Industrial design product appearance detection device based on visual identification

Abstract

The invention relates to the technical field of visual detection, and particularly discloses a visual identification-based product appearance detection device for industrial design, which comprises a carrying mechanical arm, a visual identification mechanism, a controller, a conveyor belt, a grating sensor and a sensor module, the visual identification mechanism is arranged on the rear side of the carrying mechanical arm; the controller is mounted on the left side of the visual identification mechanism; the conveying belt is arranged on the right side of the carrying mechanical arm in the front-back direction. The two grating sensors are installed at the left end and the right end of the front side of the top end of the conveying belt correspondingly and electrically connected with the controller. The sensor module is installed in the middle above the conveying belt through a support. Through a background adaptive technology, automatic cooperative detection and an intelligent detection algorithm, the defects of low precision and efficiency of traditional industrial appearance detection are fundamentally solved, and the method is suitable for intelligent manufacturing scenes with high quality control requirements and fast production rhythm.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology, specifically to a product appearance inspection device for industrial design based on visual recognition. Background Technology

[0002] Product appearance inspection technology for industrial design is a key link in ensuring product quality. Traditional technologies rely heavily on manual visual inspection, which suffers from low efficiency, strong subjectivity, and fatigue, making it difficult to meet the needs of high-precision and large-volume inspection. Automated inspection technology based on machine vision is gradually becoming the mainstream. It uses industrial cameras to collect images and combines image processing algorithms and deep learning models to quickly identify defects such as scratches, color differences, and dimensional deviations on the product surface. In the existing technical field, visual inspection systems use fixed background boards and cannot automatically adjust according to the color of the workpiece. When the workpiece and the background color are similar, the image contrast is low, which makes edge recognition difficult. For example, the recognition rate of fine scratches on the surface of silver metal parts is low under a normal white background. In addition, existing inspection systems rely on manual loading and unloading. The fixed-view vision system is difficult to detect the entire surface of complex curved workpieces. The workpiece needs to be manually flipped, which is inefficient and has blind spots. Summary of the Invention

[0003] The purpose of this invention is to provide a product appearance inspection device for industrial design based on visual recognition, so as to at least solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a product appearance inspection device for industrial design based on visual recognition, comprising: a handling robotic arm, a visual recognition mechanism, a controller, a conveyor belt, grating sensors, and a sensor module; the visual recognition mechanism is disposed on the rear side of the handling robotic arm; the controller is installed on the left side of the visual recognition mechanism, and the handling robotic arm and the controller are electrically connected; the conveyor belt is disposed on the right side of the handling robotic arm along the front-rear direction, and the conveyor belt and the controller are electrically connected; the number of grating sensors is two, and the two grating sensors are respectively installed at the left and right ends of the front top of the conveyor belt, and the grating sensors are electrically connected to the controller; the sensor module is installed on the upper middle part of the conveyor belt via a bracket, and the sensor module and the controller are electrically connected.

[0005] Preferably, the visual recognition mechanism includes: a box-shaped outer shell, a visual recognition module, a trough, a handling and picking component, a fixing and pushing component, a storage assembly, and a background plate; the box-shaped outer shell is disposed on the rear side of the handling robotic arm in a left-right direction; the visual recognition module is disposed on the rear side of the handling robotic arm; the trough is opened on the top left side of the inner cavity of the box-shaped outer shell; the handling and picking component is disposed on the top of the inner cavity of the box-shaped outer shell and located below the trough; the fixing and pushing component is disposed on the bottom of the inner cavity of the box-shaped outer shell and located in the lower middle part of the trough; the storage assembly is disposed on the right side of the inner cavity of the box-shaped outer shell; the number of background plates is several, and several background plates can be stored inside the storage assembly; the background plates are adapted to the inner cavity of the trough.

[0006] Preferably, the handling and picking components include: a vertical mounting frame, a first limiting assembly, a mounting frame, a first motor, a first gear and rack assembly, a mounting truss, a second limiting assembly, a first mounting plate, a second motor, a second gear and rack assembly, a first electric telescopic rod, a second mounting plate, and a clamp; the number of vertical mounting frames is four, and the four vertical mounting frames are respectively installed vertically at the top of the inner cavity of the box-type outer shell and located at the four outer corners of the groove; the number of first limiting assemblies is four, and the four first limiting assemblies are respectively installed vertically on the left side of the outer surface of the four vertical mounting frames; the mounting frame is installed horizontally on the left side of the limiting ends of the two front and rear first limiting assemblies on the left; the first motor is mounted on the front side of the mounting frame via a bracket, and the first motor and controller are electrically connected; the rack in the first gear and rack assembly is installed vertically on the front side of the outer surface of the left front vertical mounting frame, and the gear in the first gear and rack assembly is fixedly installed on the rotating end of the first motor; the number of mounting trusses is two, and the two mounting trusses are respectively installed horizontally on the limiting ends of the two front and rear first limiting assemblies on the right, and the two front and rear mounting trusses are respectively installed horizontally on the limiting ends of the two front and rear first limiting assemblies on the right. The left end of the truss is connected to the front and rear ends of the inner side of the mounting frame, respectively; there are two second limiting components, which are respectively installed at the top of the front and rear mounting trusses on the right side in the left-right direction; the first mounting plate is fixedly installed at the top of the limiting ends of the front and rear second limiting components in the front-back direction; the second motor is installed on the front side of the first mounting plate through a bracket, and the second motor is electrically connected to the controller; the rack in the second gear and rack assembly is installed at the top of the outer surface of the front mounting truss in the up-down direction, and the gear in the second gear and rack assembly is fixedly installed at the rotating end of the second motor; there are two first electric telescopic rods, which are respectively installed at the front and rear ends of the left side of the first mounting plate in the left-right direction, and the telescopic ends of the two first electric telescopic rods extend out of the right side of the first mounting plate, and the first electric telescopic rods are electrically connected to the controller; the second mounting plate is fixedly installed on the right side of the telescopic ends of the front and rear first electric telescopic rods in the front-back direction; there are two clamps, which are respectively installed at the front and rear ends of the right side of the second mounting plate, and the clamps are electrically connected to the controller.

[0007] Preferably, the fixed pushing component includes: a tank shell, a third limiting component, a lead screw assembly, a third motor, a mounting base, and an electrically controlled suction cup; the tank shell is fixedly installed in the bottom of the inner cavity of the box-type shell along the vertical direction and located directly below the tank; the third limiting component is installed in the front side of the inner cavity of the tank shell along the vertical direction; the lead screw assembly is arranged in the rear side of the inner cavity of the tank shell along the vertical direction; the third motor is installed at the bottom of the outer surface of the tank shell, the rotating end of the third motor extends into the inner cavity of the tank shell and is connected to the bottom of the lead screw shaft of the lead screw assembly, and the third motor is electrically connected to the controller; the mounting base is fixedly installed on the rear side of the limiting end of the third limiting component, and the inner side of the mounting base is connected to the lead screw nut of the lead screw assembly; the electrically controlled suction cup is installed on the top of the mounting base, and the electrically controlled suction cup is electrically connected to the controller.

[0008] Preferably, the storage assembly includes: a storage tank box, U-shaped slot frames, rollers, and a magnetic module; the storage tank box is fixedly installed in the bottom of the inner cavity of the box-shaped outer shell along the vertical direction and located on the lower right side of the tank; the number of U-shaped slot frames is several, and the several U-shaped slot frames are installed at intervals from top to bottom in the inner cavity of the storage tank box; the number of rollers is several groups, each group of rollers has two rows, and each row has several rollers; each group of U-shaped slot frames is rotatably connected to the front and rear sides of the inner cavity of the magnetic module at intervals from left to right via a rotating shaft; the number of magnetic modules is several groups, each group of rollers has two rollers, and each group of magnetic modules is respectively installed on the front and rear sides of the right top of several U-shaped slot frames; the magnetic modules and the controller are electrically connected; wherein, auxiliary pushing units are installed on the front and rear sides of the inner right end of each group of U-shaped slot frames.

[0009] Preferably, the auxiliary pushing unit includes: a housing, a first rotating shaft, a pushing seat, a second rotating shaft, a gear assembly, a cam frame, and a second electric telescopic rod; the housing is fixedly installed on the front and rear sides of the inner right end of the U-shaped groove frame; the first rotating shaft is rotatably connected to the front top opening of the housing via bearings, and the axis of the first rotating shaft extends into the inner cavity of the housing; the pushing seat is installed at the top of the first rotating shaft; the second rotating shaft is rotatably connected to the lower part of the inner cavity of the housing via bearings in the front-rear direction; one side of the gear assembly is connected to the rear side of the axis of the first rotating shaft via a gear key, and the other side of the gear assembly is connected to the front side of the axis of the second rotating shaft via a gear key; one end of the cam frame is fixedly connected to the rear side of the axis of the second rotating shaft; one end of the second electric telescopic rod is rotatably connected to the bottom left side of the inner cavity of the housing via a rotating shaft seat, and the other end of the second electric telescopic rod is rotatably connected to the inner side of the axis of the other end of the cam frame via a rotating shaft; the second electric telescopic rod and the controller are electrically connected.

[0010] Compared with the prior art, the beneficial effects of the present invention are: 1. The workpiece on its surface is conveyed to the rear by a conveyor belt. When the grating sensors on both sides detect that the workpiece has moved to the position below the sensor module, they send a signal to the controller. The sensor module detects the color of the workpiece below and confirms the background board of the required color. The first motor drives the gear in the first gear and rack assembly to rotate and move up and down along the rack in the first gear and rack assembly, so that the mounting frame moves up and down. The mounting frame drives the mounting truss to be raised and lowered to the specified height position. The second motor drives the gear in the second gear and rack assembly to rotate and move left and right along the rack in the second gear and rack assembly, so that the first mounting plate moves left and right, so that the clamp moves to the corresponding position where the background board is stored. The second electric telescopic rod drives the cam frame to rotate the second rotating shaft, and under the transmission of the gear assembly, drives the first rotating shaft to drive the push seat to rotate downward, so that the push seat pushes the background board to the left along the roller surface. The first electric telescopic rods on the front and rear sides extend and drive the second mounting plate to move to the right, so that the clamps on the front and rear sides move to the outside position of the background board. The clamps clamp and grab the front and rear ends of the left side of the background board and move the background board to the corresponding position above the fixed push component.

[0011] 2. The third motor drives the lead screw in the lead screw assembly to rotate, which in turn drives the lead screw nut in the lead screw assembly to move the mounting base up and down. The mounting base drives the electric suction cup to move to the specified height position. The electric suction cup adsorbs and connects to the bottom of the background plate inside the gripper. The grippers on the front and rear sides release their gripping and fixing of the background plate. The third motor continues to drive the lead screw assembly to move the mounting base upward, and with the cooperation of the electric suction cup, the background plate is moved into the inner cavity of the tank. The handling robot arm grabs the workpiece on the surface of the conveyor belt and moves it to the surface of the background plate. The vision recognition module performs visual recognition on the workpiece on the surface of the background plate and sends the data to the controller. The handling robot arm, in coordination with the recognition position of the vision recognition module, performs positional adjustments such as flipping the workpiece.

[0012] In summary, this invention, through background adaptive technology, automatic collaborative detection, and intelligent detection algorithms, fundamentally solves the shortcomings of low accuracy and efficiency in traditional industrial appearance inspection, making it suitable for intelligent manufacturing scenarios with high quality control requirements and fast production pace. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Exploded view of a visual recognition mechanism; Figure 3 for Figure 2 A structural diagram of the handling and picking components and the fixed pushing components; Figure 4 for Figure 3 Exploded view of the parts being moved and retrieved; Figure 5 for Figure 4 Enlarged view of point A; Figure 6 for Figure 3 Exploded view of the fixed push component; Figure 7 for Figure 3 Exploded view of the parts being moved and retrieved; Figure 8 for Figure 7 Enlarged view of point B.

[0014] In the diagram: 1. Handling robotic arm; 2. Vision recognition mechanism; 21. Box-type outer shell; 22. Vision recognition module; 23. Tank; 24. Background plate; 3. Handling and picking components; 31. Vertical mounting frame; 32. First limiting assembly; 33. Mounting frame; 34. First motor; 35. First gear and rack assembly; 36. Mounting truss; 37. Second limiting assembly; 38. First mounting plate; 39. Second motor; 310. Second gear and rack assembly; 311. First electric telescopic rod; 312. Second mounting plate; 313. Clamping device. 4. Fixed pushing component, 41. Tank shell, 42. Third limiting component, 43. Lead screw assembly, 44. Third motor, 45. Mounting base, 46. Electric suction cup, 5. Storage component, 51. Storage tank box, 52. U-shaped tank frame, 53. Roller, 54. Magnetic module, 55. Shell, 56. First rotating shaft, 57. Pushing seat, 58. Second rotating shaft, 59. Gear assembly, 510. Cam frame, 511. Second electric telescopic rod, 6. Controller, 7. Conveyor belt, 8. Grating sensor, 9. Sensor module. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figures 1-8This invention provides a technical solution: a product appearance inspection device for industrial design based on vision recognition, comprising: a handling robotic arm 1, a vision recognition mechanism 2, a controller 6, a conveyor belt 7, a grating sensor 8, and a sensor module 9. The handling robotic arm 1 adopts a multi-axis articulated design, which can meet the gripping needs of industrial products of different sizes and weights. The end of the handling robotic arm 1 is equipped with a quick-change gripper interface, which can quickly change to a suitable gripping tool according to the product type, such as a vacuum suction cup, pneumatic gripper, etc. During operation, the handling robotic arm 1 receives instructions from the controller 6, accurately grips the workpiece on the conveyor belt 7, and cooperates with the detection requirements of the vision recognition module 22 to move the workpiece. The robotic arm 1 can rotate 360° and flip over at multiple angles, ensuring that all surfaces of the workpiece can be fully inspected. The vision recognition mechanism 2 is located at the rear of the robotic arm 1. The controller 6 is installed to the left of the vision recognition mechanism 2. The robotic arm 1 and the controller 6 are electrically connected. The controller 6 uses an industrial-grade PLC with data processing and logic control capabilities. The controller 6 has a pre-installed customized control program to achieve automated control of the entire inspection device. The conveyor belt 7 is located on the right side of the robotic arm 1 along the front-to-back direction. The conveyor belt 7 is electrically connected to the controller 6. The conveyor belt 7 uses a ring-shaped polyurethane synchronous belt with a surface covered with an anti-slip rubber layer. Driven by a servo motor, the motor speed is adjusted via a frequency converter, allowing for flexible adjustment of the workpiece conveying speed according to detection requirements. The conveyor belt 7 receives start / stop and speed adjustment commands from the controller 6 and provides feedback on its operating status. Two grating sensors 8 are installed at the top front left and right ends of the conveyor belt 7, respectively. The grating sensors 8 are electrically connected to the controller 6. These two grating sensors 8 are through-beam photoelectric sensors, with their transmitters and receivers facing each other to form a detection light curtain. When a workpiece passes through a grating sensor 8, it blocks the light beam, and the sensor immediately sends a high-level signal to the controller 6. The controller 6 determines the workpiece's position and arrival time based on the signal change. The sensor module 9 is mounted on the upper middle part of the conveyor belt 7 via a bracket. The sensor module 9 and the controller 6 are electrically connected. The sensor module 9 is mounted on the upper middle part of the conveyor belt 7 via an aluminum alloy bracket. The height of the bracket can be adjusted by threads to adapt to the detection needs of workpieces of different heights. The sensor module 9 integrates a high-sensitivity color sensor and adopts the RGB three-color detection principle. It can quickly identify the surface color of the workpiece and convert the color data into a digital signal and send it to the controller 6. The sensor module 9 is equipped with an ambient light compensation function, which can automatically adjust the detection parameters to ensure accurate detection of workpiece color under different lighting conditions, providing a reliable basis for the selection of the background plate 24.

[0017] As a preferred option, further, such as Figure 2 and Figure 3As shown, the visual recognition mechanism 2 includes: a box-type housing 21, a visual recognition module 22, a tank 23, a handling and picking component 3, a fixing and pushing component 4, a storage component 5, and a background plate 24. The box-type housing 21 is arranged along the left-right direction on the rear side of the handling robotic arm 1, and an inspection door is provided on the outside of the box-type housing 21. The visual recognition module 22 is located on the rear side of the handling robotic arm 1. The visual recognition module 22 is equipped with a high-resolution industrial camera and a telecentric lens. With the help of a ring shadowless light source and a strip coaxial light source, it can clearly capture the details of the workpiece surface. The visual recognition module 22 supports multispectral imaging technology and can recognize image information of different bands such as visible light and infrared light. The image analysis algorithm inside the controller 6 realizes the identification of the product surface. For precise defect detection, the tank 23 is located on the top left side of the inner cavity of the box-type outer shell 21; the handling and picking component 3 is located on the top of the inner cavity of the box-type outer shell 21 and below the tank 23; the fixing and pushing component 4 is located at the bottom of the inner cavity of the box-type outer shell 21 and in the lower middle part of the tank 23; the storage component 5 is located on the right side of the inner cavity of the box-type outer shell 21; there are several background boards 24, which can be stored inside the storage component 5. The background boards 24 are adapted to the inner cavity of the tank 23. The background boards 24 are made of matte acrylic material with a special coating treatment, which has a good reflection suppression effect and can effectively reduce the interference of light reflection on visual inspection. In addition, they are equipped with a variety of colors according to different inspection needs.

[0018] As a preferred option, further, such as Figure 4 and Figure 5As shown, the handling and picking component 3 includes: a vertical mounting frame 31, a first limiting assembly 32, a mounting frame 33, a first motor 34, a first gear and rack assembly 35, a mounting truss 36, a second limiting assembly 37, a first mounting plate 38, a second motor 39, a second gear and rack assembly 310, a first electric telescopic rod 311, a second mounting plate 312, and a clamp 313; there are four vertical mounting frames 31, which are respectively installed vertically at the top of the inner cavity of the box-type outer shell 21 and located at the four outer corners of the groove 23. The vertical mounting frames 31 have a T-shaped structure and play a supporting and guiding role during the movement of the handling and picking component 3; there are four first limiting assemblies 32, which are four first limiting... Components 32 are respectively installed on the left side of the outer surface of the four vertical mounting brackets 31 along the vertical direction. The first limiting component 32 consists of a limiting slider and a guide rail, with the limiting slider tightly fitted onto the guide rail. The second limiting component 37 is installed on the guide rail, which is vertically fixed to the outer surface of the vertical mounting bracket 31. When the first motor 34 drives the first gear and rack assembly 35 to move, the first limiting component 32 ensures that the mounting frame 33 moves smoothly in the vertical direction. The mounting frame 33 is installed on the left side of the limiting ends of the two first limiting components 32 on the left side along the front and rear directions. The first motor 34 is installed on the front side of the mounting frame 33 through a bracket. The first motor 34 is electrically connected to the controller 6. The first motor 34 is a servo motor equipped with a high-precision planetary reducer, which can achieve precise... Speed ​​and position control; the rack in the first gear and rack assembly 35 is mounted vertically on the front outer surface of the left front vertical mounting bracket 31, and the gear in the first gear and rack assembly 35 is fixedly mounted on the rotating end of the first motor 34; there are two mounting trusses 36, which are mounted horizontally on the limiting ends of the front and rear first limiting assemblies 32 on the right side, and the left ends of the front and rear of the front and rear mounting trusses 36 are connected to the front and rear ends of the inner side of the mounting frame 33, respectively. The mounting trusses 36 have an I-shaped structure and play a supporting and guiding role during the movement of the handling and picking of the component 3; there are two second limiting assemblies 37, which are mounted horizontally on the front and rear mounting trusses 32 on the right side. At the top of the controller 6, the second limiting component 37 consists of a limiting slider and a guide rail. The limiting slider is tightly fitted onto the guide rail as a limiting end, and the guide rail is horizontally fixed to the outer surface of the second limiting component 37. The first mounting plate 38 is fixedly installed on the top of the limiting ends of the two second limiting components 37 in the front and rear directions. The second motor 39 is installed on the front side of the first mounting plate 38 through a bracket. The second motor 39 is electrically connected to the controller 6. The second motor 39 is a servo motor equipped with a high-precision planetary reducer, which can achieve precise speed and position control. The rack in the second gear and rack assembly 310 is installed on the top of the outer surface of the front mounting truss 36 in the up and down direction. The gear in the second gear and rack assembly 310 is fixedly installed on the rotating end of the second motor 39.There are two first electric telescopic rods 311, which are respectively installed at the front and rear ends of the left side of the first mounting plate 38 in the left-right direction. The telescopic ends of the two first electric telescopic rods 311 extend out of the right side of the first mounting plate 38. The first electric telescopic rods 311 are electrically connected to the controller 6. The first electric telescopic rods 311 adopt an electric cylinder structure with built-in high-precision ball screws and servo motors. The controller 6 controls their extension and retraction, driving the second mounting plate 312 and the gripper 313 to move horizontally. The second mounting plate 312 is fixedly installed on the right side of the telescopic ends of the two first electric telescopic rods 311 in the front-back direction. There are two grippers 313, which are respectively installed at the front and rear ends of the right side of the second mounting plate 312. The grippers 313 are electrically connected to the controller 6. The grippers 313 adopt electric parallel jaws, and the gripping force can be adjusted. The grippers 313 have built-in pressure sensors that can provide real-time feedback on the gripping force to prevent damage to the background plate 24. As a preferred option, further, such as Figure 6 As shown, the fixed pushing component 4 includes: a tank shell 41, a third limiting component 42, a lead screw assembly 43, a third motor 44, a mounting base 45, and an electrically controlled suction cup 46. The tank shell 41 is fixedly installed at the bottom of the inner cavity of the box-type shell 21 in the vertical direction and is located directly below the tank 23. The third limiting component 42 is installed at the front side of the inner cavity of the tank shell 41 in the vertical direction. The third limiting component 42 consists of a limiting slider and a guide rail. The limiting slider is tightly fitted on the guide rail as a limiting end. The guide rail is vertically fixed in the inner cavity of the tank shell 41. The lead screw assembly 43 is arranged at the rear side of the inner cavity of the tank shell 41 in the vertical direction. The lead screw assembly 43 consists of a lead screw and a lead screw nut. The lead screw is a high-precision ground ball screw. The lead screw nut is fixedly connected to the mounting base 45. Driven by the third motor 44, it drives the mounting base. 45 moves up and down; the third motor 44 is installed at the bottom of the outer surface of the tank shell 41, and the rotating end of the third motor 44 extends into the inner cavity of the tank shell 41 and is connected to the bottom of the lead screw shaft of the lead screw assembly 43. The third motor 44 is electrically connected to the controller 6. The third motor 44 is a servo motor equipped with an absolute encoder, which can achieve precise position control; the mounting base 45 is fixedly installed on the rear side of the limit end of the third limit assembly 42, and the inner side of the mounting base 45 is connected to the lead screw nut of the lead screw assembly 43; the electric suction cup 46 is installed on the top of the mounting base 45. The electric suction cup 46 is electrically connected to the controller 6. The electric suction cup 46 is an electromagnetic suction cup, which can firmly adsorb the background plate 24. The surface of the suction cup of the electric suction cup 46 is covered with an anti-slip rubber pad to prevent the background plate 24 from sliding during adsorption and transportation.

[0019] As a preferred option, further, such as Figure 7 and Figure 8As shown, the storage component 5 includes: a storage tank 51, U-shaped racks 52, casters 53, and a magnetic module 54; the storage tank 51 is fixedly installed at the bottom of the inner cavity of the box-type outer shell 21 along the vertical direction and located below the right side of the tank 23; there are several U-shaped racks 52, which are installed at intervals from top to bottom inside the storage tank 51. The U-shaped racks 52 have multiple partitions inside to separate background panels 24 of different colors and sizes. The outer width of the U-shaped racks 52 is slightly larger than the width of the background panels 24 to ensure that the background panels 24 are placed stably; there are several sets of casters 53, with each set consisting of two rows of casters 53. There are several sets of U-shaped slot frames 52, each set rotatably connected to the front and rear sides of the inner cavity of the magnetic suction module 54 from left to right via a rotating shaft. The rollers 53 are made of polyurethane, which has good wear resistance and a low coefficient of friction, reducing the friction of the background plate 24 during the pushing process. There are several sets of magnetic suction modules 54, each set containing two rollers 53. Each set of magnetic suction modules 54 is installed on the front and rear sides of the right top of several U-shaped slot frames 52. The magnetic suction modules 54 are electrically connected to the controller 6, and the controller 6 controls the power supply of the magnetic suction modules 54 to achieve the adsorption and release of the background plate 24. Among them, each set of U-shaped slot frames 52 has rollers 53 installed on the front and rear sides of the inner right end. The auxiliary pushing unit includes: a housing 55, a first rotating shaft 56, a pushing seat 57, a second rotating shaft 58, a gear assembly 59, a cam frame 510, and a second electric telescopic rod 511. The housing 55 is fixedly installed on the front and rear sides of the inner right end of the U-shaped groove frame 52. The first rotating shaft 56 is rotatably connected to the front top opening of the housing 55 via bearings, and the axis of the first rotating shaft 56 extends into the inner cavity of the housing 55. The pushing seat 57 is installed on the top of the first rotating shaft 56. The second rotating shaft 58 is rotatably connected to the lower part of the inner cavity of the housing 55 via bearings in the front-rear direction. One side of the gear assembly 59 is connected to the rear side of the axis of the first rotating shaft 56 via a gear key, and the other side of the gear assembly 59... A gear key is connected to the front side of the shaft of the second rotating shaft 58. The gear assembly 59 consists of two meshing cylindrical gears, which can realize the power transmission between the first rotating shaft 56 and the second rotating shaft 58. One end of the cam frame 510 is fixedly connected to the rear side of the shaft of the second rotating shaft 58. One end of the second electric telescopic rod 511 is rotatably connected to the bottom left side of the inner cavity of the outer shell 55 through a rotating shaft seat. The other end of the second electric telescopic rod 511 is rotatably connected to the inner side of the shaft of the other end of the cam frame 510 through a rotating shaft. The second electric telescopic rod 511 is electrically connected to the controller 6. The second electric telescopic rod 511 adopts an electric cylinder structure and is controlled by the controller 6 to push the background plate 24.

[0020] Its detailed connection methods are well-known technologies in this field. The following mainly introduces the working principle and process, and the specific work is as follows: Step 1: The worker places the workpiece to be identified on the surface of conveyor belt 7. The preset program inside controller 6 is activated, activating conveyor belt 7, grating sensor 8, sensor module 9, first motor 34, and second motor 39. Conveyor belt 7 transports the workpiece to the rear. During the transport process, the grating sensors 8 on both sides continuously monitor the position of the workpiece. When the workpiece moves to a position directly below sensor module 9, the light beam between the transmitting and receiving ends of grating sensor 8 is blocked, and a trigger signal is sent to controller 6. After receiving the signal, sensor module 9 activates the color detection function. This module has a built-in high-resolution color recognition sensor that can quickly identify the RGB or CMYK color values ​​of the workpiece surface and compare them with the preset color database to confirm the corresponding color background 24 that forms the best contrast with the workpiece color. Based on the background panel storage location data stored in the system, the controller 6 issues commands to the first motor 34 and the second motor 39. The first motor 34 drives the gear in the first gear and rack assembly 35 to rotate and move up and down along the rack in the first gear and rack assembly 35. Then, under the limiting and guiding action of the first limiting component 32 on the left, the mounting frame 33 can achieve precise up and down movement. The first limiting component 32 on the right works in concert to ensure that the mounting frame 33 drives the mounting truss 36 to rise and fall smoothly to the specified height position. The second motor 39 drives the gear in the second gear and rack assembly 310 to rotate and move left and right along the rack in the second gear and rack assembly 310. Under the limiting constraint of the second limiting component 37, the first mounting plate 38 drives the clamp 313 to move left and right, accurately positioning it to the storage position of the corresponding color background panel 24. Step 2: After the gripper 313 is positioned, the internal program of controller 6 controls the magnetic suction module 54, the second electric telescopic rod 511, the first electric telescopic rod 311, and the gripper 313 to start. The two magnetic suction modules 54 at the corresponding positions of the target background board 24 stop magnetically fixing the background board 24 through a power-off operation. The second electric telescopic rod 511 extends, driving one end of the cam frame 510 to move upward, thereby causing the other end of the cam frame 510 to drive the second rotating shaft 58 to rotate clockwise. The second rotating shaft 58 drives the lower gear of the gear assembly 59 to rotate clockwise. The upper gear in the gear assembly 59 rotates clockwise. Under the action of the rotational force of the lower gear, it rotates counterclockwise and drives the first rotating shaft 56 to drive the push seat 57 to rotate downward, so that the push seat 57 pushes the background plate 24 to the left along the surface of the roller 53. The first electric telescopic rods 311 on the front and rear sides extend, driving the second mounting plate 312 to move to the right, so that the grippers 313 on the front and rear sides move to the outer position of the background plate 24. After the grippers 313 reach the position, they grip and grab the front and rear ends of the left side of the background plate 24. After the gripping is completed, the moving parts in the transport and picking component 3 are reset under the control of the controller 6, and the background plate 24 is moved smoothly to the corresponding position above the fixed push component 4. Step 3: After the background plate 24 is transferred to its position, the internal program of controller 6 starts the third motor 44, the electric suction cup 46, the handling robotic arm 1, and the vision recognition module 22. The third motor 44 drives the lead screw in the lead screw assembly 43 to rotate. With the cooperation of the lead screw nut and the mounting base 45, and the limiting action of the third limiting assembly 42, the electric suction cup 46 is driven to move up and down to the specified height position. The electric suction cup 46 adopts the principle of electromagnetic adsorption. After reaching the position, it adsorbs and connects to the lower part of the background plate 24 inside the gripper 313. The grippers on the front and rear sides of the gripper 313 release the gripping and fixing of the background plate 24. The first electric telescopic rod 311 shortens and drives the gripper 313 away from the position above the background plate 24. The third motor 44 continues to drive the lead screw assembly 43. The mounting base 45 is moved upwards, and with the cooperation of the electrically controlled suction cup 46, the background plate 24 is precisely moved into the inner cavity of the tank 23. The handling robot arm 1 picks up the workpiece from the surface of the conveyor belt 7 and moves it to the surface of the background plate 24. The vision recognition module 22 performs visual recognition on the workpiece on the surface of the background plate 24, capturing information such as the texture, color, and size of the workpiece surface, and sends the collected data to the controller 6. The controller 6 has a built-in image analysis algorithm to process and compare the received data to determine whether there are any appearance defects in the workpiece. At the same time, the handling robot arm 1, in coordination with the recognition position of the vision recognition module 22, adjusts the position of the workpiece through rotation, flipping and other actions to ensure that all surfaces of the workpiece can be fully inspected, and achieve high-precision inspection of the product appearance.

[0021] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A product appearance inspection device for industrial design based on visual recognition, characterized in that, Include: Carrying mechanical arm (1); Visual identification mechanism (2) is arranged at the back of the carrying mechanical arm (1); Controller (6) is installed on the left side of the visual identification mechanism (2), and the carrying mechanical arm (1) and the controller (6) are electrically connected; Conveying belt (7) is arranged on the right side of the carrying mechanical arm (1) in the front and back direction, and the conveying belt (7) and the controller (6) are electrically connected; Optical grating sensor (8), the number of the optical grating sensor (8) is two, two optical grating sensors (8) are respectively installed on the left and right ends of the top front side of the conveying belt (7), and the optical grating sensor (8) and the controller (6) are electrically connected; Sensor module (9) is installed above the middle part of the conveying belt (7) through the support, and the sensor module (9) and the controller (6) are electrically connected.

2. The product appearance detection device for industrial design based on visual recognition according to claim 1, characterized by, The visual identification mechanism (2) comprises: Box shell (21) is arranged on the back of the carrying mechanical arm (1) in the left and right direction; Visual identification module (22) is arranged on the back of the carrying mechanical arm (1); Groove (23) is opened on the left side of the inner cavity top of the box shell (21); Storage assembly (5) is arranged on the right side of the inner cavity of the box shell (21), Background plate (24), the number of the background plate (24) is several, and the several background plates (24) can be stored in the inside of the storage assembly (5), and the background plate (24) is matched with the inner cavity of the groove (23).

3. The product appearance detection device for industrial design based on visual recognition according to claim 2, characterized by The visual identification mechanism (2) further comprises: Carrying and taking part (3) is arranged on the inner cavity top of the box shell (21) and below the groove (23); Fixed pushing part (4) is arranged on the inner cavity bottom of the box shell (21) and below the middle part of the groove (23).

4. The product appearance detection device for industrial design based on visual recognition according to claim 3, characterized by The carrying and taking part (3) comprises: Vertical mounting bracket (31), the number of the vertical mounting bracket (31) is four, four vertical mounting brackets (31) are respectively installed on the inner cavity top of the box shell (21) and located on the four corners outside the groove (23) in the up and down direction; First limiting assembly (32), the number of the first limiting assembly (32) is four, four first limiting assemblies (32) are respectively installed on the left side of the outer surface of the four vertical mounting brackets (31) in the up and down direction; Mounting frame (33) is installed on the left side of the limiting end of the left and right two first limiting assemblies (32) in the front and back direction; First motor (34) is installed on the front side of the mounting frame (33) through the support, and the first motor (34) and the controller (6) are electrically connected; First gear and rack assembly (35), the rack in the first gear and rack assembly (35) is installed on the front side of the outer surface of the left front vertical mounting bracket (31) in the up and down direction, and the gear in the first gear and rack assembly (35) is fixedly installed on the rotating end of the first motor (34); Two mounting trusses (36) are mounted on the limiting ends of the two first limiting assemblies (32) on the right side in the left-right direction, and the left ends of the two mounting trusses (36) are connected to the inner two ends of the mounting frame (33) on the front and back. Two second limiting assemblies (37) are mounted on the top ends of the two mounting trusses (36) on the right side in the left-right direction. A first mounting plate (38) is fixedly mounted on the top of the limiting ends of the two second limiting assemblies (37) in the front-back direction. A second motor (39) is mounted on the front side of the first mounting plate (38) through a support, and the second motor (39) is electrically connected with the controller (6). A second rack-and-pinion assembly (310) is mounted on the top of the outer surface of the front mounting truss (36) in the up-down direction, and a pinion of the second rack-and-pinion assembly (310) is fixedly mounted on the rotating end of the second motor (39). Two first electric telescopic rods (311) are mounted on the left two ends of the first mounting plate (38) in the left-right direction, the telescopic ends of the two first electric telescopic rods (311) extend out of the right side of the first mounting plate (38), and the first electric telescopic rods (311) are electrically connected with the controller (6). A second mounting plate (312) is fixedly mounted on the right side of the telescopic ends of the two first electric telescopic rods (311) in the front-back direction. Two clamps (313) are mounted on the right two ends of the second mounting plate (312), and the clamps (313) are electrically connected with the controller (6).

5. The product appearance inspection device for industrial design based on visual recognition according to claim 4, characterized by The fixed pushing component (4) comprises: A groove housing (41) is fixedly mounted on the bottom end of the inner cavity of the box-shaped housing (21) and located directly below the groove (23) in the up-down direction. A third limiting assembly (42) is mounted on the front side of the inner cavity of the groove housing (41) in the up-down direction. A lead screw assembly (43) is arranged on the rear side of the inner cavity of the groove housing (41) in the up-down direction. A third motor (44) is mounted on the bottom of the outer surface of the groove housing (41), the rotating end of the third motor (44) extends into the inner cavity of the groove housing (41) and is connected to the bottom of the screw rod shaft of the lead screw assembly (43), and the third motor (44) is electrically connected with the controller (6). An installation base (45) is fixedly mounted on the rear side of the limiting end of the third limiting assembly (42), and the inner side of the installation base (45) is connected to the screw nut of the lead screw assembly (43). An electrically controlled suction cup (46) is mounted on the top end of the installation base (45), and the electrically controlled suction cup (46) is electrically connected with the controller (6).

6. The product appearance inspection device for industrial design based on visual recognition according to claim 5, wherein The storage assembly (5) comprises: The accommodation groove box (51) is fixedly installed at the bottom end of the inner cavity of the box-shaped shell (21) in the up-down direction and is located below the right side of the groove (23); The U-shaped groove frame (52) is installed in the inner cavity of the accommodation groove box (51) in intervals from top to bottom, and the number of the U-shaped groove frames (52) is several; The number of the roller (53) is several groups, the number of the roller (53) in each group is two rows, the number of the roller (53) in each row is several, and each group of the U-shaped groove frame (52) is rotatably connected to the inner cavity of the magnetic attraction module (54) in intervals from left to right on the front and back sides; The number of the magnetic attraction module (54) is several groups, the number of the roller (53) in each group is two, and each group of the magnetic attraction module (54) is installed on the right side of the top end of the several U-shaped groove frames (52) on the front and back sides, and the magnetic attraction module (54) is electrically connected with the controller (6).

7. The product appearance detection device for industrial design based on visual recognition according to claim 6, wherein The inner right end of each group of the U-shaped groove frame (52) is provided with an auxiliary pushing unit on the front and back sides.

8. The product appearance detection device for industrial design based on visual recognition according to claim 7, characterized by, The auxiliary pushing unit comprises: The shell (55) is fixedly installed on the inner right end of the U-shaped groove frame (52) on the front and back sides; The first rotating shaft (56) is rotatably connected to the front side top opening of the shell (55) through a bearing, and the shaft center of the first rotating shaft (56) extends into the inner cavity of the shell (55); The pushing seat (57) is installed on the top end of the first rotating shaft (56); The second rotating shaft (58) is rotatably connected to the inner cavity below of the shell (55) in the front and back direction through a bearing; The gear assembly (59) is connected to the rear side of the shaft center of the first rotating shaft (56) on one side, and the other side gear key of the gear assembly (59) is connected to the front side of the shaft center of the second rotating shaft (58); The cam frame (510) is fixedly connected to the rear side of the shaft center of the second rotating shaft (58) on one end; One end of the second electric telescopic rod (511) is rotatably connected to the left bottom end of the inner cavity of the shell (55) through a rotating shaft seat, the other end of the second electric telescopic rod (511) is rotatably connected to the other end of the cam frame (510) on the inner side of the shaft center, and the second electric telescopic rod (511) is electrically connected with the controller (6).

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