that: A discharge trough (13) for storing undetected anchor clips is formed in the middle of the front side of the base (1), and a plurality of partitions (14) arranged at equal intervals are provided in the discharge trough (13).

Images