Product defect detection equipment and method

Abstract

According to the product defect detection equipment and method, in the conveying process, a product is driven to rotate in a V-shaped groove through the speed difference between a first belt and a second belt, when the product passes through the position below a visual detection device, the whole outer surface of the product can be collected and detected, and the problem of visual blind areas caused by shielding is solved. The product defect detection equipment comprises a conveyor, the conveyor comprises a first power device, a chain mechanism and a trough, the chain mechanism is driven by the first power device to move, the trough is fixed to a chain, a side limiting plate is arranged at one end of the trough, and a notch is formed in the side limiting plate; the differential belt mechanism is fixed on one side of the conveyor, the differential belt mechanism comprises a first belt mechanism and a second belt mechanism, the first belt mechanism is arranged above the second belt mechanism, the first belt mechanism is connected with the second power device, and the second belt mechanism is connected with the third power device; and the visual detection device is arranged above the conveyor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, in particular to a product defect detection device and method. BACKGROUND

[0002] In the field of food processing, especially in the production process of pre-packaged meat products such as ham sausages, the integrity of the packaging is directly related to the food safety, shelf life and market compliance of the product. After the ham sausage is packaged through processes such as filling, sealing and shaping, due to factors such as production equipment precision, packaging material properties and collision during transmission, some products may have defects such as packaging damage (such as bursting due to abnormal internal pressure, or piercing due to contact with external sharp objects), or loose sealing, wrinkles, etc. If such defects are not removed in time, not only will the product deteriorate during storage or transportation, but it may also pose a health risk to consumers and damage the brand image of the enterprise.

[0003] The existing technology generally uses visual detection technology to detect defects on the surface of the ham sausage packaging. This technology captures images of the packaging surface through an industrial camera, analyzes the images using image recognition algorithms, identifies products with defects such as damage or sealing defects, and removes the defective products through subsequent sorting mechanisms, thereby achieving automation and efficiency in the detection process to some extent and meeting the detection needs of large-scale production of ham sausages. However, the existing visual detection equipment has the following defects in actual application: due to the use of conveyor belts to transport ham sausages during the production line transmission process, the lower surface of the ham sausage directly contacts the surface of the conveyor belt. Due to the obstruction of the conveyor belt, the limitations of the shooting angle of the industrial camera, and the interference of the lighting conditions, the existing visual detection system can only effectively capture and detect the upper surface of the ham sausage packaging and the adjacent side surface area. The lower surface in contact with the conveyor belt is always in the visual detection blind area and is difficult to detect. SUMMARY

[0004] Therefore, in order to solve the above problems, the present application provides a product defect detection device and method. The differential speed channel formed by the differential speed belt mechanism clamps the ham sausage, and through the speed difference between the first belt and the second belt during the conveying process, the product is driven to rotate in the V-shaped groove. When passing under the visual detection device, the entire outer surface of the product can be captured and detected, thereby improving the problem of visual blind area caused by obstruction and reducing the risk of defective products flowing into the market due to missed detection.

[0005] In one aspect, the present application provides a product defect detection device, comprising: The conveyor comprises a first power device, a chain mechanism and a trough. The chain mechanism is provided with two groups, the two groups of chain mechanisms are horizontally arranged and arranged in parallel, and the two groups of chain mechanisms are driven to move by the first power device. The trough is provided with a plurality of troughs fixed on the chain of the chain mechanism, and the plurality of troughs are arranged equidistantly along the chain. The trough has a V-shaped groove on the side away from the chain, a side limiting plate is arranged at one end of the trough, and a slot is formed in the side limiting plate corresponding to the product metal bundle opening for the product metal bundle to extend out of the slot. The differential belt mechanism is fixed on one side of the conveyor close to the side limiting plate. The differential belt mechanism comprises a first belt mechanism and a second belt mechanism. The first belt mechanism is arranged above the second belt mechanism. The first belt carrying section of the first belt mechanism is arranged in parallel with the second belt carrying section of the second belt mechanism to form a differential passage for the product metal bundle opening to pass through. The first belt mechanism is connected with a second power device, and the second belt mechanism is connected with a third power device. The visual detection device is arranged above the conveyor for detecting surface defects of the product in the trough.

[0006] Further, the conveyor further comprises a side baffle arranged on one side of the end of the trough away from the side limiting plate.

[0007] Further, a product rejection opening is formed in the side baffle. The trough has an open end. The detection device further comprises a rejection mechanism and a product discharge passage. The rejection mechanism is arranged above the conveyor corresponding to the product rejection opening. The product discharge passage is arranged in a whole inclined manner. The product discharge passage is arranged outside the product rejection opening at the maximum height end.

[0008] Further, the rejection mechanism comprises a third belt mechanism connected with a fourth power device. A push plate is arranged on the surface of the third belt of the third belt mechanism.

[0009] Further, the detection device further comprises a control unit in communication connection with the conveyor, the differential belt mechanism, the visual detection device and the rejection mechanism. The control unit is configured to: According to the time required for the visual detection device to process a single product and the distance between the troughs, the speed of the conveyor is calculated. The conveyor control signal is generated according to the calculation result of the conveyor speed. The conveyor control signal is sent to the conveyor to make the conveyor run according to the conveyor control signal. The reference speed of the differential belt mechanism is calculated according to the conveyor speed calculation result, the product parameters are obtained, the speed difference between the first belt mechanism and the second belt mechanism is calculated according to the product parameters and the conveyor speed calculation result, the speed of the first belt mechanism and the speed of the second belt mechanism are respectively calculated according to the reference speed of the differential belt mechanism and the speed difference between the first belt mechanism and the second belt mechanism, and the differential control signal is generated according to the speed calculation result of the first belt mechanism and the speed calculation result of the second belt mechanism, and the differential control signal is sent to the differential belt mechanism, so that the differential belt mechanism operates according to the differential control signal. The detection result of the visual detection device is obtained, the rejection judgment is performed based on the detection result, if the detected product is a defective product, the real-time position of the trough where the defective product is located is obtained, the rejection trigger time is calculated based on the real-time position of the trough where the defective product is located and the conveyor speed calculation result, the rejection control signal is generated according to the rejection trigger time, and the rejection control signal is sent to the rejection mechanism, so that the rejection mechanism operates according to the rejection control signal.

[0010] Further, the specific way of calculating the conveyor speed according to the time required by the visual detection device to process a single product and the trough spacing is as follows: ; Wherein, d is the trough spacing, unit: meter; t 0 is the time required by the visual detection device to process a single product, unit: second; t 1 is the safety time allowance, unit: second; v 1 is the conveyor speed, unit: meter per second.

[0011] Further, the specific way of calculating the reference speed of the differential belt mechanism according to the conveyor speed calculation result is as follows: ; Wherein, σ is the speed compensation, unit: meter per second; v 0 is the conveyor speed, unit: meter per second.

[0012] Further, the specific way of calculating the speed difference between the first belt mechanism and the second belt mechanism according to the product parameters and the conveyor speed calculation result is as follows: ; Wherein, ∆v is the speed difference between the first belt and the second belt, unit: meter per second; d is the product diameter, unit: meter; l is the effective detection area length of the visual detection device; k is the empirical adjustment coefficient.

[0013] Further, the specific way of calculating the rejection trigger time based on the real-time position of the bin where the defective product is located and the conveyor speed calculation result is as follows: ; Wherein, t e is the rejection trigger time, in seconds; t 2 is the system delay time, in seconds; L is the real-time distance between the bin where the defective product is located and the rejection port, in meters On the other hand, the present application also provides a product defect detection method, which uses the above-mentioned product defect detection device, and the detection method comprises: Placing the product to be detected in the bin of the conveyor, and the metal bundle port of the product extends outside the bin through the slot in the side limiting plate of the bin; The control unit calculates the conveyor speed according to the time required by the vision detection device to process a single product and the bin spacing, generates a conveyor control signal according to the conveyor speed calculation result, and sends the conveyor control signal to the conveyor; The control unit calculates the reference speed of the differential belt mechanism according to the conveyor speed calculation result, obtains the product parameters, calculates the speed difference between the first belt mechanism and the second belt mechanism according to the product parameters and the conveyor speed calculation result, respectively calculates the speed of the first belt mechanism and the speed of the second belt mechanism according to the reference speed of the differential belt mechanism and the speed difference between the first belt mechanism and the second belt mechanism, and generates a differential control signal according to the speed calculation result of the first belt mechanism and the speed calculation result of the second belt mechanism, and sends the differential control signal to the differential belt mechanism; After the conveyor obtains the conveyor control signal, the first power device starts to drive the chain mechanism to move, and in turn drives the multiple bins fixed on the chain to move synchronously, and the product moves with the bin to the vision detection device; After the differential belt mechanism obtains the differential control signal, the second power device and the third power device start to drive the first and second belt mechanisms to run at the speed of the first belt mechanism and the speed of the second belt mechanism, respectively; With the conveying of the conveyor, the bin drives the ham to move to the entrance of the differential channel, and the metal bundle port of the ham extending out of the side limiting plate enters the differential channel between the first and second belt mechanisms; Due to the difference in the running speed of the first and second belt mechanisms, the metal bundle port drives the whole ham to rotate under the friction of the two belts, realizing the rotation of the ham during the conveying process; The vision detection device located above the conveyor starts to take omnidirectional photos of the surface of the rotating ham and identify defects, and transmits the detection data and results to the control unit in real time; The control unit obtains the detection result of the visual detection device, performs a rejection judgment based on the detection result, obtains the real-time position of the bin where the defective product is located if the detected product is a defective product, calculates the rejection trigger time based on the real-time position of the bin where the defective product is located and the calculation result of the conveyor speed, generates a rejection control signal according to the rejection trigger time, and sends the rejection control signal to the rejection mechanism; When the bin where the defective product is located travels to the position corresponding to the product rejection opening of the side baffle, the control unit reaches the preset rejection trigger time, the fourth power device is started, the third belt mechanism is driven to operate, the push plate on the surface of the third belt moves with the belt, the push plate acts on the defective ham sausage in the bin, pushes the defective ham sausage out of the open end of the bin, and the pushed-out defective ham sausage falls into the product discharge channel which is integrally arranged in a slope, slides along the channel to the defective product collection area, and the rejection is completed. The ham sausages without defects continue to travel along the chain mechanism with the bin, and are taken out of the bin by an operator or subsequent matching equipment, and enter the next production link.

[0014] The present application has the following advantages: The present application has the following advantages: The present application has the following advantages: The present application has the following advantages:

[0015] The present application has the following advantages: Figure 1 The present application has the following advantages: Figure 2 The present application has the following advantages: Figure 1 The present application has the following advantages: Figure 3 The present application has the following advantages: Figure 2 The present application has the following advantages: Figure 4 The present application has the following advantages: Figure 3 The present application has the following advantages: Figure 5 The present application has the following advantages: Figure 2 The present application has the following advantages: Figure 6 The present application has the following advantages: Figure 2 The present application has the following advantages: Figure 7 The present application has the following advantages: v2 is the speed of the first belt mechanism, v 3 is the speed of the second belt mechanism); Figure 8 is a schematic diagram of the product being rejected; Figure 9 is Figure 1 a control logic diagram of the detection device shown; in the figure: 100, visual detection device; 200, rack; 300, conveyor; 310, side baffle; 311, product rejection port; 320, chute; 330, first power device; 340, chain mechanism; 400, differential belt mechanism; 410, first belt mechanism; 420, second belt mechanism; 500, rejection mechanism; 510, third belt mechanism; 511, push plate; 600, sensing unit; 700, control unit. DETAILED DESCRIPTION

[0016] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are exemplary and are intended to explain the present application, and are not to be understood as limiting the present application.

[0017] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0018] As described in the background, since the ham sausage is usually conveyed by a conveyor belt during the transmission process on the production line, the lower surface thereof is directly in contact with the surface of the conveyor belt, and is blocked by the conveyor belt, limited by the shooting angle of the industrial camera, and disturbed by the lighting conditions. The existing visual detection system can only effectively collect and detect the upper surface of the ham sausage package and the side surface area adjacent to the upper surface, and the lower surface in contact with the conveyor belt is always in the visual detection blind area and is difficult to be detected.

[0019] Embodiment 1: Therefore, in order to solve the above technical problems existing in the prior art, the embodiment provides a product defect detection device, as shown in Figure 1 、 Figure 2 , the detection device comprises: The conveyor 300, as shown in Figure 3 , comprises a first power device 330, a chain mechanism 340, and a trough 320, the chain mechanism is provided with two groups, the two groups of chain mechanisms are horizontally arranged and arranged in parallel, the first power device drives the two groups of chain mechanisms to move, the trough is provided with a plurality of troughs, the plurality of troughs are fixed on the chains of the chain mechanism, and the plurality of troughs are arranged equidistantly along the chains, as shown in Figure 4 , the trough has a V-shaped groove 321 on the side away from the chain, a side limiting plate 323 is arranged at one end of the trough, and a slot 324 is arranged at the side limiting plate corresponding to the product metal bundle opening. The differential belt mechanism 400, as shown in Figure 5 , is fixed on one side of the conveyor close to the side limiting plate, the differential belt mechanism comprises a first belt mechanism 410 and a second belt mechanism 420, the first belt mechanism is arranged above the second belt mechanism, the first belt bearing segment of the first belt mechanism is arranged in parallel with the second belt bearing segment of the second belt mechanism to form a differential passage for the product metal bundle opening, the first belt mechanism is connected with a second power device, and the second belt mechanism is connected with a third power device. The visual detection device 100 is arranged above the conveyor and is used for detecting the surface defects of the products in the trough.

[0020] Specifically, the first power device, the second power device, and the third power device can be selected from a servo motor, a stepping motor, or other devices capable of driving the chain mechanism or the belt mechanism to move, in addition to this, the detection device can further comprise a rack 200, the conveyor and the visual detection device are fixed on the rack, the visual detection device can comprise an upper machine box, a CCD camera, and a light source arranged in the upper machine box, the CCD camera is selected from a high-resolution industrial camera, and the CCD camera and a control unit establish real-time data communication.

[0021] In use, the sausages to be tested are placed one by one into the troughs of the conveyor. Since multiple troughs are equidistantly arranged along the chain mechanism, and each trough has a V-shaped groove on the side away from the chain, the V-shaped grooves can radially position the sausages through their structure. Simultaneously, a side limiting plate at one end of the trough restricts the axial position of the sausages, and a slot is opened on the side limiting plate corresponding to the position of the metal constriction part of the sausage. When placing the sausage, the metal constriction part must protrude from this slot, completing the initial fixation of the sausage's posture within the trough. The first power unit is started, and its output power drives the two sets of horizontally parallel chain mechanisms of the conveyor to move synchronously. Since multiple troughs are fixed to the chain, the movement of the chain mechanism will cause the troughs and the positioned sausages within them to move uniformly along the conveying direction. Figure 7 As shown, when the trough carrying the sausages moves to the differential belt mechanism, the metal constriction of the sausages extending from the trough enters the differential channel formed by the differential belt mechanism. At this time, under the action of the second and third power units, the first and second belt mechanisms are driven to run at preset speeds, respectively. The friction between the belts and the metal constriction drives the sausages to rotate. Subsequently, a high-resolution industrial CCD camera acquires images of the surface of the sausages in the trough, including the integrity of the sausage casing and the presence of defects such as damage, dents, and stains. The CCD camera transmits the acquired real-time image data to the control unit through a preset communication link. The control unit can analyze the data based on image algorithms to complete the detection and identification of surface defects of the sausages. After the visual inspection is completed, the first power unit continues to drive the chain mechanism, and the trough carrying the inspected sausages moves out of the visual inspection area, repeating this process.

[0022] In this embodiment, the product body is accommodated by the V-shaped groove of the material trough, and the metal constriction part of the product extends out through the slot on the side limiting plate. The constriction part is clamped by the differential channel formed by the differential belt mechanism. During the conveying process, the product is driven to rotate in the V-shaped groove by the speed difference between the first belt and the second belt. When passing under the vision inspection device, its entire outer surface can be collected and inspected, which improves the problem of visual blind spots caused by obstruction and reduces the risk of defective products entering the market due to missed inspection.

[0023] In this embodiment, as Figure 3 As shown, the conveyor also includes a side baffle 310, which is located on the side of the trough away from the end of the side limiting plate.

[0024] In this embodiment, the other end of the ham sausage is blocked by a side baffle, which reduces the ham sausage from moving back and forth along the axial direction of the trough due to inertia or conveying force during the operation of the conveyor (such as during startup, constant speed, and slight vibration). This ensures that the ham sausage is always within the preset axial range of the trough and does not leave the trough or shift to a position that would affect subsequent testing.

[0025] In the embodiment, as shown in the drawings, a product rejection opening 311 is opened in the side baffle, as shown in the drawings, the trough has an open end 322, as shown in the drawings, the detection device further comprises a rejection mechanism 500 and a product discharge channel 600, the rejection mechanism is arranged above the conveyor corresponding to the product rejection opening, and the product discharge channel is arranged in a whole inclined manner, and the maximum height end of the product discharge channel is arranged outside the product rejection opening. Figure 3 Figure 4 Figure 2 The detection device further comprises a rejection mechanism 500 and a product discharge channel 600, the rejection mechanism is arranged above the conveyor corresponding to the product rejection opening, and the product discharge channel is arranged in a whole inclined manner, and the maximum height end of the product discharge channel is arranged outside the product rejection opening.

[0026] As shown in the drawings, the rejection mechanism comprises a third belt mechanism 510 which is connected with a fourth power device, and a push plate 511 is arranged on the third belt surface of the third belt mechanism. Figure 6

[0027] Specifically, after the visual detection device completes the surface defect detection of the ham sausage, if it is determined that the ham sausage in a trough is unqualified product, the first power device of the conveyor continues to drive the chain mechanism to move, so that the trough carrying the unqualified product moves to the position corresponding to the product rejection opening of the side baffle, as shown in the drawings, the fourth power device outputs power to drive the third belt mechanism to operate, and the push plate arranged on the third belt surface moves in the preset direction, the third belt mechanism continuously drives the push plate to move towards the trough, and the lower end of the push plate directly acts on the unqualified product in the trough, because the trough is provided with an open end (without closed block) and the side baffle has the product rejection opening at the corresponding position, the pushing force of the push plate will make the unqualified product slide out of the open end of the trough and pass through the product rejection opening of the side baffle, and directly fall into the product discharge channel outside, and automatically slide downward along the inclined channel under the action of its own gravity, and finally fall into the pre-set unqualified product collecting container, thereby completing the complete separation from the qualified product. Figure 8

[0028] In the embodiment, as shown in the drawings, the detection device further comprises a control unit 700, which is in communication connection with the conveyor, the differential belt mechanism, the visual detection device and the rejection mechanism, and the control unit is configured to: Figure 9 calculate the conveyor speed according to the time required by the visual detection device to process a single product and the distance between the troughs, generate a conveyor control signal according to the calculation result of the conveyor speed, and send the conveyor control signal to the conveyor to make the conveyor operate according to the conveyor control signal; ​​​​​The reference speed of the differential belt mechanism is calculated according to the conveyor speed calculation result, the product parameters are obtained, the speed difference between the first belt mechanism and the second belt mechanism is calculated according to the product parameters and the conveyor speed calculation result, the speed of the first belt mechanism and the speed of the second belt mechanism are respectively calculated according to the reference speed of the differential belt mechanism and the speed difference between the first belt mechanism and the second belt mechanism, and the differential control signal is generated according to the speed calculation result of the first belt mechanism and the speed calculation result of the second belt mechanism, and the differential control signal is sent to the differential belt mechanism, so that the differential belt mechanism operates according to the differential control signal. The detection result of the visual detection device is obtained, the rejection judgment is performed based on the detection result, if the detected product is a defective product, the real-time position of the trough where the defective product is located is obtained, the rejection trigger time is calculated based on the real-time position of the trough where the defective product is located and the conveyor speed calculation result, the rejection control signal is generated according to the rejection trigger time, and the rejection control signal is sent to the rejection mechanism, so that the rejection mechanism operates according to the rejection control signal.

[0029] Specifically, the specific way of calculating the conveyor speed according to the time required by the visual detection device to process a single product and the trough spacing is as follows: ; Wherein, d is the trough spacing, with the unit of meter; t 0 is the time required by the visual detection device to process a single product, with the unit of second; t 1 is the safety time allowance, with the unit of second; v 1 is the conveyor speed, with the unit of meter per second.

[0030] Specifically, the specific way of calculating the reference speed of the differential belt mechanism according to the conveyor speed calculation result is as follows: ; Wherein, σ is the speed compensation, with the unit of meter per second; v 0 is the conveyor speed, with the unit of meter per second.

[0031] Specifically, the specific way of calculating the speed difference between the first belt mechanism and the second belt mechanism according to the product parameters and the conveyor speed calculation result is as follows: ; Wherein, ∆v is the speed difference between the first belt and the second belt, with the unit of meter per second; d is the product diameter, with the unit of meter; l is the effective detection area length of the visual detection device; k is the empirical adjustment coefficient.

[0032] In the embodiment, the specific way of calculating the speed of the first belt mechanism and the speed of the second belt mechanism according to the reference speed of the differential belt mechanism and the speed difference between the first belt mechanism and the second belt mechanism is as follows: ; ; wherein, v 2 is the speed of the first belt mechanism, in units of meters per second; v 3 is the speed of the second belt mechanism, in units of meters per second.

[0033] Specifically, the specific way of calculating the rejection trigger time based on the real-time position of the bin where the defective product is located and the calculation result of the conveyor speed is as follows: ; wherein, t e is the rejection trigger time, in units of seconds; t 2 is the system delay time, in units of seconds; L is the real-time distance between the bin where the defective product is located and the rejection port, in units of meters.

[0034] In the embodiment, the real-time position of the bin where the defective product is located is tracked by encoder counting, and the real-time distance between the bin where the defective product is located and the rejection port can be determined in the following way: ; wherein, L 0 is the initial distance from the vision detection position to the rejection port, in units of meters; N is the encoder pulse count; ∆ L is the displacement corresponding to each pulse, in units of meters per pulse.

[0035] In the embodiment, the detection device can further include a sensing unit 600, which can include a photoelectric sensor, an encoder, a position sensor, a speed sensor, etc., for real-time detection of product state, tracking of bin position, measurement of conveyor speed, and provision of product parameter information, so that the control unit performs calculation and control according to the sensor data.

[0036] Specifically, the photoelectric sensor is arranged at the entrance of the conveyor and below the visual detection device, for detecting whether the product is correctly placed in the trough and triggering image acquisition of the visual detection device; the encoder is connected with the chain mechanism of the conveyor, for measuring the real-time displacement of the trough and the speed of the conveyor, and providing a position feedback signal; the position sensor is arranged near the entrance of the differential belt mechanism and the product rejection port, for detecting the time point when the product reaches a specific position; the speed sensor is connected with the differential belt mechanism, for monitoring the actual running speed of the first and second belt mechanisms, to realize closed-loop control. The sensing unit transmits the collected data to the control unit in real time, so that the control unit can calculate the conveyor speed, the speed difference of the differential belt mechanism, and the rejection trigger time, thereby improving the synchronization and accuracy of the entire detection process.

[0037] In this embodiment, the control unit dynamically adjusts the running speed of the conveyor according to the actual time taken by the visual detection device to process a single product, which enables the conveyor's beat to automatically match the speed of image processing, thereby reducing the waiting of the conveyor caused by processing delay or the missed detection caused by too fast conveying. The control unit adaptively calculates and sets the speed difference between the first and second belts in the differential belt mechanism based on the obtained product parameters (such as diameter), thereby improving the detection rate and reliability of surface defects. In addition, the control unit performs predictive rejection control based on real-time position tracking, tracks the real-time position of the trough where the defective product is located, calculates the trigger time when it reaches the rejection port, reduces the false rejection (damaging good products) or missed rejection (defective products flowing out) caused by timing errors, and improves the high accuracy of sorting.

[0038] Embodiment 2 The product defect detection method provided in this embodiment uses the product defect detection device described in Embodiment 1, and the detection method comprises: Placing the product to be detected in the trough of the conveyor, and the metal bundle opening of the product extends outside the trough through the slot in the side limiting plate of the trough; The control unit calculates the conveyor speed based on the time required by the visual detection device to process a single product and the distance between the troughs, generates a conveyor control signal based on the calculation result of the conveyor speed, and sends the conveyor control signal to the conveyor; The control unit calculates the reference speed of the differential belt mechanism based on the calculation result of the conveyor speed, obtains the product parameters, calculates the speed difference between the first and second belt mechanisms based on the product parameters and the calculation result of the conveyor speed, calculates the speed of the first belt mechanism and the speed of the second belt mechanism based on the reference speed of the differential belt mechanism and the speed difference between the first and second belt mechanisms, respectively, generates a differential control signal based on the calculation result of the speed of the first belt mechanism and the calculation result of the speed of the second belt mechanism, and sends the differential control signal to the differential belt mechanism; After the conveyor obtains the conveyor control signal, the first power device starts to drive the chain mechanism to move, and then drive the plurality of troughs fixed on the chain to move synchronously, and the products move into the visual detection device with the troughs; After the differential belt mechanism obtains the differential control signal, the second power device and the third power device start to drive the first belt mechanism and the second belt mechanism to run at the speed of the first belt mechanism and the speed of the second belt mechanism respectively; With the conveying of the conveyor, the trough drives the ham to move to the entrance of the differential passage, and the metal bundle port of the ham extending out of the side limiting plate enters the differential passage between the first belt mechanism and the second belt mechanism; Due to the difference in the running speed of the first belt mechanism and the second belt mechanism, the metal bundle port drives the ham to rotate as a whole under the friction of the two belts, so as to realize the rotation of the ham in the conveying process; The visual detection device above the conveyor starts to shoot the surface of the ham in the rotating process in all directions and identify defects, and transmit the detection data and results to the control unit in real time; The control unit obtains the detection results of the visual detection device, judges whether to reject based on the detection results, if the detected product is a defective product, obtains the real-time position of the trough where the defective product is located, calculates the rejection trigger time based on the real-time position of the trough where the defective product is located and the speed calculation result of the conveyor, generates a rejection control signal according to the rejection trigger time, and sends the rejection control signal to the rejection mechanism; When the trough where the defective product is located moves to the position corresponding to the product rejection port of the side baffle, the control unit reaches the preset rejection trigger time, the fourth power device starts to drive the third belt mechanism to run, the push plate on the surface of the third belt moves with the belt, the push plate acts on the defective ham in the trough to push it out of the open end of the trough, and the pushed defective ham falls into the product discharge passage which is inclined as a whole, slides along the passage to the defective product collection area, and completes the rejection; The ham without defects continues to move along the chain mechanism with the trough until it reaches the end of the conveyor, and the operator or the subsequent matching equipment takes it out of the trough to enter the next production link.

[0039] The above description of disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A product defect detection apparatus characterized by comprising: The utility model relates to a kind of detection equipment, including: conveyor, the conveyor includes first power device, chain mechanism and trough, the chain mechanism is equipped with two groups, two groups The chain mechanism is horizontally arranged, and two groups The chain mechanism is arranged in parallel, two groups The chain mechanism is moved by the first power device, the trough is equipped with multiple, multiple The trough is fixed on the chain of chain mechanism, multiple The trough is equidistantly arranged along chain, the trough has V-shaped groove away from chain side, slot is opened in the side limiting plate corresponding to product metal beam mouth portion at the one end of the trough, and the slot is opened for it to extend; Differential belt mechanism, the differential belt mechanism is fixed in conveyor side close to side limiting plate, the differential belt mechanism includes first belt mechanism and second belt mechanism, the first belt mechanism is arranged above second belt mechanism, the first belt carrying section of first belt mechanism is arranged in parallel with the second belt carrying section of second belt mechanism To form differential passage that can be passed through product metal beam mouth portion, the first belt mechanism is connected with second power device, and second belt mechanism is connected with third power device; Visual detection device, the visual detection device is arranged above conveyor, for detecting the surface defect of product in trough. The conveyor further includes side baffle, which is arranged on the side of the trough away from the end of the side limiting plate.

2. The product defect detection apparatus according to claim 1, wherein A product rejection opening is formed in the side baffle. The trough has an open end. The detection equipment further includes a rejection mechanism and a product discharge passage. The rejection mechanism is arranged above the conveyor corresponding to the product rejection opening. The product discharge passage is inclined as a whole. The maximum height end of the product discharge passage is arranged outside the product rejection opening.

3. A product defect detection apparatus according to claim 2, wherein The rejection mechanism includes a third belt mechanism connected with a fourth power device. A push plate is arranged on the surface of the third belt of the third belt mechanism.

4. The product defect detection apparatus according to claim 3, wherein The detection equipment further includes a control unit in communication connection with the conveyor, the differential belt mechanism, the visual detection device, and the rejection mechanism. The control unit is configured to:

5. A product defect detection apparatus according to claim 4, wherein calculate the conveyor speed according to the time required for the visual detection device to process a single product and the distance between the troughs, generate a conveyor control signal according to the conveyor speed calculation result, and send the conveyor control signal to the conveyor to make the conveyor operate according to the conveyor control signal; calculate the reference speed of the differential belt mechanism according to the conveyor speed calculation result, obtain the product parameters, calculate the speed difference between the first belt mechanism and the second belt mechanism according to the product parameters and the conveyor speed calculation result, calculate the speed of the first belt mechanism and the speed of the second belt mechanism according to the reference speed of the differential belt mechanism and the speed difference between the first belt mechanism and the second belt mechanism respectively, generate a differential control signal according to the speed calculation result of the first belt mechanism and the speed calculation result of the second belt mechanism, and send the differential control signal to the differential belt mechanism to make the differential belt mechanism operate according to the differential control signal. ​ The detection result of the visual detection device is acquired, and a rejection judgment is made based on the detection result. If the detected product is a defective product, the real-time position of the bin where the defective product is located is acquired, the rejection trigger time is calculated based on the real-time position of the bin where the defective product is located and the conveyor speed calculation result, the rejection control signal is generated according to the rejection trigger time, and the rejection control signal is sent to the rejection mechanism so that the rejection mechanism operates according to the rejection control signal.

6. A product defect detection apparatus according to claim 5, wherein The specific way of calculating the conveyor speed according to the time required by the visual detection device to process a single product and the bin spacing is as follows: ； wherein, d L is the distance between the tanks, in meters; t 0 is the time required by the vision detection device to process a single product, in seconds; t 1 is the safety time margin, in seconds; v 1 is the conveyor speed, in meters per second.

7. The product defect detection apparatus of claim 5, wherein The specific way of calculating the reference speed of the differential belt mechanism according to the conveyor speed calculation result is as follows: ； wherein σ V is the speed compensation, in meters per second; v 0 is the conveyor speed, in meters per second; v 1 is the conveyor speed, in meters per second.

8. The product defect detection apparatus of claim 5, wherein The specific way of calculating the speed difference between the first belt mechanism and the second belt mechanism according to the product parameters and the conveyor speed calculation result is as follows: ； wherein, ∆v is the speed difference between the first belt and the second belt, in meters per second; d is the product diameter, in meters; l is the effective detection area length of the vision inspection device; k is the empirical adjustment coefficient; v 1 is the conveyor speed, in meters per second.

9. The product defect detection apparatus of claim 5, wherein The specific way of calculating the rejection trigger time based on the real-time position of the bin where the defective product is located and the conveyor speed calculation result is as follows: ； wherein, t e is the rejection trigger time in seconds; t 2 is the system delay time in seconds; L is the real-time distance between the defective product and the rejection port in meters; v 1 is the conveyor speed in meters per second.

10. A product defect detection method characterized by, The detection method uses a product defect detection device according to any one of claims 5-9, and the detection method comprises: Placing the product to be detected in the bin of the conveyor, and the metal bundle opening of the product extends outside the bin through the slot in the side limiting plate of the bin; The control unit calculates the conveyor speed according to the time required by the visual detection device to process a single product and the bin spacing, generates a conveyor control signal according to the conveyor speed calculation result, and sends the conveyor control signal to the conveyor; The control unit calculates the reference speed of the differential belt mechanism according to the conveyor speed calculation result, acquires the product parameters, calculates the speed difference between the first belt mechanism and the second belt mechanism according to the product parameters and the conveyor speed calculation result, calculates the speed of the first belt mechanism and the speed of the second belt mechanism according to the reference speed of the differential belt mechanism and the speed difference between the first belt mechanism and the second belt mechanism respectively, generates a differential control signal according to the speed calculation result of the first belt mechanism and the speed calculation result of the second belt mechanism, and sends the differential control signal to the differential belt mechanism; After the conveyor acquires the conveyor control signal, the first power device starts to drive the chain mechanism to move, and then drives the multiple bins fixed on the chain to move synchronously, and the product moves with the bin to the visual detection device; After the differential belt mechanism acquires the differential control signal, the second power device and the third power device start to drive the first and second belt mechanisms to operate at the speed of the first belt mechanism and the speed of the second belt mechanism respectively; With the conveying of the conveyor, the bin drives the ham to move to the entrance of the differential passage, and the metal bundle opening of the ham extending out of the side limiting plate enters the differential passage between the first and second belt mechanisms; Due to the difference in the operating speed of the first and second belt mechanisms, the metal bundle opening drives the ham to rotate as a whole under the friction of the two belts, realizing the rotation of the ham during the conveying process; The visual detection device located above the conveyor starts to take pictures and identify defects of the surface of the rotating ham, and transmits the detection data and results to the control unit in real time. The control unit obtains the detection result of the visual detection device, performs a rejection judgment based on the detection result, obtains the real-time position of the bin where the defective product is located if the detected product is a defective product, calculates the rejection trigger time based on the real-time position of the bin where the defective product is located and the calculation result of the conveyor speed, generates a rejection control signal according to the rejection trigger time, and sends the rejection control signal to the rejection mechanism; When the bin where the defective product is located travels to the position corresponding to the product rejection port of the side baffle, the control unit reaches the preset rejection trigger time, the fourth power device is started, the third belt mechanism is driven to operate, the push plate on the surface of the third belt moves with the belt, the push plate acts on the defective ham sausage in the bin, pushes the defective ham sausage out of the open end of the bin, passes through the product rejection port of the side baffle, and the pushed-out defective ham sausage falls into the product discharge channel which is integrally and obliquely arranged, slides along the channel to the defective product collection area, and the rejection is completed; The non-defective ham sausage continues to travel along the chain mechanism with the bin until it reaches the end of the conveyor, and the operator or the subsequent matching equipment takes it out of the bin to enter the next production link.

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