Automatic feeding CCD (Charge Coupled Device) visual inspection method

Abstract

The invention relates to the technical field of product appearance detection, and discloses an automatic feeding CCD (Charge Coupled Device) visual detection method, which comprises the following steps that: a feeding mechanism conveys a to-be-detected product to a direct vibration transfer mechanism; the direct vibration transfer mechanism conveys the products to the flexible vibration disc, and the CCD camera visual distribution system carries out image acquisition and attitude analysis on the products; the four-axis robot grabs the positioned product through the product taking sharing mechanism and places the product on the product sharing transfer mechanism; a CCD camera visual inspection system synchronously collects product appearance images and carries out defect identification; the four-axis robot puts qualified products into a non-defective product channel of the material distributing mechanism, and puts unqualified products into a defective product channel of the material distributing mechanism; by means of cooperative linkage of the feeding mechanism, the transferring mechanism, the distributing and positioning mechanism, the grabbing mechanism, the detecting mechanism, the sorting mechanism and the like, manual detection and semi-automatic operation are replaced, the problems that manual detection is high in omission ratio, inconsistent in standard and low in efficiency are thoroughly solved, the batch production takt time requirement is met, and the production efficiency is remarkably improved.

Description

Technical Field

[0001] This invention relates to the technical field of product appearance inspection, and more specifically, to an automated feeding CCD vision inspection method. Background Technology

[0002] In mass production scenarios, injection-molded products need to undergo appearance defect inspection to select good products.

[0003] In existing technologies, this inspection process largely relies on manual operation. Manual inspection is affected by factors such as visual fatigue and subjective judgment differences, resulting in a high rate of missed detections and inconsistent inspection standards. At the same time, manual inspection is inefficient and difficult to match the pace requirements of mass production. Furthermore, defective products flowing into subsequent assembly stages can lead to assembly failures and waste of resources. Summary of the Invention

[0004] The purpose of this invention is to provide an automated feeding CCD vision inspection method, which aims to solve the problems of high missed detection rate and inconsistent inspection standards in the existing technology of manual inspection.

[0005] The present invention provides an automated feeding CCD vision inspection method, comprising the following steps: S1: The frame is equipped with a feeding mechanism, a direct vibration transfer mechanism, a flexible vibrating plate, a CCD camera vision sorting system, a product picking mechanism, a four-axis robot, a product picking mechanism, a CCD camera vision inspection system, and a sorting mechanism; the feeding mechanism starts feeding and transports the product to be inspected to the direct vibration transfer mechanism; S2: The direct vibration transfer mechanism transports the product along the feeding track of the appropriate width to the flexible vibrating plate. The CCD camera vision sorting system performs image acquisition and attitude analysis on the product on the flexible vibrating plate to complete the product sorting and positioning. S3: After receiving the material distribution and positioning signal, the four-axis robot grabs the positioned product through the product sharing mechanism and accurately places it on the bearing surface of the product sharing transfer mechanism. S4: The product's shared transfer mechanism moves along a preset track to the detection area of ​​the CCD camera vision inspection system, driving the carried product to rotate. The CCD camera vision inspection system simultaneously acquires product appearance images and performs defect identification. S5: The four-axis robot receives the detection result signal from the CCD camera vision inspection system, puts qualified products into the good product channel of the sorting mechanism, and puts unqualified products into the defective product channel of the sorting mechanism. The products fall into the good product box or the defective product box through the corresponding channel respectively. S6: The entire process is controlled by the controller, which controls the sequence of actions, the range of motion, and the working time of each step to achieve coordinated linkage of various mechanisms; the controller communicates with the four-axis robot, the CCD camera vision sorting system, and the CCD camera vision inspection system via Ethernet.

[0006] Furthermore, in step S2, the CCD camera vision sorting system includes a first CCD camera and a ring light source. The ring light source is arranged around the lens of the first CCD camera. The first CCD camera is perpendicular to the surface of the flexible vibrating disk to acquire images. Based on the image grayscale value analysis, the placement posture and position coordinates of the product are analyzed, a sorting positioning signal is generated and transmitted to the four-axis robot.

[0007] Furthermore, in step S4, the CCD camera vision inspection system includes a second CCD camera and a third CCD camera. The second CCD camera is positioned above the product along a direction perpendicular to the product's rotation axis and is used to acquire images of the product's upper surface. The third CCD camera is arranged at an angle on one side of the product and below the second CCD camera and is used to acquire images of the product's side surface. The second CCD camera and the third CCD camera synchronously acquire and transmit image data to the controller.

[0008] Furthermore, in step S3, the product-collecting shared mechanism includes grippers, a drive cylinder, and a lifter. The lifter is installed on the working end of the four-axis robot, the drive cylinder is installed on the working end of the lifter, and the grippers are detachably connected to the drive cylinder. The working range of the four-axis robot covers the flexible vibratory feeder, the product-collecting transfer mechanism, and the material distribution mechanism.

[0009] Furthermore, in step S4, the product common transfer mechanism includes a mobile platform and a support platform for carrying the product. The support platform is located on top of the mobile platform, and a stepper motor for driving the support platform to rotate is installed in the mobile platform. The mobile platform and the stepper motor are detachably connected.

[0010] Furthermore, it also includes a track and a drive motor for driving the moving platform to reciprocate along the track, the drive motor being mounted on one side of the track, and the moving platform slidingly engaging with the track.

[0011] Furthermore, in step S1, the feeding mechanism includes a hopper and an inclined feeding channel. The upper end of the feeding channel is connected to the outlet of the hopper, and the lower end of the feeding channel is connected to the feed end of the direct vibration transfer mechanism. A flow-limiting door is provided between the hopper and the feeding channel, and the inner wall of the feeding channel is provided with a wear-resistant coating.

[0012] Furthermore, in step S2, the flexible vibratory disk is circumferentially enclosed by an enclosure frame, and an elastically deformable transition membrane is provided between the enclosure frame and the disk surface of the flexible vibratory disk. The transition membrane extends along the end of the enclosure frame near the direct vibration transfer mechanism to the middle of the disk surface of the flexible vibratory disk and is arranged in an inclined manner; the discharge end of the direct vibration transfer mechanism extends above the transition membrane. When the product enters the flexible vibratory feeder from the discharge end of the direct vibration transfer mechanism, the product first contacts the transition membrane. The transition membrane gathers the product onto the surface of the flexible vibratory feeder through elastic force or through buffering force.

[0013] Further, in step S1, the direct vibration transfer mechanism includes a vibrator and a direct vibration disk. The direct vibration disk is mounted on top of the vibrator. The discharge end of the direct vibration disk extends to form a discharge disk located above the flexible vibration disk. The discharge disk is arranged at an angle along the top-to-bottom direction. Multiple spaced guide ribs are provided on the surface of the discharge disk. A feeding track is formed between adjacent guide ribs. The width of the feeding track is greater than the maximum cross-sectional width of the product to be tested. The outer end of the feeding track extends along the discharge direction of the discharge disk. The cross-section of the guide rib is a semi-circular structure. The inner end of the feeding track extends at least partially onto the direct vibration disk. A flow-limiting baffle is provided between the discharge plate and the vibrating plate. The bottom of the flow-limiting baffle and the surface of the vibrating plate form a flow-limiting channel that communicates with the feeding track.

[0014] Furthermore, the discharge tray has a fan-shaped structure, and anti-slip protrusions are raised on the surfaces of the feeding track and the guide ribs. The anti-slip protrusions are evenly distributed along the extension direction of the feeding track, and the anti-slip protrusions have a hemispherical structure.

[0015] Compared with existing technologies, the automatic feeding CCD vision inspection method provided by this invention replaces manual inspection and semi-automated operations through the coordinated linkage of feeding, transfer, material positioning, gripping, inspection, and sorting mechanisms. This completely solves the problems of high missed inspection rate, inconsistent standards, and low efficiency in manual inspection, matches the batch production cycle requirements, and significantly improves production efficiency. The controller communicates with core components such as the four-axis robot, CCD camera vision material sorting system, and CCD camera vision inspection system via Ethernet. Ethernet transmission speed is fast and stable, ensuring precise matching of the sequence, amplitude, and timing of the actions of each mechanism, avoiding action conflicts or delays, and improving the continuity and reliability of the inspection process. It seamlessly connects product inspection with qualified or unqualified sorting. The four-axis robot directly completes the classification based on the inspection results, preventing defective products from flowing into subsequent stages, reducing resource waste, and lowering production costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the workflow of the automatic feeding CCD vision inspection method provided by the present invention; Figure 2 This is a three-dimensional schematic diagram of the automatic feeding CCD vision inspection method provided by the present invention; Figure 3 This is a three-dimensional schematic diagram of the product retrieval mechanism and the four-axis robot provided by the present invention; Figure 4 This is a three-dimensional schematic diagram of the direct vibration transfer mechanism and flexible vibratory disk provided by the present invention; Figure 5 This is a three-dimensional schematic diagram of the feeding mechanism provided by the present invention.

[0017] In the diagram: Frame 10, feeding mechanism 20, direct vibration transfer mechanism 30, flexible vibratory plate 40, CCD camera vision sorting system 50, product picking mechanism 60, four-axis robot 70, product picking mechanism 80, CCD camera vision inspection system 90, sorting mechanism 100, good product channel 101, defective product channel 102, good product box 103, defective product box 104, hopper 21, feeding channel 22, flow-limiting door 23, semi-circular rib 24, vibrator 31, direct vibration plate 32, discharge plate 33, guide rib 34, feeding track 35, flow-limiting baffle 36, enclosure frame 41, transition membrane 42, first CCD camera 51, gripper 61, drive cylinder 62, lifter 63, moving table 81, bearing platform 82, stepper motor 83, track bar 84, drive motor 85, second CCD camera 91, third CCD camera 92. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0020] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0021] Reference Figure 1-5 The image shown is a preferred embodiment of the present invention.

[0022] An automated feeding CCD vision inspection method includes the following steps: S1: The frame 10 is equipped with a feeding mechanism 20, a direct vibration transfer mechanism 30, a flexible vibratory feeder 40, a CCD camera vision sorting system 50, a product picking mechanism 60, a four-axis robot 70, a product picking mechanism 80, a CCD camera vision sorting system 50, and a sorting mechanism 100; the feeding mechanism 20 starts feeding and transports the product to be tested to the direct vibration transfer mechanism 30; S2: The direct vibration transfer mechanism 30 transports the product along the feeding track 35 of the appropriate width to the flexible vibratory plate 40. The CCD camera vision sorting system 50 performs image acquisition and attitude analysis on the product on the flexible vibratory plate 40 to complete the product sorting and positioning. S3: After receiving the material distribution and positioning signal, the four-axis robot 70 picks up the positioned product through the product sharing mechanism 60 and accurately places it on the bearing surface of the product sharing transfer mechanism 80. S4: The product-shared transfer mechanism 80 moves along the preset track to the detection area of ​​the CCD camera vision inspection system 90, driving the product it carries to rotate. The CCD camera vision inspection system 90 simultaneously acquires product appearance images and performs defect identification. S5: The four-axis robot 70 receives the detection result signal from the CCD camera vision inspection system 90, puts qualified products into the good product channel 101 of the sorting mechanism 100, and puts unqualified products into the defective product channel 102 of the sorting mechanism 100. The products fall into the good product box 103 or the defective product box 104 through the corresponding channels respectively. S6: The entire process is controlled by the controller, which controls the sequence of actions, the range of motion, and the working time of each step to achieve coordinated linkage of various mechanisms; the controller communicates with the four-axis robot 70, the CCD camera vision sorting system 50, and the CCD camera vision inspection system 90 via Ethernet.

[0023] The aforementioned automated feeding CCD vision inspection method replaces manual inspection and semi-automated operations through the coordinated linkage of feeding, transfer, material positioning, gripping, inspection, and sorting mechanisms. This completely solves the problems of high missed inspection rates, inconsistent standards, and low efficiency associated with manual inspection, matching the pace requirements of batch production and significantly improving production efficiency. The controller communicates with core components such as the four-axis robot 70, the CCD camera vision material sorting system 50, and the CCD camera vision inspection system 90 via Ethernet. Ethernet's high transmission speed and strong stability ensure precise matching of the sequence, amplitude, and timing of actions by each mechanism, avoiding action conflicts or delays and improving the continuity and reliability of the inspection process. It seamlessly connects product inspection with qualified or unqualified sorting; the four-axis robot 70 directly completes the classification based on the inspection results, preventing defective products from flowing into subsequent stages, reducing resource waste, and lowering production costs.

[0024] The controller provides unified management of data from all stages, offering hardware support for recording test data, optimizing production processes, and tracing quality issues, thus addressing the lack of traceability in existing automated testing data.

[0025] The controller includes a main control PLC, which communicates with the four-axis robot 70, the CCD camera vision sorting system 50, and the CCD camera vision inspection system 90 via Ethernet. The controller is equipped with a remote communication interface to support remote monitoring and fault diagnosis.

[0026] The main control PLC communicates with each core mechanism via Ethernet. Compared with traditional communication methods, the transmission speed is faster and the signal is more stable, ensuring rapid response of coordinated actions between mechanisms and accurate execution of instructions, reducing operational errors caused by communication delays. The controller's remote communication interface supports remote monitoring and fault diagnosis, allowing staff to monitor the equipment's operating status in real time (such as feeding speed, inspection quantity, pass rate, etc.) without on-site supervision, thus reducing labor costs. When equipment malfunctions, fault codes and operating data can be obtained remotely to quickly locate the cause of the malfunction, shorten troubleshooting and downtime, and improve equipment uptime. The main control PLC can automatically record key data during the testing process (such as testing time, product number, defect type, pass rate, etc.), realize full traceability of testing data, provide reliable data support for production process optimization and quality problem tracing, and solve the problem of non-traceability of testing data in existing equipment.

[0027] The controller is equipped with relays, contactors, and a touch screen. It also features an emergency stop button, alarm indicator lights, and a remote communication interface. The main PLC connects to each mechanism via Ethernet.

[0028] In this embodiment, in step S2, the CCD camera vision sorting system 50 includes a first CCD camera 51 and a ring light source. The ring light source is set around the lens of the first CCD camera 51. The first CCD camera 51 is perpendicular to the surface of the flexible vibrating disk 40 to acquire images. Based on the image grayscale value analysis, the product's placement posture and position coordinates are analyzed, a sorting positioning signal is generated and transmitted to the four-axis robot 70.

[0029] The ring light source can provide uniform illumination to the products on the flexible vibrating plate 40, eliminating the interference of local shadows or reflections on image acquisition and ensuring image clarity and consistency. The first CCD camera 51 acquires images perpendicular to the disk surface with a stable viewing angle. By combining the image grayscale values ​​to analyze the product's posture and position coordinates, it can more accurately identify the product's placement status compared to traditional mechanical positioning or single vision positioning. It generates material sorting and positioning signals, providing precise coordinate references for the four-axis robot 70 to grasp the product, thus avoiding detection errors or product damage caused by grasping deviations.

[0030] The CCD camera vision material sorting system 50 acquires and analyzes images in real time, enabling product positioning without manual intervention. It features fast material sorting response and adapts to the continuous feeding rhythm of the flexible vibrating plate 40, improving overall material sorting efficiency.

[0031] In this embodiment, in step S4, the CCD camera vision inspection system 90 includes a second CCD camera 91 and a third CCD camera 92. The second CCD camera 91 is positioned above the product along a direction perpendicular to the product's rotation axis and is used to acquire images of the product's upper surface. The third CCD camera 92 is arranged at an angle on one side of the product and below the second CCD camera 91 and is used to acquire images of the product's side surface. The second CCD camera 91 and the third CCD camera 92 synchronously acquire and transmit image data to the controller.

[0032] By combining the design of the second CCD camera 91 (vertically acquiring the upper surface) and the third CCD camera 92 (tiltedly acquiring the side surface), the key detection areas of the upper and side surfaces of the product are covered, solving the problem of defect omission caused by only one side or fixed angle detection of the product in the existing technology, and achieving comprehensive coverage of appearance defects.

[0033] The second CCD camera 91 and the third CCD camera 92 simultaneously acquire images and transmit them to the controller, avoiding the reduction in detection efficiency caused by separate acquisitions. At the same time, they ensure the continuity of images from all angles during product rotation, facilitating the controller to perform all-round defect identification of the product's appearance and improving detection accuracy and completeness.

[0034] In this embodiment, in step S3, the product-sharing mechanism 60 includes a gripper 61, a drive cylinder 62, and a lifter 63. The lifter 63 is installed on the working end of the four-axis robot 70, and the drive cylinder 62 is installed on the working end of the lifter 63. The gripper 61 and the drive cylinder 62 are detachably connected. The working range of the four-axis robot 70 covers the flexible vibratory feeder 40, the product-sharing transfer mechanism 80, and the material distribution mechanism 100.

[0035] The lifting device 63 can adjust the height of the gripper 61, and the drive cylinder 62 controls the opening and closing force of the gripper 61. The two work together to achieve stable gripping and placement of products, avoiding damage to the products due to excessive gripping or falling due to excessive loose gripping, thus improving gripping reliability. The gripper 61 and the drive cylinder 62 are detachably connected, and the gripper 61 can be replaced according to the shape and size of different products without replacing the entire material handling mechanism, thus reducing equipment adaptation costs.

[0036] In this embodiment, in step S4, the product common transfer mechanism 80 includes a moving platform 81 and a support platform 82 for carrying the product. The support platform 82 is located on top of the moving platform 81. A stepper motor 83 for driving the support platform 82 to rotate is installed in the moving platform 81. The moving platform 81 and the stepper motor 83 are detachably connected. Only the gripper 61 and the support platform 82 are replaced, while keeping the structural parameters of the feeding mechanism 20, the direct vibration transfer mechanism 30, the flexible vibrating plate 40, the CCD camera vision system, and the four-axis robot 70 unchanged.

[0037] By simply replacing the gripper 61 and the carrier platform 82 to suit different products, the structural parameters of core mechanisms such as feeding, transfer, vision system, and four-axis robot 70 can remain unchanged, solving the drawback of "single product customization" of existing automated testing equipment and reducing equipment investment costs and changeover time for multi-variety product production.

[0038] Stepper motor 83 drives the carrier platform 82 to rotate. The rotation speed is uniform and the control is precise, ensuring the product's posture is stable during the inspection process. This provides a stable inspection benchmark for simultaneous acquisition by multiple cameras and avoids image blurring or inspection deviation caused by rotation and shaking.

[0039] In this embodiment, the system also includes a track bar 84 and a drive motor 85 for driving the moving stage 81 to reciprocate along the track bar 84. The drive motor 85 is mounted on one side of the track bar 84, and the moving stage 81 is slidably engaged with the track bar 84.

[0040] The drive motor 85 drives the moving stage 81 to move back and forth along the track 84. The track 84 provides guidance and constraint for the movement, ensuring that the moving path of the moving stage 81 is accurate and controllable, so that the product shared transfer mechanism 80 can accurately reach the detection area of ​​the CCD camera vision inspection system 90, avoiding positional deviation from affecting the detection.

[0041] In this embodiment, in step S1, the feeding mechanism 20 includes a hopper 21 and an inclined feeding channel 22. The upper end of the feeding channel 22 is connected to the outlet of the hopper 21, and the lower end of the feeding channel 22 is connected to the feed end of the direct vibration transfer mechanism 30. A flow-limiting door 23 is provided between the hopper 21 and the feeding channel 22, and the inner wall of the feeding channel 22 is provided with a wear-resistant coating.

[0042] The flow-limiting gate 23 between the hopper 21 and the feeding channel 22 can adjust the feeding speed to avoid congestion caused by a large influx of products into the direct vibration transfer mechanism 30, ensuring that the feeding rhythm matches the subsequent transfer and testing links, and guaranteeing production continuity.

[0043] The bottom of the hopper 21 is provided with multiple equally spaced semi-circular ribs 24, and the cross-section of the semi-circular ribs 24 is a semi-circular structure.

[0044] The semi-circular ribs 24 at the bottom of the hopper 21 can guide the product in an orderly manner, guiding the product to slide down evenly along the gap of the semi-circular ribs 24, avoiding the accumulation and congestion of the product at the bottom of the hopper 21, and ensuring the smoothness of the material supply. The semi-circular rib 24 has a semi-circular cross-section with no sharp edges, which can reduce friction and collision damage between the product and the semi-circular rib 24, protect the integrity of the product's appearance, and is especially suitable for precision injection molded products whose surfaces are easily scratched; the equidistant distribution design makes the guiding effect more uniform, adapts to the sliding requirements of products of different shapes, and further improves the versatility and stability of the feeding mechanism 20.

[0045] In this embodiment, in step S2, a surrounding frame 41 is formed around the flexible vibrating disk 40, and an elastically deformable transition membrane 42 is provided between the surrounding frame 41 and the disk surface of the flexible vibrating disk 40. The transition membrane 42 extends along the end of the surrounding frame 41 near the direct vibration transfer mechanism 30 to the middle of the disk surface of the flexible vibrating disk 40 and is arranged in an inclined manner; the discharge end of the direct vibration transfer mechanism 30 extends above the transition membrane 42. When the product enters the flexible vibratory plate 40 from the discharge end of the direct vibration transfer mechanism 30, the product first contacts the transition membrane 42. The transition membrane 42 gathers the product onto the surface of the flexible vibratory plate 40 through elastic force or through buffering force.

[0046] The transition membrane 42 has elastic deformation capability. When the product enters the flexible vibratory feeder 40, it first contacts the transition membrane 42. The buffering force can offset the impact force of the product falling or being transported, avoiding damage caused by direct collision between the product and the vibratory feeder surface or the enclosure frame 41, and protecting the integrity of the product's appearance.

[0047] The transition membrane 42 is arranged at an angle and gathers the products through elastic force, so that the products can be distributed in an orderly manner on the surface of the flexible vibrating plate 40, avoiding product accumulation or random distribution, providing a good foundation for subsequent image acquisition and attitude analysis of the CCD camera vision sorting system 50, and improving the sorting and positioning accuracy.

[0048] The elastic design of the transition membrane 42 is adapted to the vibration feeding mode of the flexible vibratory feeder 40, without affecting the normal vibration function of the vibratory feeder, and at the same time solves the problem of easy product scattering at the feeding end of the flexible vibratory feeder 40.

[0049] In this embodiment, in step S1, the direct vibration transfer mechanism 30 includes a vibrator 31 and a direct vibration disk 32. The direct vibration disk 32 is mounted on the top of the vibrator 31. The discharge end of the direct vibration disk 32 extends to form a discharge disk 33 located above the flexible vibration disk 40. The discharge disk 33 is arranged in an inclined manner along the top-to-bottom direction. Multiple spaced guide ribs 34 are provided on the disk surface of the discharge disk 33. A feeding track 35 is formed between adjacent guide ribs 34. The width of the feeding track 35 is greater than the maximum cross-sectional width of the product to be tested. The outer end of the feeding track 35 extends along the discharge direction of the discharge disk 33. The cross-section of the guide rib 34 is a semi-circular structure. The inner end of the feeding track 35 extends at least partially onto the direct vibration disk 32. A flow-limiting baffle 36 is provided between the discharge plate 33 and the vibrating plate 32. The bottom of the flow-limiting baffle 36 and the surface of the vibrating plate 32 form a flow-limiting channel that is connected to the feeding track 35.

[0050] The feeding track 35 formed by the guide ribs 34 provides a clear conveying path for the product, preventing the product from deviating or scattering during the direct vibration transfer process, and ensuring that the product is conveyed to the flexible vibrating plate 40 in an orderly manner; the flow limiting baffle 36 and the surface of the direct vibration plate 32 form a flow limiting channel, which can control the number of products entering the discharge plate 33 per unit time, preventing the discharge plate 33 from being congested due to too many products, and ensuring transfer efficiency.

[0051] The guide rib 34 has a semi-circular structure with no sharp edges, reducing friction damage to the product; the width of the feeding track 35 is adapted to the maximum cross-sectional width of the product, ensuring that the product passes smoothly and preventing the product from shaking and colliding within the track, further protecting the product's appearance.

[0052] The inclined discharge tray 33 uses gravity to assist in feeding, and with the vibration of the vibrator 31, it increases the product conveying speed. At the same time, the inner end of the feeding track 35 extends to the straight vibrating plate 32 to ensure seamless product conveying and reduce the risk of conveying interruption.

[0053] In this embodiment, the discharge plate 33 has a fan-shaped structure, and anti-slip protrusions are raised on the surfaces of the feeding track 35 and the guide rib 34. The anti-slip protrusions are evenly distributed along the extension direction of the feeding track 35 and are hemispherical in shape.

[0054] The fan-shaped discharge plate 33 is adapted to the circumferential layout of the flexible vibrating plate 40, so that the products can fall smoothly and accurately from the discharge plate 33 into the flexible vibrating plate 40, reducing the product drop distance and impact, as well as reducing product accumulation.

[0055] The hemispherical anti-slip protrusions on the surface of the feeding track 35 and the guide rib 34 can increase the friction between the product and the track surface, prevent the product from sliding and shifting during vibration or tilting conveying, ensure the stability of the product's posture during conveying, and provide a good foundation for subsequent material sorting, positioning and inspection.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated feed CCD vision inspection method, characterized by, The method comprises the following steps: S1: a rack is provided with a feeding mechanism, a straight vibration transfer mechanism, a flexible vibration disc, a CCD camera vision separation system, a product common mechanism, a four-axis robot, a product common transfer mechanism, a CCD camera vision detection system and a separation mechanism; the feeding mechanism starts feeding and transports the products to be detected to the straight vibration transfer mechanism; S2: the straight vibration transfer mechanism transports the products to the flexible vibration disc along the feeding track of the adaptive width, the CCD camera vision separation system performs image acquisition and posture analysis on the products on the flexible vibration disc, and completes product separation positioning; S3: after receiving the separation positioning signal, the four-axis robot grasps the positioned product through the product common mechanism and accurately places it on the bearing surface of the product common transfer mechanism; S4: the product common transfer mechanism moves along the preset track to the detection area of the CCD camera vision detection system, drives the bearing product to rotate, and the CCD camera vision detection system synchronously acquires the appearance image of the product and performs defect identification; S5: the four-axis robot receives the detection result signal of the CCD camera vision detection system, puts the qualified products into the good product channel of the separation mechanism, and puts the unqualified products into the defective product channel of the separation mechanism, and the products fall into the good product box or the defective product box through the corresponding channel; S6: the controller controls the action sequence, action amplitude and working time of each step to realize the coordinated linkage of each mechanism; the controller and the four-axis robot, the CCD camera vision separation system and the CCD camera vision detection system adopt Ethernet communication.

2. The automatic feed CCD vision inspection method of claim 1, wherein, In step S2, the CCD camera vision separation system comprises a first CCD camera and a ring-shaped light source, the ring-shaped light source is arranged around the lens of the first CCD camera, the first CCD camera performs image acquisition vertically above the disc surface of the flexible vibration disc, analyzes the posture and position coordinates of the product based on the image gray value, generates a separation positioning signal and transmits it to the four-axis robot.

3. The automatic feed CCD vision inspection method of claim 2, wherein, In step S4, the CCD camera vision detection system comprises a second CCD camera and a third CCD camera, the second CCD camera is arranged above the product in a direction perpendicular to the product rotation axis, used for acquiring the upper surface image of the product, the third CCD camera is arranged in an inclined manner on one side of the product and below the second CCD camera, used for acquiring the side surface image of the product, and the second CCD camera and the third CCD camera synchronously acquire and transmit image data to the controller.

4. The automatic feed CCD vision inspection method of claim 3, wherein, In step S3, the product common mechanism comprises a clamping jaw, a driving cylinder and a lifter, the lifter is installed on the working end of the four-axis robot, the driving cylinder is installed on the working end of the lifter, and the clamping jaw is detachably connected with the driving cylinder; the working range of the four-axis robot covers the flexible vibration disc, the product common transfer mechanism and the separation mechanism.

5. The automatic feed CCD vision inspection method of claim 4, wherein, In step S4, the product common transfer mechanism comprises a moving table and a bearing table for bearing the product, the bearing table is located on the top of the moving table, a stepping motor for driving the bearing table to rotate is installed in the moving table, and the moving table is detachably connected with the stepping motor.

6. The automatic feed CCD vision inspection method of claim 5, wherein, The track strip and the driving motor for driving the moving table to move back and forth along the track strip are further included, the driving motor is installed on one side of the track strip, and the moving table is in sliding fit with the track strip.

7. The automatic feed CCD vision inspection method according to any one of claims 1 to 6, wherein, In step S1, the feeding mechanism includes a hopper and an inclined feeding channel, the upper end of the feeding channel is in communication with the discharge port of the hopper, the lower end of the feeding channel is in butt joint with the feeding end of the straight-vibration transfer mechanism, a flow-limiting door is arranged between the hopper and the feeding channel, and a wear-resistant coating is arranged on the inner wall of the feeding channel.

8. The automatic feed CCD vision inspection method of claim 7, wherein, In step S2, the circumferential enclosure of the flexible vibration disc is formed with an enclosure frame, an elastically deformed transition film is arranged between the enclosure frame and the disc surface of the flexible vibration disc, the transition film extends in an inclined manner along the end of the enclosure frame close to the straight-vibration transfer mechanism to the middle part of the disc surface of the flexible vibration disc, and the discharge end of the straight-vibration transfer mechanism extends above the transition film. When the product enters the flexible vibration disc from the discharge end of the straight-vibration transfer mechanism, the product first contacts the transition film, and the transition film gathers the product on the disc surface of the flexible vibration disc through elastic force or gathers the product on the disc surface of the flexible vibration disc through buffering force.

9. The automatic feed CCD vision inspection method according to any one of claims 1 to 6, wherein, In step S1, the straight-vibration transfer mechanism includes a vibrator and a straight-vibration disc, the straight-vibration disc is installed on the top of the vibrator, the discharge end of the straight-vibration disc extends to form a discharge disc above the flexible vibration disc, the discharge disc is arranged in an inclined manner along the top-down direction, a plurality of spaced guide ribs are arranged on the disc surface of the discharge disc, the feeding track is formed between adjacent guide ribs, the width of the feeding track is greater than the maximum cross-sectional width of the product to be detected, the outer end of the feeding track extends along the discharge direction of the discharge disc, the cross section of the guide rib is a semicircular structure, and the inner end of the feeding track at least partially extends to the straight-vibration disc. A flow-limiting baffle is arranged between the discharge disc and the straight-vibration disc, and the bottom of the flow-limiting baffle is spaced from the disc surface of the straight-vibration disc to form a flow-limiting channel in communication with the feeding track.

10. The automatic feed CCD vision inspection method of claim 9, wherein, The discharge disc is a fan-shaped structure, anti-skid protrusions are protruded on the surfaces of the feeding track and the guide rib, the anti-skid protrusions are uniformly distributed along the extension direction of the feeding track, and the anti-skid protrusions are semispherical structures.

Images