Paperboard surface defect detection device based on visual identification and method thereof

Abstract

The invention belongs to the technical field of paperboard detection equipment, and particularly relates to a paperboard surface defect detection device and method based on visual identification, and the paperboard surface defect detection device comprises a machine table, an electric cabinet, a three-axis moving device, a visual detection device, a feeding device, a recovery device and a discharging device. The feeding device comprises a feeding assembly, an adjusting assembly and a limiting assembly. The adjusting assembly comprises an adjusting support, a vertical plate, a limiting plate, an adjusting plate, an adjusting block and an adjusting bolt. Adjusting movable grooves are formed in the side faces of the vertical plates. According to the feeding device, the size of a feeding containing groove is adjusted through an adjusting assembly, an adjusting plate is matched with an adjusting bolt through an adjusting block, the adjusting plate can move along an adjusting movable groove of a vertical plate, the distance between the adjusting plate and a limiting plate is changed, and the feeding device is suitable for paperboard workpieces of different width specifications; the limiting assembly adjusts the position of a second limiting block through a limiting pin and can adapt to paperboards of different length specifications, the problem that traditional equipment can only adapt to paperboards of a single specification or a few specifications is solved, and the universality of the equipment is greatly improved.

Description

Technical Field

[0001] This invention belongs to the technical field of cardboard inspection equipment, and particularly relates to a cardboard surface defect detection device based on visual recognition. Background Technology

[0002] In the production, processing, and subsequent application of cardboard, defects such as scratches, tears, stains, and missing corners on the cardboard surface directly affect the product's quality and performance. Therefore, accurate detection of cardboard surface defects is necessary. Various cardboard surface defect detection devices have emerged in the existing technology, most of which utilize visual recognition technology combined with mechanical transmission structures to perform the detection operation. However, these devices have significant limitations in practical use.

[0003] Traditional cardboard inspection equipment often employs fixed-structure designs for its feeding and limiting mechanisms. The width of the feeding channel and the size of the positioning spacing are fixed to accommodate specific cardboard workpiece dimensions. In actual production scenarios, cardboard dimensions (such as length, width, and thickness) often vary depending on application requirements. Fixed-structure mechanisms cannot be flexibly adjusted, resulting in a single inspection device only being able to handle one or a few cardboard workpiece dimensions. When inspecting different cardboard sizes, operators must replace corresponding mechanism components or adjust the overall equipment structure, which is not only cumbersome and time-consuming but also reduces production efficiency. Furthermore, frequent replacements or adjustments can accelerate wear and tear on equipment components, shorten equipment lifespan, and increase production costs. Summary of the Invention

[0004] The purpose of this invention is to provide a visual recognition-based cardboard surface defect detection device, which aims to solve the technical problems of poor adaptability, cumbersome operation, and insufficient detection efficiency and accuracy of existing cardboard detection equipment.

[0005] To achieve the above objectives, the present invention provides a cardboard surface defect detection device based on vision recognition, comprising a machine base, an electrical control box, a three-axis moving device, a vision inspection device, a feeding device, and a discharging device. The electrical control box is fixed to the machine base and electrically connected to the three-axis moving device, the vision inspection device, the feeding device, the recycling device, and the discharging device. The three-axis moving device is fixed to the machine base and disposed on one side of the vision inspection device. The vision inspection device is fixed to the three-axis moving device and is linked in three axes through the three-axis moving device. The vision inspection device is disposed on one side of the feeding device. The feeding device and the discharging device are sequentially fixed to the machine base. The recycling device is disposed on both the vision inspection device and the machine base. The discharging device is disposed between the three-axis moving device and the feeding device and is disposed below the vision inspection device.

[0006] The feeding device includes a feeding assembly, an adjustment assembly, and a limiting assembly. The adjustment assembly includes an adjustment bracket, a vertical plate, a limiting plate, an adjustment plate, an adjustment block, and adjustment bolts. The adjustment bracket is fixed to the machine base, and the vertical plate is fixed to the adjustment bracket. The bottom side of the vertical plate and the top side of the adjustment bracket are spaced apart to form a feeding groove. An adjustment slot is provided on the side of the vertical plate. The limiting plate is fixed to the vertical plate and is located on one side of the adjustment slot. The adjustment plate is located on the side of the vertical plate and is parallel and spaced apart from the limiting plate. A feeding receiving groove is formed between the adjustment plate and the limiting plate, and the feeding receiving groove is used to place cardboard workpieces. One end of the adjustment block passes through the adjustment slot and is fixedly connected to the adjustment plate. The adjustment bolts are sequentially inserted through the adjustment block and the vertical plate. The adjustment plate is movably mounted on the vertical plate through the adjustment block and the adjustment bolts, and adjusts the size of the feeding receiving groove.

[0007] As an optional embodiment of the present invention, multiple and identical limiting plates, adjusting plates, adjusting blocks, and adjusting movable slots are provided. Multiple limiting plates are fixedly connected to the upright plate; multiple adjusting movable slots are evenly arranged on the upright plate; multiple adjusting plates are movably arranged on the upright plate, and one adjusting plate corresponds to one adjusting block; the side of the adjusting block is provided with an adjusting groove, and the adjusting bolt passes through the adjusting groove and is threadedly connected to the upright plate.

[0008] As an optional embodiment of the present invention, the feeding assembly includes a feeding bracket, a feeding cylinder, a feeding slide, a feeding push plate, a feeding slider, and a feeding slide rail. The feeding bracket is fixed to the machine base and disposed on one side of the adjusting bracket. The feeding cylinder is fixed to the feeding bracket, and the feeding slide is fixed to the feeding cylinder, the feeding push plate, and the feeding slider, respectively. One end of the feeding push plate is detachably disposed on the feeding slide, and the other end is disposed on one side of the feeding groove and the feeding receiving groove. The thickness of the feeding push plate is less than the height of the feeding groove and less than the thickness of the cardboard workpiece. The feeding slider is fixed to the bottom side of the feeding slide and slidably connected to the feeding slide rail. The feeding slide rail is fixed to the feeding bracket.

[0009] As an optional embodiment of the present invention, the limiting components are respectively fixed to the adjusting bracket and the adjusting plate; the limiting components include a first limiting block, a second limiting block, and a limiting pin, the first limiting block is fixed to the adjusting plate and disposed on one side of the feeding trough; the second limiting block is movably disposed on the adjusting bracket through the limiting pin, the second limiting block is disposed on one side of the feeding trough, and is parallel and spaced apart from the first limiting block; the limiting pin is sequentially inserted into the second limiting block and the adjusting bracket; multiple limiting components are provided, and the number is the same as the number of adjusting plates.

[0010] As an optional embodiment of the present invention, the three-axis moving device includes an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The X-axis moving module is fixed to the machine tool, the Y-axis moving module is fixed to the X-axis moving module and the Z-axis moving module respectively, and the vision inspection device is fixed to the Z-axis moving module.

[0011] As an optional embodiment of the present invention, the visual inspection device includes a visual mounting base and a CCD camera. The visual mounting base is fixedly connected to the Z-axis moving module, and the CCD camera is fixedly connected to the visual mounting base and disposed above the adjustment bracket.

[0012] As an optional embodiment of the present invention, the recycling device includes a recycling cylinder, a recycling suction cup, and a recycling box. The recycling cylinder is fixed to the side of the CCD camera, the recycling suction cup is fixed to the recycling cylinder and disposed above the unloading device, and the recycling box is disposed on the machine base and disposed on one side of the X-axis moving module.

[0013] As an optional embodiment of the present invention, the feeding device includes a guide platform, a feeding component, a pushing component, and a collecting component. The guide platform is fixed to the adjusting bracket and is disposed above the feeding component. The guide platform is provided with a guiding groove. There are two feeding components, two pushing components, and two collecting components, which are arranged in parallel and symmetrically.

[0014] As an optional embodiment of the present invention, the feeding assembly is fixed to the machine base, the pushing assembly is fixed to the feeding assembly, and the collecting assembly is fixed to the machine base and disposed on one side of the feeding assembly; the feeding assembly includes a feeding frame, a feeding motor, a feeding drive wheel, a feeding driven wheel, a transmission belt, a transmission roller, and a conveyor belt. The feeding frame is fixed to the machine base, the feeding motor is fixed to the machine base and fixedly connected to the feeding drive wheel, the feeding drive wheel is rotatably connected to the feeding frame and fixedly connected to the transmission roller, and the transmission belt... The conveyor belt is fixedly wound around the drive wheel and driven wheel, respectively, and is fixedly wound around the transmission roller. The pushing assembly includes a pushing cylinder and a pushing plate. The pushing cylinder is fixed to the feeding frame, and the pushing plate is fixed to the pushing cylinder and disposed on one side of the conveyor belt. The collecting assembly includes a feeding ramp, a feeding frame, and a collecting box. The feeding ramp is fixedly connected to the machine base, the feeding frame, and the feeding frame. One end of the collecting box is connected to the feeding ramp and fixedly connected to the feeding frame. The feeding frame is fixed to the machine base.

[0015] Based on the same inventive concept, this application also provides a method for detecting defects on cardboard surfaces based on visual recognition, including the following steps:

[0016] Step 1: Multi-specification adaptation and adjustment, complete the feeding preparation. According to the size and specifications of the cardboard to be tested, turn the adjusting bolt of the adjusting component. The adjusting block slides along the adjusting groove of the vertical plate, which drives the adjusting plate to move relative to the limiting plate. Adjust the width of the feeding receiving groove to match the cardboard. At the same time, adjust the position of the second limiting block on the adjusting bracket by the limiting pin, so that the limiting channel formed by the first limiting block and the second limiting block is aligned with the feeding receiving groove. Place the stacked cardboard workpieces into the feeding receiving groove. Use the interval space of the feeding groove to reserve the stroke for cardboard conveying, and complete the positioning adaptation before feeding.

[0017] Step 2: Graded linkage conveying to achieve smooth transfer of cardboard. Start the feeding cylinder of the feeding component, drive the feeding slide to move the feeding push plate along the feeding slide rail. The feeding push plate passes through the feeding trough and pushes the bottom layer of cardboard in the feeding trough to the guide trough of the guide platform. The cardboard falls into the conveyor belt of the unloading component through the guide trough. Simultaneously start the unloading motor, drive the unloading driven wheel and the drive roller to rotate through the unloading drive wheel and the drive belt, so that the conveyor belt carries the cardboard to the vision inspection area at a preset speed. The two symmetrically set unloading components operate synchronously to form a dual-channel conveying link.

[0018] Step 3: Three-axis linkage vision scanning to acquire defect feature information. The control box controls the X-axis, Y-axis, and Z-axis movement modules of the three-axis moving device to move in tandem, driving the CCD camera of the vision inspection device to move in linkage along the XYZ axes. The scanning path is dynamically adjusted according to the cardboard conveying speed, so that the CCD camera can complete a full-surface scan without blind spots above the cardboard, and acquire cardboard surface image information in real time and transmit it to the processing module of the control box.

[0019] Step 4: Image analysis and flow control for accurate defect identification. The electrical control box processing module performs grayscale conversion, filtering, and feature extraction on the acquired image information. The extracted surface features are compared with a preset defect threshold to determine whether the cardboard has defects and their severity.

[0020] If the cardboard is determined to be qualified, the control box sends a command to the pusher cylinder of the corresponding feeding component. The pusher cylinder drives the feeding pusher plate to push the qualified cardboard on the conveyor belt into the feeding ramp of the collection component on the same side, and then slides down into the collection box through the feeding ramp.

[0021] If the cardboard is determined to be substandard, the control box simultaneously triggers the recycling device and the three-axis moving device to work together. The Z-axis moving module moves the CCD camera downward, and the recycling cylinder drives the recycling suction cup to adhere to the surface of the substandard cardboard and generate negative pressure adsorption. Then, the three-axis moving device moves the recycling suction cup to the top of the recycling box, releases the negative pressure, and causes the substandard cardboard to fall into the recycling box to complete the recycling.

[0022] Step 5: Continuous cyclic detection, complete classification and collection. Repeat steps 1-4. The feeding component continuously conveys cardboard to the feeding platform, and the dual-channel unloading component synchronously realizes the classification and collection of qualified cardboard. The recycling device processes unqualified cardboard in real time, forming a continuous closed-loop detection process of "feeding-detection-judgment-diversion-collection / recycling" until all cardboard to be tested has been processed.

[0023] The cardboard surface defect detection device based on visual recognition provided in this invention has at least one of the following technical effects:

[0024] 1. High adaptability and flexible compatibility with multiple specifications of cardboard: The feeding device of this invention realizes flexible adjustment of the size of the feeding trough through the adjustment component. The adjustment plate can move along the adjustment slot of the vertical plate through the cooperation of the adjustment block and the adjustment bolt, thereby changing the distance between it and the limiting plate to adapt to cardboard workpieces of different widths. At the same time, the limiting component adjusts the position of the second limiting block through the limiting pin to adapt to cardboard of different lengths, solving the problem that traditional equipment can only adapt to a single or a few specifications of cardboard, and greatly improving the versatility of the equipment.

[0025] 2. Convenient operation and improved testing efficiency: The adjustment component of this invention can quickly adjust the feeding receiving groove by adjusting the bolts, and the limiting component can conveniently adjust the limiting distance by limiting pins, without the need to replace the mechanism components; the feeding component drives the feeding push plate to automatically feed the material by the feeding cylinder, and the unloading device realizes the automatic conveying and classified collection of the cardboard after testing by the unloading component, the pushing component, and the collecting component. The whole process has a high degree of automation, reduces manual operation steps, shortens equipment adjustment time and testing cycle, and significantly improves testing efficiency.

[0026] 3. Precise positioning and high detection accuracy: The adjustment component and the limiting component work together to perform dual positioning of the cardboard in the width and length directions, ensuring that the cardboard is stable in position during feeding and avoiding deviation; the three-axis moving device drives the vision inspection device to achieve X, Y and Z axis linkage, which can fully cover the cardboard surface. The CCD camera can accurately capture the image of the cardboard surface, thereby accurately identifying defects, effectively reducing the false judgment rate and the missed judgment rate, and improving the detection accuracy. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1This is a perspective view of a cardboard surface defect detection device based on visual recognition provided in an embodiment of the present invention.

[0029] Figure 2 A perspective view of the three-axis moving device, visual inspection device, and recycling device of the cardboard surface defect detection device based on visual recognition provided in the embodiments of the present invention.

[0030] Figure 3 This is a perspective view of the three-axis moving device, visual inspection device, recycling device, and unloading device of the cardboard surface defect detection device based on visual recognition provided in an embodiment of the present invention.

[0031] Figure 4 A side view of the feeding device of the cardboard surface defect detection device based on vision recognition provided in an embodiment of the present invention.

[0032] Figure 5 A perspective view of the feeding device of the cardboard surface defect detection device based on vision recognition provided in an embodiment of the present invention.

[0033] Figure 6 A perspective view of the feeding device of the cardboard surface defect detection device based on vision recognition provided in an embodiment of the present invention.

[0034] Figure 7 A perspective view of the feeding device of the cardboard surface defect detection device based on vision recognition provided in an embodiment of the present invention.

[0035] Figure 8 This is a perspective view of the feeding component, pushing component, and collecting component of the feeding device of the cardboard surface defect detection device based on vision recognition provided in an embodiment of the present invention.

[0036] Figure 9 This is a perspective view of the feeding component, pushing component, and collecting component of the feeding device of the cardboard surface defect detection device based on vision recognition provided in an embodiment of the present invention.

[0037] The following are the labeling elements in the figure:

[0038] 1. Machine base; 2. Electrical control box; 3. Three-axis moving device; 4. Vision inspection device; 5. Loading device; 6. Unloading device; 7. Cardboard workpiece; 8. Recycling device;

[0039] 31. X-axis movement module; 32. Y-axis movement module; 33. Z-axis movement module;

[0040] 41. Visual mounting bracket; 42. CCD camera;

[0041] 51. Feeding assembly; 52. Adjustment assembly; 53. Limiting assembly;

[0042] 61. Material guide table; 62. Material feeding assembly; 63. Material pushing assembly; 64. Material collecting assembly;

[0043] 81. Recycling cylinder; 82. Recycling suction cup; 83. Recycling box;

[0044] 511. Feeding bracket; 512. Feeding cylinder; 513. Feeding slide; 514. Feeding push plate; 515. Feeding slider; 516. Feeding slide rail;

[0045] 521. Adjustable bracket; 522. Vertical plate; 523. Limiting plate; 524. Adjusting plate; 525. Adjusting block; 526. Adjusting bolt; 527. Feeding chute; 528. Feeding receiving chute;

[0046] 531. First limit block; 532. Second limit block; 533. Limit pin;

[0047] 611. Feed chute;

[0048] 621. Feeding frame; 622. Feeding motor; 623. Feeding drive wheel; 624. Feeding driven wheel; 625. Drive belt; 626. Drive roller; 627. Conveyor belt;

[0049] 631. Push cylinder; 632. Discharge push plate;

[0050] 641. Unloading ramp; 642. Unloading rack; 643. Collection box;

[0051] 5221. Adjust the movable groove;

[0052] 5251. Adjustment groove. Detailed Implementation

[0053] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0054] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0057] In one embodiment of the present invention, such as Figures 1-9 As shown, a cardboard surface defect detection device based on vision recognition is provided, including a machine base 1, an electrical control box 2, a three-axis moving device 3, a vision inspection device 4, a feeding device 5, and a discharging device 6. The electrical control box 2 is fixed to the machine base 1 and is electrically connected to the three-axis moving device 3, the vision inspection device 4, the feeding device 5, the recycling device 8, and the discharging device 6 respectively. The three-axis moving device 3 is fixed to the machine base 1 and is located on one side of the vision inspection device 4. The vision inspection device 4 is fixed to the three-axis moving device 3 and is linked by the three axes of the three-axis moving device 3. The vision inspection device 4 is located on one side of the feeding device 5. The feeding device 5 and the discharging device 6 are fixed to the machine base 1 in sequence. The recycling device 8 is located on both the vision inspection device 4 and the machine base 1. The discharging device 6 is located between the three-axis moving device 3 and the feeding device 5 and is located below the vision inspection device 4.

[0058] The feeding device 5 includes a feeding assembly 51, an adjusting assembly 52, and a limiting assembly 53. The adjusting assembly 52 includes an adjusting bracket 521, a vertical plate 522, a limiting plate 523, an adjusting plate 524, an adjusting block 525, and an adjusting bolt 526. The adjusting bracket 521 is fixed to the machine base 1, and the vertical plate 522 is fixed to the adjusting bracket 521. The bottom side of the vertical plate 522 and the top side of the adjusting bracket 521 are spaced apart to form a feeding trough 527. An adjusting movable groove 5221 is provided on the side of the vertical plate 522. The limiting plate 523 is fixed to the vertical plate 522 and is provided in the adjusting movable groove 5221. 21. On one side; the adjusting plate 524 is set on the side of the upright plate 522 and is parallel and spaced apart from the limiting plate 523; a feeding receiving groove 528 is formed between the adjusting plate 524 and the limiting plate 523, and the feeding receiving groove 528 is used to place the cardboard workpiece 7; one end of the adjusting block 525 passes through the adjusting movable groove 5221 and is fixedly connected to the adjusting plate 524, and the adjusting bolt 526 is sequentially passed through the adjusting block 525 and the upright plate 522; the adjusting plate 524 is movably set on the upright plate 522 through the adjusting block 525 and the adjusting bolt 526, and adjusts the size of the feeding receiving groove 528.

[0059] The working process of the adjustment component 52 is as follows:

[0060] Initial state: Adjusting bolt 526 is tightened, adjusting block 525 is fixed in the adjusting groove 5221 of vertical plate 522, adjusting plate 524 and corresponding limiting plate 523 form a feeding receiving groove 528 of fixed width for placing cardboard of specific specifications.

[0061] Width adjustment: When adapting to different widths of cardboard, loosen the adjusting bolt 526 so that the adjusting block 525 can slide along the adjusting movable groove 5221 on the upright plate 522. Push the adjusting block 525 to drive the adjusting plate 524 to move closer to or away from the limiting plate 523 until the width of the feeding receiving groove 528 matches the width of the target cardboard.

[0062] Fixed locking: After adjustment, tighten the adjusting bolt 526 again. Lock the position of the adjusting block 525 by connecting the adjusting bolt 526 with the vertical plate 522, thereby fixing the adjusting plate 524 and completing the width adaptation of the feeding receiving groove 528.

[0063] In another embodiment of the present invention, multiple and equal numbers of limiting plates 523, adjusting plates 524, adjusting blocks 525, and adjusting movable grooves 5221 are provided. Multiple limiting plates 523 are fixedly connected to the upright plate 522; multiple adjusting movable grooves 5221 are evenly provided on the upright plate 522; multiple adjusting plates 524 are movably provided on the upright plate 522, and one adjusting plate 524 is correspondingly provided with one adjusting block 525; the side of the adjusting block 525 is provided with an adjusting groove 5251, and the adjusting bolt 526 passes through the adjusting groove 5251 and is threadedly connected to the upright plate 522.

[0064] In another embodiment of the present invention, the feeding assembly 51 includes a feeding bracket 511, a feeding cylinder 512, a feeding slide 513, a feeding push plate 514, a feeding slider 515, and a feeding slide rail 516. The feeding bracket 511 is fixed to the machine base 1 and is disposed on one side of the adjusting bracket 521. The feeding cylinder 512 is fixed to the feeding bracket 511. The feeding slide 513 is fixed to the feeding cylinder 512, the feeding push plate 514, and the feeding slider 515, respectively. One end of the feeding push plate 514 is detachably disposed on the feeding slide 513, and the other end is disposed on one side of the feeding groove 527 and the feeding receiving groove 528. The thickness of the feeding push plate 514 is less than the height of the feeding groove 527 and less than the thickness of the cardboard workpiece 7. The feeding slider 515 is fixed to the bottom side of the feeding slide 513 and is slidably connected to the feeding slide rail 516. The feeding slide rail 516 is fixed to the feeding bracket 511.

[0065] The working process of the feeding component 51 is as follows:

[0066] Initial preparation: Cardboard workpieces 7 are stacked and placed in the feeding receiving groove 528, the feeding push plate 514 is in the initial position close to the feeding bracket 511, the feeding slider 515 is stopped at one end of the feeding slide rail 516, and the feeding cylinder 512 is in the retracted state.

[0067] Start feeding: The electrical control box 2 sends a signal to control the piston rod of the feeding cylinder 512 to extend, which drives the feeding slide 513 to move smoothly along the feeding slide rail 516 (through the sliding cooperation between the feeding slider 515 and the slide rail), thereby driving the feeding push plate 514 to push along the feeding groove 527 to the side of the feeding receiving groove 528.

[0068] Pushing the cardboard: Since the thickness of the feeding pusher plate 514 is less than the height of the feeding groove 527 and the thickness of the cardboard, it can be inserted from the bottom of the stacked cardboard to push the bottommost single cardboard along the feeding receiving groove 528 until the cardboard is pushed into the guiding groove 611 of the guiding table 61 to complete the feeding.

[0069] Reset cycle: After feeding is completed, the electric control box 2 controls the piston rod of the feeding cylinder 512 to retract, driving the feeding slide 513 and the feeding push plate 514 to reset to the initial position, waiting for the next feeding command, so as to realize continuous automatic feeding.

[0070] In another embodiment of the present invention, the limiting components 53 are respectively fixed to the adjusting bracket 521 and the adjusting plate 524; the limiting components 53 include a first limiting block 531, a second limiting block 532, and a limiting pin 533. The first limiting block 531 is fixed to the adjusting plate 524 and is disposed on one side of the feeding trough 527; the second limiting block 532 is movably disposed on the adjusting bracket 521 through the limiting pin 533. The second limiting block 532 is disposed on one side of the feeding trough 527 and is parallel and spaced apart from the first limiting block 531; the limiting pin 533 is sequentially inserted into the second limiting block 532 and the adjusting bracket 521; multiple limiting components 53 are provided, and the number is the same as that of the adjusting plates 524.

[0071] The working process of the limit component 53 is as follows:

[0072] Initial state: The limit pin 533 is inserted into the corresponding limit hole of the second limit block 532 and the adjusting bracket 521, locking the position of the second limit block 532. The first limit block 531 is fixed with the adjusting plate 524, and the two form a length limit spacing that adapts to the default specification cardboard.

[0073] Length adjustment: When adapting to different lengths of cardboard, pull out the limit pin 533, move the second limit block 532 to adjust the position along the length direction of the adjustment bracket 521, and at the same time, the first limit block 531 moves synchronously with the adjustment plate 524 (linked with the adjustment component 52) ​​until the distance between the two matches the length of the target cardboard, and then insert the limit pin 533 into the corresponding limit hole to lock it.

[0074] Positioning and limiting: After the cardboard is stacked in the feeding receiving groove 528, the first limiting block 531 and the second limiting block 532 clamp and limit the cardboard from both sides of the length direction to prevent the cardboard from shifting along the length direction during the feeding process and ensure feeding accuracy.

[0075] Cyclic adaptation: When changing the cardboard specifications, repeat the above adjustment steps to quickly adapt to the length positioning requirements of the new cardboard specifications.

[0076] In another embodiment of the present invention, the three-axis moving device 3 includes an X-axis moving module 31, a Y-axis moving module 32, and a Z-axis moving module 33. The X-axis moving module 31 is fixed to the machine base 1, the Y-axis moving module 32 is fixed to the X-axis moving module 31 and the Z-axis moving module 33 respectively, and the vision inspection device 4 is fixed to the Z-axis moving module 33.

[0077] In another embodiment of the present invention, the visual inspection device 4 includes a visual mounting base 41 and a CCD camera 42. The visual mounting base 41 is fixedly connected to the Z-axis moving module 33, and the CCD camera 42 is fixedly connected to the visual mounting base 41 and is disposed above the adjustment bracket 521.

[0078] The working process of the visual inspection device 4 is as follows:

[0079] Initial preparation: The visual inspection device 4 is fixed to the Z-axis moving module 33 by the visual mounting base 41, and the CCD camera 42 is in the initial position above the inspection area and is connected to the electrical control box 2 to complete the preset of image acquisition parameters (such as exposure and resolution).

[0080] Position adjustment: The electrical control box 2 controls the three-axis moving device 3 in linkage. The X-axis and Y-axis modules drive the CCD camera 42 to move along the width and length of the cardboard. The Z-axis module adjusts the camera height to match the cardboard thickness, ensuring that the camera and the cardboard surface maintain the best focusing distance.

[0081] Image acquisition: During the camera's movement, it scans the entire surface of the cardboard along a preset path, capturing high-definition images in real time, and synchronously sends the image data to the controller inside the electrical control box 2 via the signal transmission module;

[0082] Defect identification: The controller compares and analyzes the acquired images with preset standard cardboard images to automatically identify surface defects such as scratches, damage, stains, and missing corners, and determines whether the cardboard is qualified;

[0083] Results feedback: After the identification is completed, the controller sends a qualified / unqualified classification signal to the feeding device 6, and at the same time the camera is reset to the initial position with the three-axis moving device 3, waiting for the next cardboard to be detected.

[0084] The recycling device 8 includes a recycling cylinder 81, a recycling suction cup 82, and a recycling box 83. The recycling cylinder 81 is fixed to the side of the CCD camera 42, the recycling suction cup 82 is fixed to the recycling cylinder 81 and is located above the unloading device 6, and the recycling box 83 is located on the machine base 1 and on one side of the X-axis moving module 31.

[0085] The working process of the recycling device 8 is as follows:

[0086] Defective product detection and signal triggering

[0087] CCD camera 42 scans the surface of the cardboard and transmits the image data to the controller in electrical control box 2. After comparison and analysis, the controller determines that the product is defective and immediately generates two sets of signals:

[0088] A "stop feeding" signal is sent to the original feeding device 6, and the original feeding assembly 62 (feeding motor 622, conveyor belt 627, pusher cylinder 631) remains in standby state to prevent defective products from entering the original feeding process;

[0089] Send a "defective product recycling" signal to recycling device 8 and three-axis moving device 3 to trigger the recycling process.

[0090] Three-axis moving device 3 precise positioning

[0091] Control box 2 controls the linkage of the three-axis moving device 3 (X-axis, Y-axis, Z-axis modules):

[0092] The X-axis and Y-axis modules drive the CCD camera 42 (and the side-fixed recycling cylinder 81 and recycling suction cup 82) to move directly above the defective paperboard. Through visual positioning or preset coordinate calibration, the recycling suction cup 82 is aligned with the center of the defective product.

[0093] The Z-axis module drives the CCD camera 42 and the recycling device 8 to move downwards, so that the recycling suction cup 82 maintains an optimal adsorption distance of 5-10mm with the surface of the defective product (which can be finely adjusted according to the thickness of the cardboard).

[0094] Recycling suction cup 82 adsorbs defective products

[0095] The electrical control box 2 sends an action command to the recovery cylinder 81:

[0096] The piston rod of the recycling cylinder 81 extends, pushing the recycling suction cup 82 downward to contact the surface of the defective cardboard. The recycling suction cup 82 can be set as a vacuum suction cup and can be equipped with a vacuum generator. At this time, the electrical control box 2 starts the vacuum generator simultaneously, so that a negative pressure is formed inside the recycling suction cup 82, which firmly adsorbs the defective products.

[0097] During the adsorption process, the conveyor belt 627 of the original feeding device 6 remains stationary to prevent the displacement of defective products from causing adsorption failure.

[0098] Defective products are transferred to the top of recycling bin 83.

[0099] The three-axis moving device 3 is activated again:

[0100] The X-axis module drives the recycling device 8 (adsorbing defective products) to move along the X-axis direction to the side of the machine 1 (next to the X-axis moving module 31) directly above the recycling box 83. The Y-axis module fine-tunes the position to ensure that the recycling suction cup 82 is directly facing the center of the opening of the recycling box 83.

[0101] The Z-axis module should be raised appropriately (to prevent defective products from rubbing against other components during movement) to keep the defective products suspended in the air.

[0102] Release defective products into recycling bin 83

[0103] Control box 2 sends a "release" command:

[0104] When the vacuum generator is turned off, the negative pressure inside the suction cup 82 disappears, the adsorption force is released, and the suction cup separates from the surface of the defective product; the defective product falls into the recycling box 83 under the action of gravity, completing the recycling of the defective product.

[0105] Device reset waiting loop

[0106] The three-axis moving device 3 drives the CCD camera 42 and the recovery device 8 to reset to the initial position above the detection area, and the Z-axis module returns to the detection height;

[0107] The piston rod of the recovery cylinder 81 retracts to its initial state, and the recovery suction cup 82 resets.

[0108] The control box 2 clears the signal for this recycling operation, and the equipment waits for the test result of the next piece of cardboard before entering the next round of operation.

[0109] In another embodiment of the present invention, the feeding device 6 includes a guide platform 61, a feeding component 62, a pushing component 63, and a collecting component 64. The guide platform 61 is fixed to the adjusting bracket 521 and is disposed above the feeding component 62. The guide platform 61 is provided with a guiding groove 611. There are two feeding components 62, two pushing components 63, and two collecting components 64, which are arranged in parallel and symmetrically.

[0110] In another embodiment of the present invention, the feeding assembly 62 is fixed to the machine base 1, the pushing assembly 63 is fixed to the feeding assembly 62, and the collecting assembly 64 is fixed to the machine base 1 and disposed on one side of the feeding assembly 62; the feeding assembly 62 includes a feeding frame 621, a feeding motor 622, a feeding drive wheel 623, a feeding driven wheel 624, a transmission belt 625, a transmission roller 626, and a conveyor belt 627. The feeding frame 621 is fixed to the machine base 1, the feeding motor 622 is fixed to the machine base 1 and is fixedly connected to the feeding drive wheel 623, the feeding drive wheel 623 is rotatably connected to the feeding frame 621 and is fixedly connected to the transmission roller 626, and the transmission belt 625 is fixedly wound around the machine base 1. The feeding drive wheel 623 and the feeding driven wheel 624 are provided, and the conveyor belt 627 is fixedly wound around the transmission roller 626; the feeding assembly 63 includes a feeding cylinder 631 and a feeding push plate 632. The feeding cylinder 631 is fixed to the feeding frame 621, and the feeding push plate 632 is fixed to the feeding cylinder 631 and is provided on one side of the conveyor belt 627; the collecting assembly 64 includes a feeding ramp 641, a feeding frame 642, and a collecting box 643. The feeding ramp 641 is fixedly connected to the machine base 1, the feeding frame 621, and the feeding frame 642, respectively. One end of the collecting box 643 is connected to the feeding ramp 641 and fixedly connected to the feeding frame 642. The feeding frame 642 is fixed to the machine base 1.

[0111] The working process of the feeding device 6 is as follows:

[0112] Initial state: The feeding motor 622 is not started, the conveyor belt 627 is stationary, the pushing cylinder 631 is retracted, the feeding push plate 632 stops at the side of the conveyor belt 627, the collection boxes 643 of the two collection components 64 collect qualified cardboard, and the guide chute 611 remains unobstructed.

[0113] Receiving cardboard: After visual inspection, qualified cardboard falls smoothly onto the surface of the conveyor belt 627 of the feeding assembly 62 below through the guide groove 611 of the guide table 61.

[0114] Conveying and conveying: The motor drives the feeding drive wheel 623 to rotate, which drives the feeding driven wheel 624 and the transmission roller 626 to rotate synchronously through the transmission belt 625, thereby driving the conveyor belt 627 to move the cardboard in the specified direction;

[0115] Category Push: When the cardboard moves to the corresponding pusher component 63 position, the electrical control box 2 controls the pusher cylinder 631 on that side to extend, driving the unloading pusher plate 632 to push the cardboard from the conveyor belt 627 to the unloading ramp 641 on the same side;

[0116] Collection and storage: The cardboard slides down the feed ramp 641 into the corresponding collection box 643, completing the sorting and collection;

[0117] Reset cycle: The pusher cylinder 631 retracts, driving the unloading pusher plate 632 to reset. The conveyor belt 627 continues to run, waiting to receive the next piece of cardboard. The above process is repeated to achieve continuous cardboard feeding.

[0118] Based on the same inventive concept, this application also provides a method for detecting defects on cardboard surfaces based on visual recognition, including the following steps:

[0119] Step 1: Multi-specification adaptation and adjustment, and preparation for feeding. According to the size and specifications of the cardboard to be tested, turn the adjusting bolt 526 of the adjusting component 52. The adjusting block 525 slides along the adjusting movable groove 5221 of the upright plate 522, which drives the adjusting plate 524 to move relative to the limiting plate 523. Adjust the width of the feeding receiving groove 528 to match the cardboard. At the same time, adjust the position of the second limiting block 532 on the adjusting bracket 521 by the limiting pin 533, so that the limiting channel formed by the first limiting block 531 and the second limiting block 532 is aligned with the feeding receiving groove 528. Place the stacked cardboard workpieces 7 into the feeding receiving groove 528. Use the interval space of the feeding groove 527 to reserve the stroke for cardboard conveying, and complete the positioning adaptation before feeding.

[0120] Step 2: Graded linkage conveying to achieve smooth transfer of cardboard. Start the feeding cylinder 512 of the feeding component 51, drive the feeding slide 513 to move the feeding push plate 514 along the feeding slide rail 516. The feeding push plate 514 passes through the feeding groove 527 and pushes the bottom layer of cardboard in the feeding receiving groove 528 to the guide groove 611 of the guide table 61. The cardboard falls onto the conveyor belt 627 of the unloading component 62 through the guide groove 611. Simultaneously start the unloading motor 622, drive the unloading driven wheel 624 and the drive roller 626 to rotate through the unloading drive wheel 623 and the transmission belt 625, so that the conveyor belt 627 carries the cardboard to the vision inspection area at a preset speed. The two symmetrically arranged unloading components 62 operate synchronously to form a dual-channel conveying link.

[0121] Step 3: Three-axis linkage visual scanning to acquire defect feature information. The control box 2 controls the X-axis moving module 31, Y-axis moving module 32, and Z-axis moving module 33 of the three-axis moving device 3 to move in coordination, driving the CCD camera 42 of the vision inspection device 4 to move in linkage along the XYZ three-axis directions. The scanning path is dynamically adjusted according to the cardboard conveying speed, so that the CCD camera 42 can complete a full-surface scan without blind spots above the cardboard, and collect the cardboard surface image information in real time and transmit it to the processing module of the control box 2.

[0122] Step 4: Image analysis and flow control for accurate defect identification. The processing module of the control box 2 performs grayscale conversion, filtering, and feature extraction on the acquired image information. The extracted surface features are compared with preset defect thresholds (including the size and grayscale difference thresholds for defects such as scratches, damage, and stains) to determine whether the cardboard has defects and the defect level.

[0123] If the cardboard is determined to be qualified, the electrical control box 2 sends a command to the pusher cylinder 631 of the corresponding feeding component 62. The pusher cylinder 631 drives the feeding pusher plate 632 to push the qualified cardboard on the conveyor belt 627 into the feeding ramp 641 of the collection component 64 on the same side, and slides down into the collection box 643 through the feeding ramp 641.

[0124] If the cardboard is determined to be substandard, the control box 2 synchronously triggers the recycling device 8 and the three-axis moving device 3 to work together. The Z-axis moving module 33 drives the CCD camera 42 to move down, and the recycling cylinder 81 drives the recycling suction cup 82 to adhere to the surface of the substandard cardboard and generate negative pressure adsorption. Then, the three-axis moving device 3 drives the recycling suction cup 82 to move above the recycling box 83, releases the negative pressure and causes the substandard cardboard to fall into the recycling box 83 to complete the recycling.

[0125] Step 5: Continuous cyclic detection, complete classification and collection. Repeat steps 1-4. The feeding component 51 continuously conveys cardboard to the feeding platform 61. The dual-channel unloading component 62 synchronously realizes the classification and collection of qualified cardboard. The recycling device 8 processes unqualified cardboard in real time, forming a continuous closed-loop detection process of "feeding-detection-judgment-diversion-collection / recycling" until all cardboard to be detected has been processed.

[0126] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cardboard surface defect detection device based on visual recognition, characterized in that, The system includes a machine base, an electrical control box, a three-axis moving device, a vision inspection device, a feeding device, a recycling device, and a discharging device. The electrical control box is fixed to the machine base and electrically connected to the three-axis moving device, the vision inspection device, the feeding device, and the discharging device. The three-axis moving device is fixed to the machine base and is located on one side of the vision inspection device. The vision inspection device is fixed to the three-axis moving device and is linked to it via three axes. The vision inspection device is located on one side of the feeding device. The feeding device and the discharging device are sequentially fixed to the machine base. The recycling device is located on both the vision inspection device and the machine base. The discharging device is located between the three-axis moving device and the feeding device and is located below the vision inspection device. The feeding device includes a feeding assembly, an adjustment assembly, and a limiting assembly. The adjustment assembly includes an adjustment bracket, a vertical plate, a limiting plate, an adjustment plate, an adjustment block, and adjustment bolts. The adjustment bracket is fixed to the machine base, and the vertical plate is fixed to the adjustment bracket. The bottom side of the vertical plate and the top side of the adjustment bracket are spaced apart to form a feeding groove. An adjustment slot is provided on the side of the vertical plate. The limiting plate is fixed to the vertical plate and is located on one side of the adjustment slot. The adjustment plate is located on the side of the vertical plate and is parallel and spaced apart from the limiting plate. A feeding receiving groove is formed between the adjustment plate and the limiting plate, and the feeding receiving groove is used to place cardboard workpieces. One end of the adjustment block passes through the adjustment slot and is fixedly connected to the adjustment plate. The adjustment bolts are sequentially inserted through the adjustment block and the vertical plate. The adjustment plate is movably mounted on the vertical plate through the adjustment block and the adjustment bolts, and adjusts the size of the feeding receiving groove.

2. The cardboard surface defect detection device based on visual recognition according to claim 1, characterized in that, Multiple limit plates, adjusting plates, adjusting blocks, and adjusting slots are provided, and the number is the same. Multiple limit plates are fixedly connected to the upright plate; multiple adjusting slots are evenly arranged on the upright plate; multiple adjusting plates are movably arranged on the upright plate, and one adjusting plate is correspondingly provided with one adjusting block; the side of the adjusting block is provided with an adjusting groove, and the adjusting bolt passes through the adjusting groove and is threaded to the upright plate.

3. The cardboard surface defect detection device based on visual recognition according to claim 2, characterized in that, The feeding assembly includes a feeding bracket, a feeding cylinder, a feeding slide, a feeding push plate, a feeding slider, and a feeding slide rail. The feeding bracket is fixed to the machine base and is located on one side of the adjusting bracket. The feeding cylinder is fixed to the feeding bracket, and the feeding slide is fixed to the feeding cylinder, the feeding push plate, and the feeding slider. One end of the feeding push plate is detachably mounted on the feeding slide, and the other end is located on one side of the feeding groove and the feeding receiving groove. The thickness of the feeding push plate is less than the height of the feeding groove and less than the thickness of the cardboard workpiece. The feeding slider is fixed to the bottom side of the feeding slide and slidably connected to the feeding slide rail. The feeding slide rail is fixed to the feeding bracket.

4. The cardboard surface defect detection device based on visual recognition according to claim 3, characterized in that, The limiting components are respectively fixed to the adjusting bracket and the adjusting plate; the limiting components include a first limiting block, a second limiting block, and a limiting pin. The first limiting block is fixed to the adjusting plate and is disposed on one side of the feeding trough; the second limiting block is movably disposed on the adjusting bracket through the limiting pin, and is disposed on one side of the feeding trough, parallel and spaced apart from the first limiting block; the limiting pin is sequentially inserted into the second limiting block and the adjusting bracket; multiple limiting components are provided, and the number is the same as the number of adjusting plates.

5. The cardboard surface defect detection device based on visual recognition according to claim 4, characterized in that, The three-axis moving device includes an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The X-axis moving module is fixed to the machine base, and the Y-axis moving module is fixed to both the X-axis moving module and the Z-axis moving module. The vision inspection device is fixed to the Z-axis moving module.

6. The cardboard surface defect detection device based on visual recognition according to claim 5, characterized in that, The visual inspection device includes a visual mounting base and a CCD camera. The visual mounting base is fixedly connected to the Z-axis moving module, and the CCD camera is fixedly connected to the visual mounting base and is positioned above the adjustment bracket.

7. The cardboard surface defect detection device based on visual recognition according to claim 6, characterized in that, The recycling device includes a recycling cylinder, a recycling suction cup, and a recycling box. The recycling cylinder is fixed to the side of the CCD camera, the recycling suction cup is fixed to the recycling cylinder and is located above the unloading device, and the recycling box is located on the machine base and on one side of the X-axis moving module.

8. The cardboard surface defect detection device based on visual recognition according to claim 7, characterized in that, The feeding device includes a guide platform, a feeding component, a pushing component, and a collecting component. The guide platform is fixed to the adjusting bracket and is positioned above the feeding component. The guide platform is provided with a guiding groove. There are two feeding components, two pushing components, and two collecting components, which are arranged in parallel and symmetrically.

9. A cardboard surface defect detection device based on visual recognition according to claim 8, characterized in that, The feeding assembly is fixed to the machine base, the pushing assembly is fixed to the feeding assembly, and the collecting assembly is fixed to the machine base and disposed on one side of the feeding assembly. The feeding assembly includes a feeding frame, a feeding motor, a feeding drive wheel, a feeding driven wheel, a transmission belt, a transmission roller, and a conveyor belt. The feeding frame is fixed to the machine base, the feeding motor is fixed to the machine base and fixedly connected to the feeding drive wheel, the feeding drive wheel is rotatably connected to the feeding frame and fixedly connected to the transmission roller, and the transmission belt is fixedly wound around the conveyor belt. The conveyor belt is fixedly wound around the drive roller and the driven roller for feeding. The pushing assembly includes a pushing cylinder and a feeding push plate. The pushing cylinder is fixed to the feeding frame, and the feeding push plate is fixed to the pushing cylinder and disposed on one side of the conveyor belt. The collecting assembly includes a feeding ramp, a feeding frame, and a collecting box. The feeding ramp is fixedly connected to the machine base, the feeding frame, and the feeding frame. One end of the collecting box is connected to the feeding ramp and fixedly connected to the feeding frame. The feeding frame is fixed to the machine base.

10. A method for detecting surface defects on cardboard based on visual recognition, comprising the cardboard surface defect detection device based on visual recognition as described in claim 9, characterized in that, Includes the following steps: Step 1: Multi-specification adaptation and adjustment, complete the feeding preparation. According to the size and specifications of the cardboard to be tested, turn the adjusting bolt of the adjusting component. The adjusting block slides along the adjusting groove of the vertical plate, which drives the adjusting plate to move relative to the limiting plate. Adjust the width of the feeding receiving groove to match the cardboard. At the same time, adjust the position of the second limiting block on the adjusting bracket by the limiting pin, so that the limiting channel formed by the first limiting block and the second limiting block is aligned with the feeding receiving groove. Place the stacked cardboard workpieces into the feeding receiving groove. Use the interval space of the feeding groove to reserve the stroke for cardboard conveying, and complete the positioning adaptation before feeding. Step 2: Graded linkage conveying to achieve smooth transfer of cardboard. Start the feeding cylinder of the feeding component, drive the feeding slide to move the feeding push plate along the feeding slide rail. The feeding push plate passes through the feeding trough and pushes the bottom layer of cardboard in the feeding trough to the guide trough of the guide platform. The cardboard falls into the conveyor belt of the unloading component through the guide trough. Simultaneously start the unloading motor, drive the unloading driven wheel and the drive roller to rotate through the unloading drive wheel and the drive belt, so that the conveyor belt carries the cardboard to the vision inspection area at a preset speed. The two symmetrically set unloading components operate synchronously to form a dual-channel conveying link. Step 3: Three-axis linkage vision scanning to acquire defect feature information. The control box controls the X-axis, Y-axis, and Z-axis movement modules of the three-axis moving device to move in tandem, driving the CCD camera of the vision inspection device to move in linkage along the XYZ axes. The scanning path is dynamically adjusted according to the cardboard conveying speed, so that the CCD camera can complete a full-surface scan without blind spots above the cardboard, and acquire cardboard surface image information in real time and transmit it to the processing module of the control box. Step 4: Image analysis and flow control for accurate defect identification. The electrical control box processing module performs grayscale conversion, filtering, and feature extraction on the acquired image information. The extracted surface features are compared with a preset defect threshold to determine whether the cardboard has defects and their severity. If the cardboard is determined to be qualified, the control box sends a command to the pusher cylinder of the corresponding feeding component. The pusher cylinder drives the feeding pusher plate to push the qualified cardboard on the conveyor belt into the feeding ramp of the collection component on the same side, and then slides down into the collection box through the feeding ramp. If the cardboard is determined to be substandard, the control box simultaneously triggers the recycling device and the three-axis moving device to work together. The Z-axis moving module moves the CCD camera downward, and the recycling cylinder drives the recycling suction cup to adhere to the surface of the substandard cardboard and generate negative pressure adsorption. Then, the three-axis moving device moves the recycling suction cup to the top of the recycling box, releases the negative pressure, and causes the substandard cardboard to fall into the recycling box to complete the recycling. Step 5: Continuous cyclic detection, complete classification and collection. Repeat steps 1-4. The feeding component continuously conveys cardboard to the feeding platform, and the dual-channel unloading component synchronously realizes the classification and collection of qualified cardboard. The recycling device processes unqualified cardboard in real time, forming a continuous closed-loop detection process of "feeding-detection-judgment-diversion-collection / recycling" until all cardboard to be tested has been processed.

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