Round cake lock appearance and key tooth shape detection equipment based on multi-station machine vision

Abstract

The invention discloses cake lock appearance and key tooth shape detection equipment based on multi-station machine vision, which comprises a bottom plate, a key indexing detection assembly and a cake lock indexing detection assembly are coaxially assembled on the bottom plate, and a position correcting device and a rotary sorting and receiving device are annularly arranged on the bottom plate; the key indexing detection assembly comprises a first driving motor and a key tooth profile detection disc driven by an output shaft of the first driving motor; the cake lock indexing detection assembly comprises a second driving motor and a cake lock appearance detection disc driven by an output shaft of the second driving motor; the position correcting device is correspondingly arranged at feeding stations of the key tooth shape detection disc and the cake lock appearance detection disc; and the rotary sorting and receiving device is arranged at a discharging station of the cake lock appearance detection disc. The invention belongs to the technical field of detection equipment, and particularly relates to cake lock appearance and key tooth profile detection equipment based on multi-station machine vision.

Description

Technical Field

[0001] This invention belongs to the field of inspection equipment technology, specifically referring to a multi-station machine vision-based inspection device for the appearance of a disc lock and the tooth shape of a key. Background Technology

[0002] As the hardware and lock manufacturing industry transforms towards automation and intelligence, higher demands are being placed on the accuracy, efficiency, and reliability of online quality inspection. Round locks and their matching keys, as common lock types, directly affect product security and user experience due to the integrity of their appearance (such as scratches and deformation on the lock body and shackle) and the machining precision of the key teeth. Currently, the industry commonly uses manual visual inspection or single-station, single-function semi-automatic equipment for itemized sampling inspection, which has the following significant drawbacks: 1. Low testing efficiency and large equipment footprint: Existing solutions are mostly single-machine testing for lock bodies or keys. To complete the testing of the entire product (lock and key), it is necessary to transfer between different machines or set up two independent production lines. This is not only cumbersome and inefficient, but also occupies a lot of valuable production space and the layout is not compact.

[0003] 2. Poor workpiece positioning and transport stability: Disc locks are prone to deflection and jamming during transport, affecting the positioning accuracy of subsequent visual inspection; the thin, flat nature of keys also makes them susceptible to posture deviation during transport and positioning. Existing alignment mechanisms are often single-function, lack versatility, or are inflexible, easily causing workpiece surface damage or inaccurate positioning, directly affecting the accuracy of tooth profile detection.

[0004] 3. Sorting methods are either unfriendly to or inefficient for the workpieces: For sorting round locks after inspection, existing technologies mostly use rigid grippers or simple push rod mechanisms. Rigid grippers are prone to causing indentations or scratches on the lock surface; while for thin keys, mechanical gripping is inefficient and easily damages the teeth. There is a lack of a sorting solution that can adapt to the characteristics of the workpieces and is both efficient and protective. Summary of the Invention

[0005] To address the aforementioned challenges of balancing inspection efficiency and space utilization, poor workpiece positioning stability, and workpiece damage caused by sorting methods, this invention provides a multi-station machine vision-based device for inspecting the appearance of a disc lock and the tooth shape of its keys.

[0006] To achieve the above functions, the technical solution adopted by the present invention is as follows: a multi-station machine vision-based disc lock appearance and key tooth shape detection device, including a base plate, a support plate and several pillars located between the two, wherein a key indexing detection component and a disc lock indexing detection component are respectively installed on the base plate and the support plate, and a correction device and a rotary sorting and receiving device are provided around the base plate. The key indexing detection assembly includes a first drive motor fixed on the base plate, a key tooth detection disc driven by the output shaft of the first drive motor, and a support outer cylinder vertically fixed to the upper surface of the center of the disc. The disc lock indexing detection assembly includes a second drive motor fixed to the bottom of the support plate, a disc lock appearance detection disc driven by the output shaft of the second drive motor, a support inner cylinder vertically fixed to the lower surface of the center of the disc, and a support bearing sleeved and fixed to the outer wall of the support inner cylinder. The outer support cylinder is fixedly sleeved on the outer wall of the support bearing; The alignment device is correspondingly set at the feeding station of the key tooth shape detection disc and the disc appearance detection disc, and is used to center and position the key and the disc respectively. The rotary sorting and receiving device is located at the discharge station of the disc inspection plate for the disc lock, and is used to clamp and sort the disc locks after inspection.

[0007] Furthermore, the correction device includes a first slide rail vertically mounted on the base plate, and two sets of adjustment units symmetrically slidably mounted on the upper and lower parts of the first slide rail via a first slider; The upper adjustment unit is used to guide the disc lock, while the lower adjustment unit is used to center and correct the key.

[0008] Furthermore, the adjustment unit located above includes a first support block fixed to the first upper slider, a pair of V-shaped guide plates symmetrically installed on both sides of the bottom of the first support block, and a number of guide wheels rotatably installed along the lower edge of the V-shaped guide plates. This unit is located above the disc for inspecting the appearance of the disc lock. The adjustment unit located below includes a second support block fixed to the first slider below and a pair of V-shaped correction plates symmetrically installed on both sides of the bottom of the second support block. This unit is located above the key tooth-shaped detection disc.

[0009] The first support block and the second support block are respectively equipped with photoelectric sensors for detecting the position of the workpiece.

[0010] Furthermore, the rotary sorting and receiving device includes a horizontal drive mechanism, a connecting plate driven by the horizontal drive mechanism, a rotary motor fixed on the connecting plate, multiple sets of evenly distributed rotating rods fixed to the output shaft of the rotary motor and extending outward, and an adaptive clamping assembly installed at the end of each rotating rod. The horizontal drive mechanism includes a telescopic cylinder assembly fixed to the base plate, a horizontal connecting block fixed to the piston rod of the telescopic cylinder assembly, a linear third slide rail mounted on the connecting block, and a third slider slidably mounted on the third slide rail; the connecting plate is fixed to the third slider. A conductive slip ring is fixedly fitted onto the output end of the rotary motor.

[0011] Furthermore, the adaptive clamping assembly includes a servo motor fixed on the rotating rod, a screw driven by the servo motor, and a pair of arc-shaped clamping blocks connected to the screw via a connecting rod and driven to open and close by the screw. The connecting rod includes a pair of first connecting rods symmetrically hinged to both sides of the lower end of the screw, a second connecting rod with one end hinged to the first connecting rod, an auxiliary rod hinged to the inner wall of the first connecting rod, an internal threaded cylinder threaded to the screw, a rotating bearing fixedly sleeved on the internal threaded cylinder, a support sleeve fixedly sleeved on the outer wall of the rotating bearing, and tension springs respectively hinged to the inner walls of the first connecting rod and the second connecting rod. The arc-shaped clamp is fixedly installed at the other end of the second connecting rod; The other end of the auxiliary rod is hinged to the outer wall of the support sleeve; The output shaft of the servo motor rotates through a rotating rod. The clamping block is made of an elastic and wear-resistant material, and its inner clamping wall is provided with anti-slip texture.

[0012] Furthermore, along the circumference of the disc for inspecting the appearance of the disc lock, the base plate is sequentially provided with a conveyor slide for feeding the disc lock, a visual inspection device for the lock beam, and a visual inspection device for the lock body. Along the circumference of the key tooth detection disc, the base plate is sequentially provided with a conveyor slide for feeding keys, a key tooth visual detection device, a qualified key pneumatic sorting device, and a non-qualified key pneumatic sorting device. The inlet end of the conveyor chute is connected to the outlet of the external disc lock vibrating feeding mechanism; The inlet end of the second conveyor chute is connected to the outlet of the external key-vibration feeding mechanism; The equipment also includes a control system (not shown). The first drive motor, the second drive motor, all vision inspection devices, sorting and receiving devices, and pneumatic sorting devices are all electrically connected to the control system, which coordinates and controls the automated inspection and sorting process.

[0013] Furthermore, the visual inspection device for the lock beam has the same structure as the visual inspection device for the lock body, both including a second slide rail vertically mounted on the base plate, multiple sets of second sliders slidably mounted on the second slide rail, and double-sided inspection components symmetrically mounted on the upper and lower positions of the second slide rail; The double-sided detection component includes: A detection plate is installed on the second slider on one side of the disc-shaped appearance detection disk of the disc lock. The detection plate has a circular hole in the middle and a ring-shaped LED light source is integrated and installed on the outer periphery of the circular hole. The disc lock detection camera, mounted on the second slider on the other side, has its lens facing the center hole of the annular light source. The disc for visual inspection of the disc lock is located between two sets of double-sided inspection components, one upper and one lower. The diameter of the circular hole in the middle of the detection plate of the lock body visual inspection device is adapted to the outer diameter of the lock body.

[0014] Furthermore, two sets of L-shaped circular lock collection boxes are fixedly installed on the base plate, and the tops of both sets of circular lock collection boxes are open. The opening position of the disc lock collection box corresponds to the placement position when the adaptive clamping assembly releases the disc lock.

[0015] Furthermore, the key tooth-shaped visual inspection device includes a fourth slide rail vertically mounted on the base plate, and two fourth sliders symmetrically slidably mounted on the upper and lower parts of the fourth slide rail; The upper fourth slider is equipped with a key detection camera, and the lower fourth slider is equipped with a high-backlight parallel light source plate; The key tooth-shaped detection disk is located between the key detection camera and the high-backlight parallel light source plate.

[0016] Furthermore, the pneumatic sorting device for qualified keys and the pneumatic sorting device for unqualified keys have the same structure, both including a moving part, a pneumatic nozzle driven by the moving part, and an L-shaped collection box fixed on the base plate and located at the edge of the key tooth detection disc. The moving part includes a telescopic cylinder assembly two fixed to the base plate, a drive block fixed to the piston rod of the telescopic cylinder assembly two, a horizontal slide rail mounted on the drive block, and a horizontal slider slidably mounted on the horizontal slide rail. The pneumatic nozzle is mounted on a horizontal slider and connected to an external compressed air source. The L-shaped collection box has a side opening near the key-tooth-shaped detection disc, and the position of the side opening of the L-shaped collection box corresponds to the air jet path of the pneumatic nozzle and the edge trajectory of the key-tooth-shaped detection disc.

[0017] Compared with the prior art, the present invention achieves the following beneficial effects by adopting the above structure: 1. By combining the dual-disc coaxial layout with independent indexing drive, the inspection process of two different workpieces, disc lock and key, is integrated into the same equipment space, realizing parallel and synchronous inspection, which greatly improves space utilization and overall inspection efficiency. At the same time, the coaxial structure ensures the center alignment of the upper and lower workpiece flow trajectories, providing a stable positioning reference for subsequent visual inspection.

[0018] 2. By setting up an integrated upper and lower positioning device, the first slide rail integrates two sets of adjustment units for the disc lock and the key respectively, achieving accurate positioning and flexible guidance of workpieces of different shapes in a minimal space. Its guide wheel design transforms sliding friction into rolling friction, effectively reducing workpiece surface damage and conveying resistance.

[0019] 3. By setting up a double-sided symmetrical visual inspection structure, the lock beam and lock body inspection device adopts a combination of symmetrical cameras and ring light sources, which can simultaneously acquire images of the upper and lower surfaces of the workpiece at one time, eliminating the efficiency loss and positioning error caused by flipping the workpiece; the ring light source provides uniform illumination, effectively avoiding blind spots in the inspection and improving the defect identification capability.

[0020] 4. By setting up a key tooth-shaped backlight imaging device, a high-contrast tooth silhouette is formed using a high-backlight parallel light source plate, which effectively suppresses the interference of reflection on the key surface, enabling the camera to clearly capture the tooth outline. This provides a reliable optical solution for achieving high accuracy and automated detection of tooth size and defects.

[0021] 5. The rotary adaptive sorting and receiving device integrates telescopic drive, rotary positioning and adaptive clamping functions; the adaptive clamping component realizes stable and flexible gripping of the disc lock within a certain size range through servo motor, linkage and tension spring mechanism, and the application of conductive slip ring ensures the reliability of cable connection during rotation; the L-shaped collection box layout realizes the classified collection of products and efficient use of space.

[0022] 6. The pneumatic jet sorting device uses compressed air to sort keys in a non-contact manner; combined with the L-shaped collection box, it can accurately and quickly guide qualified and unqualified keys into the designated box, which is efficient and easy to maintain. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the disc lock appearance and key tooth shape detection device based on multi-station machine vision proposed in this invention. Figure 2 for Figure 1 Enlarged view of a portion of point A in the middle; Figure 3 This is a schematic diagram of the appearance inspection direction of the disc lock proposed in this invention; Figure 4 This is a schematic diagram of the key tooth shape detection direction proposed in this invention; Figure 5 This is a partial structural diagram of the disc lock appearance and key tooth profile detection device based on multi-station machine vision proposed in this invention. Figure 1 ; Figure 6 This is a partial structural diagram of the disc lock appearance and key tooth profile detection device based on multi-station machine vision proposed in this invention. Figure 2 ; Figure 7 This is a cross-sectional view of a partial structural schematic diagram of the disc lock appearance and key tooth shape detection device based on multi-station machine vision proposed in this invention. Figure 8 This is a schematic diagram of the overall structure of the pneumatic sorting device for qualified keys proposed in this invention. Figure 9 This is a schematic diagram of the overall structure of the orthopedic device proposed in this invention.

[0024] Among them, 1. Base plate, 11. Support plate, 12. Column, 13. Key indexing detection component, 131. First drive motor, 132. Key tooth profile detection disc, 133. Support outer cylinder, 14. Circular lock indexing detection component, 141. Second drive motor, 142. Circular lock appearance inspection disc, 143. Support inner cylinder, 144. Support bearing, 15. Conveyor slide one, 16. Conveyor slide two, 2. Alignment device, 21. First slide 22. Rail, First slider, 23. Adjustment unit, 231. First support block, 232. V-shaped guide plate, 233. Guide wheel, 234. Second support block, 235. V-shaped correction plate, 24. Photoelectric sensor, 3. Lock beam visual inspection device, 31. Second slide rail, 32. Second slider, 33. Double-sided inspection assembly, 331. Inspection plate, 332. Ring LED light source, 333. Circular lock inspection camera, 4. Lock body visual inspection device. 5. Rotary sorting and receiving device; 50. Telescopic cylinder assembly 1; 51. Connecting block; 52. Third slide rail; 53. Third slider; 54. Connecting plate; 55. Rotary motor; 56. Rotating rod; 57. Adaptive clamping assembly; 570. Servo motor; 571. Screw; 572. First connecting rod; 573. Second connecting rod; 574. Clamping block; 575. Auxiliary rod; 576. Internal threaded cylinder; 577. Rotary bearing; 578. Support sleeve; 5 79. Tension spring; 58. Conductive slip ring; 59. Circular lock collection box; 6. Key tooth shape visual inspection device; 61. Fourth slide rail; 62. Fourth slider; 63. Key detection camera; 64. High backlight parallel light source plate; 7. Pneumatic sorting device for qualified keys; 71. Telescopic cylinder group two; 72. Drive block; 73. Horizontal slide rail; 74. Horizontal slider; 75. Pneumatic nozzle; 76. L-shaped collection box; 8. Pneumatic sorting device for non-qualified keys. Detailed Implementation

[0025] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0026] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] Unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. The invention will be further described in detail below with reference to the accompanying drawings.

[0028] like Figure 1-9 As shown, the disc lock appearance and key tooth shape detection equipment based on multi-station machine vision provided by the present invention includes a base plate 1, a support plate 11 and several pillars 12 located between the two. A key indexing detection component 13 and a disc lock indexing detection component 14 are respectively installed on the base plate 1 and the support plate 11. A correction device 2 and a rotary sorting and receiving device 5 are provided on the base plate 1. The key indexing detection assembly 13 includes a first drive motor 131 fixed on the base plate 1, a key tooth profile detection disc 132 driven by the output shaft of the first drive motor 131, and a support outer cylinder 133 vertically fixed to the upper surface of the center of the disc. The first drive motor 131 provides accurate indexing rotation power to the key tooth profile detection disc 132, enabling the keys to flow sequentially to each detection and sorting station. The support outer cylinder 133 serves as a connecting component, providing structural support for subsequent coaxial assembly with the disc lock detection assembly. The disc lock indexing detection assembly 14 includes a second drive motor 141 fixed to the bottom of the support plate 11, and a disc lock driven by the output shaft of the second drive motor 141. The system includes a lock appearance inspection disc 142, a supporting inner cylinder 143 vertically fixed to the lower surface of the disc's center, and a supporting bearing 144 sleeved and fixed to the outer wall of the supporting inner cylinder 143. A second drive motor 141 drives the disc 142 to rotate in an indexing manner, enabling the disc to complete various appearance inspection processes. The supporting inner cylinder 143 and the supporting bearing 144 cooperate to provide both central support for the disc 142 and a rotatable mating structure for coaxial connection with the key detection assembly. The supporting outer cylinder 133 is fixedly sleeved on the outer wall of the supporting bearing 144, enabling coaxial rotational assembly of the key indexing detection assembly 13 and the disc indexing detection assembly 14. The alignment device 2 is correspondingly set at the feeding station of the key tooth shape detection disc 132 and the disc lock appearance detection disc 142, and is used to center and position the key and the disc lock respectively. Both the key tooth shape detection disc 132 and the disc lock appearance detection disc 142 are made of highly transparent and wear-resistant material. Specifically, high light transmittance acrylic material is selected and surface hardened. Its light transmittance is not less than 92%, which can ensure the light penetration required for visual inspection and meet the clear acquisition requirements of double-sided inspection of lock beam and lock body and backlight imaging of key tooth shape. At the same time, the surface hardening layer has a hardness of HRC60 or above, which can effectively resist the friction and wear of disc lock and key during circulation. The rotary sorting and receiving device 5 is set at the discharge station of the disc lock appearance detection disc 142, and is used to clamp and sort the disc locks after inspection.

[0029] like Figure 1 , 3 As shown in -6 and 9, the alignment device 2 includes a first slide rail 21 vertically mounted on the base plate 1, and two sets of adjustment units 23 symmetrically slidably mounted on the upper and lower parts of the first slide rail 21 via a first slider 22. The first slide rail 21 provides a vertical mounting and sliding adjustment base for the two sets of adjustment units 23. The height position of the adjustment unit 23 can be adjusted by sliding the first slider 22, thereby improving the versatility of the device. The upper adjustment unit 23 is used to guide the disc lock, and the lower adjustment unit 23 is used to center and correct the key. The upper adjustment unit 23 includes a first support block 231 fixed on the upper first slider 22, a pair of V-shaped guide plates 232 symmetrically installed on both sides of the bottom of the first support block 231, and several guide wheels 233 rotatably installed along the lower edge of the V-shaped guide plates 232. This unit is located above the disc lock appearance inspection disc 142. The two sets of V-shaped guide plates 232 form a gradually narrowing structure at the entrance section, which can quickly center and calibrate the disc lock that slides out of the conveyor slide 15, ensuring that its axis is accurately aligned with the center trajectory of the inspection disc. The exit section is gradually widened, which provides sufficient space for the subsequent flow of the disc lock and effectively avoids conveying jams. At the same time, the guide wheels 233 convert the sliding friction between the disc lock and the guide plate into rolling friction, which reduces the wear on the workpiece surface and reduces the resistance to movement. Combined with the indexing rotation power of the inspection disc, it realizes the smooth and accurate conveying of the disc lock. The lower adjustment unit 23 includes a second support block 234 fixed to the lower first slider 22 and a pair of V-shaped straightening plates 235 symmetrically installed on both sides of the bottom of the second support block 234. This unit is located above the key tooth detection disk 132 and is used to position and guide the key in the width direction. The symmetrical structure of the V-shaped straightening plates 235 can accurately limit the direction and position of the key, so that the key slides into the designated detection position of the detection disk along the preset trajectory, ensuring the positional accuracy during subsequent key tooth detection. The first support block 231 and the second support block 234 are respectively equipped with photoelectric sensors 24 for detecting the workpiece's position. The photoelectric sensors 24 detect whether the workpiece has reached the designated position by emitting and receiving light signals. When the workpiece is detected to be in place, a signal is sent to the control system to trigger subsequent detection or disk rotation and other actions, so as to realize accurate linkage control of each process.

[0030] like Figure 1-6As shown, the rotary sorting and receiving device 5 includes a horizontal drive mechanism, a connecting plate 54 driven by the horizontal drive mechanism, a rotary motor 55 fixed on the connecting plate 54, multiple sets of evenly distributed rotating rods 56 fixed to the output shaft of the rotary motor 55 and extending outward, and an adaptive clamping assembly 57 installed at the end of each rotating rod 56; the horizontal drive mechanism includes a telescopic cylinder group 50 fixed on the base plate 1, a horizontal connecting block 51 fixed on the piston rod of the telescopic cylinder group 50, a linear third slide rail 52 installed on the connecting block 51, and a slidingly mounted... The third slider 53 is on the third slide rail 52; the connecting plate 54 is fixed on the third slider 53; the telescopic cylinder group 50 realizes the lifting and lowering movement of the clamping component, which is convenient for grabbing and placing the disc lock; the linear third slide rail 52 and the third slider 53 can adjust the horizontal position of the adaptive clamping component 57 to improve the gripping accuracy; the rotary motor 55 drives the rotating rod 56 to rotate, which, together with the telescopic cylinder group 50, drives the adaptive clamping component 57 to switch between the detection station and the receiving box. The rotating rod 56 can sequentially realize the gripping and sorting of the fixed station to improve the receiving efficiency. A conductive slip ring 58 is fixedly sleeved on the output end of the rotary motor 55. The conductive slip ring 58 can realize the power transmission and signal transmission between the rotating part and the fixed part. The cable of the servo motor 570 is led out through the conductive slip ring 58 to avoid the cable of the servo motor 570 from getting tangled or worn when the rotary motor 55 drives the rotating rod 56 to rotate, thus ensuring the smoothness of the component's rotation and the safety of the cable.

[0031] like Figure 1-6 As shown, the adaptive clamping assembly 57 includes a servo motor 570 fixed on the rotating rod 56, a screw 571 driven by the servo motor 570, and a pair of arc-shaped clamping blocks 574 connected to the screw 571 via a connecting rod and driven to open and close by the screw 571; the connecting rod includes a pair of first connecting rods 572 symmetrically hinged to both sides of the lower end of the screw 571, a second connecting rod 573 with one end hinged to the first connecting rod 572, an auxiliary rod 575 hinged to the inner wall of the first connecting rod 572, an internal threaded cylinder 576 threaded to the screw 571, a rotating bearing 577 fixedly sleeved on the internal threaded cylinder 576, a support sleeve 578 fixedly sleeved on the outer wall of the rotating bearing 577, and tension springs 579 respectively hinged to the inner walls of the first connecting rod 572 and the second connecting rod 573. The arc-shaped clamping block 574 is fixedly installed at the other end of the second connecting rod 573; the other end of the auxiliary rod 575 is hinged to the outer wall of the support sleeve 578. The auxiliary rod 575 converts the axial movement of the internal threaded cylinder 576 into the swing motion of the first connecting rod 572. At the same time, the support sleeve 578 provides stable hinge support for the auxiliary rod 575, ensuring effective force transmission and making the opening and closing action of the clamping block 574 accurate and smooth. The output shaft of the servo motor 570 is set through the rotating rod 56, so that the power of the servo motor 570 can be directly transmitted to the screw 571 below, reducing the number of transmission components. The number of components is increased, improving transmission efficiency and accuracy while simplifying the structural layout of the components; the clamping block 574 is made of elastic and wear-resistant material, and its inner clamping wall is provided with anti-slip texture. The elastic material can prevent pressure damage to the surface of the disc lock during clamping, and the wear-resistant material increases the service life of the components; the anti-slip texture increases the friction between the clamping block 574 and the disc lock, preventing the disc lock from slipping during clamping and ensuring the stability of sorting and collecting materials; the arc-shaped clamping inner wall is adapted to the circular outer circumference of the disc lock, which can accurately clamp the disc lock after alignment and inspection, improving the smoothness of the collection operation; Two sets of L-shaped disc lock collection boxes 59 are fixedly installed on the base plate 1. The tops of both sets of disc lock collection boxes 59 are open. The opening position of the disc lock collection box 59 corresponds to the placement position when the self-adaptive clamping component 57 releases the disc lock. The L-shaped layout can not only guide the disc lock to slide in, avoiding direct drop and damage to the workpiece, but also make efficient use of the space of the base plate 1, preventing it from occupying the inspection station and affecting the normal operation of the equipment. The top opening design facilitates the accurate placement of disc locks by the rotary sorting and receiving device 5. At the same time, the two sets of collection boxes correspond to qualified and unqualified products respectively, realizing the classification and collection of workpieces after inspection, which provides convenience for subsequent processing and statistical work.

[0032] like Figure 1 , 3 As shown in Figure 7, along the circumference of the disc 142 for inspecting the appearance of the disc lock, a first conveyor slide 15 for feeding the disc lock, a visual inspection device 3 for the lock beam, and a visual inspection device 4 for the lock body are arranged in sequence; along the circumference of the disc 132 for inspecting the key teeth, a second conveyor slide 16 for feeding the key, a visual inspection device 6 for the key teeth, a pneumatic sorting device 7 for qualified keys, and a pneumatic sorting device 8 for unqualified keys are arranged in sequence. The inlet end of conveyor slide 15 is connected to the outlet of the external disc lock vibrating feeding mechanism. The external vibrating feeding mechanism realizes the automatic sorting and conveying of disc locks. The orderly disc locks are accurately guided into the disc lock appearance inspection disc 142 through conveyor slide 15, providing a continuous and stable supply of workpieces for subsequent inspection processes. The inlet end of conveyor slide 2 16 is connected to the outlet of the external key vibrating feeding mechanism. The external key vibrating feeding mechanism realizes the automatic sorting and conveying of keys. The orderly keys are accurately delivered to the key tooth shape inspection disc 132 through conveyor slide 2 16, ensuring the continuous operation of the key inspection process. The equipment also includes a control system (not shown). The first drive motor 131, the second drive motor 141, all vision inspection devices, sorting and receiving devices and pneumatic sorting devices are electrically connected to the control system, which coordinates and controls the automated inspection and sorting process.

[0033] like Figure 1 , 3 As shown in Figure 7, the lock beam visual inspection device 3 and the lock body visual inspection device 4 have the same structure. Both include a second slide rail 31 vertically mounted on the base plate 1, multiple sets of second sliders 32 slidably mounted on the second slide rail 31, and double-sided inspection components 33 symmetrically mounted on the upper and lower positions of the second slide rail 31. The second slide rail 31 and the second sliders 32 cooperate to adjust the height and position of the double-sided inspection components 33 to adapt to the lock beam inspection requirements of different specifications of disc locks. The symmetrical double-sided inspection components 33 can simultaneously inspect both sides of the lock beam, improving inspection efficiency and comprehensiveness. The double-sided inspection assembly 33 includes: an inspection plate 331 installed on the second slider 32 near the circular inspection disc 142 of the circular lock, the inspection plate 331 having a circular hole in the center, and an annular LED light source 332 integrated around the outer periphery of the circular hole, the annular LED light source 332 being arranged around the circular hole to uniformly illuminate the lock beam passing through the circular hole, eliminating blind spots and shadows, and providing sufficient and uniform light conditions for the camera to capture clear images of the lock beam; and a circular lock inspection camera 333 installed on the other side of the second slider 32, with its lens facing the center hole of the annular light source, and the lock beam inspection camera lens facing the center hole of the annular light source. When the lock beam passes through the circular hole in the inspection plate 331, the inspection camera can accurately capture the image of the lock beam after illumination, and transmit the image to the control system for image processing and defect identification, thereby achieving accurate detection of appearance defects of the lock beam. The disc 142 for visual inspection of the disc lock is located between the upper and lower sets of double-sided inspection components 33, thereby achieving synchronous image acquisition of both sides of the lock beam. The disc is used to transport the lock beam between the upper and lower double-sided inspection components 33, so that the two sets of cameras can simultaneously acquire images of the upper and lower sides of the lock beam without the need for secondary flipping of the workpiece, thus improving inspection efficiency and ensuring the integrity of the inspection. The diameter of the circular hole in the middle of the inspection plate 331 of the lock body visual inspection device 4 is adapted to the outer diameter of the lock body. The working principle of this device is the same as that of the lock beam visual inspection device 3, which can achieve synchronous image acquisition of both the upper and lower sides of the lock body.

[0034] like Figure 1 , 3 As shown in Figure 7, the key tooth shape visual inspection device 6 includes a fourth slide rail 61 vertically mounted on the base plate 1, and two fourth sliders 62 symmetrically slidably mounted on the upper and lower parts of the fourth slide rail 61. The fourth slide rail 61 and the fourth sliders 62 cooperate to flexibly adjust the height position of the upper detection component and the lower light source component, adapting to the tooth shape inspection requirements of keys of different specifications and improving the versatility of the equipment. The upper fourth slider 62 is equipped with a key inspection camera 63, and the lower fourth slider 62 is equipped with a high backlight parallel light source plate 64. The high backlight parallel light source plate 64 generates uniform parallel backlight, making the key tooth shape form a clear light and dark contrast silhouette. The key inspection camera 63 captures the silhouette image and transmits it to the control system, and accurately identifies the size and defects of the key tooth shape through image processing technology. The key tooth shape detection disk 132 is located between the key detection camera 63 and the high-backlight parallel light source plate 64. The key is placed flat on the disk, and the backlight illumination below forms a high-contrast tooth shape silhouette for the camera to capture. By placing the key between the camera and the light source, the backlight imaging principle is used to highlight the outline features of the key tooth shape, reduce the interference of key surface reflection on the detection, and enable the camera to capture high-definition, high-contrast tooth shape images, ensuring the accuracy of tooth shape detection.

[0035] like Figure 3-6 As shown in Figure 8, the pneumatic sorting device 7 for qualified keys and the pneumatic sorting device 8 for unqualified keys have the same structure. Both include a moving part, a pneumatic nozzle 75 driven by the moving part, and an L-shaped collection box 76 fixed on the base plate 1 and located at the edge of the key tooth detection disc 132. The moving part includes a telescopic cylinder assembly 71 fixed on the base plate 1, a drive block 72 fixed to the piston rod of the telescopic cylinder assembly 71, a horizontal slide rail 73 mounted on the drive block 72, and a horizontal slider 74 slidably mounted on the horizontal slide rail 73. The telescopic cylinder assembly 71 drives the pneumatic nozzle 75 to rise and fall. The horizontal slide rail 73 and the horizontal slider 74 cooperate with the position of the pneumatic nozzle 75 so that the nozzle can accurately align with the blowing position of keys of different specifications. According to the detection results, the control system controls the pneumatic nozzle 75 of the corresponding collection device to blow air and blow the keys into the corresponding L-shaped collection box 76, thereby realizing the automatic sorting and collection of qualified and unqualified keys. The pneumatic nozzle 75 is mounted on the horizontal slider 74 and connected to an external compressed air source. The external compressed air source provides jet power to the pneumatic nozzle 75. The control system sends a command according to the key detection result to control the telescopic cylinder group 2 71 to move the nozzle to the designated position. The thrust generated by the jet blows the key from the detection disc into the corresponding collection box, thereby achieving accurate control of the sorting action. The L-shaped collection box 76 is located near the side opening of the key tooth detection disc 132. The position of the side opening of the L-shaped collection box 76 corresponds to the jet path of the pneumatic nozzle 75 and the edge trajectory of the key tooth detection disc 132. The side opening is directly opposite the edge of the detection disc, ensuring that the key can accurately fall into the collection box. At the same time, the L-shaped structure can prevent the key from popping out of the collection box.

[0036] In practical use 1. Parallel feeding and positioning After the equipment starts, the disc locks and keys are automatically sorted by their respective external vibratory feeding mechanisms, and then simultaneously fed into the equipment via conveyor chute 15 and conveyor chute 26. The disc locks enter the upper disc lock appearance inspection disc 142, and the keys enter the lower key tooth shape inspection disc 132. The alignment device 2 then accurately positions the workpieces: the upper adjustment unit 23 uses its V-shaped guide plate 232 and guide wheel 233 to straighten and center the disc locks, while the lower adjustment unit 23 uses its V-shaped straightening plate 235 to position the width of the keys. After the photoelectric sensors 24 installed on the first support block 231 and the second support block 234 detect that the workpieces are in place, they send an accurate workpiece position signal to the external control system.

[0037] 2. Synchronous visual inspection The control system commands the first drive motor 131 and the second drive motor 141 to drive the two detection discs to rotate in an indexing manner, delivering the workpiece to each detection station. The disc lock sequentially passes through the lock beam visual inspection device 3 and the lock body visual inspection device 4: the disc lock inspection cameras 333, symmetrically arranged vertically, simultaneously acquire high-contrast images of the upper and lower surfaces of the lock beam and lock body under the uniform illumination of the ring LED light source 332, completing a comprehensive appearance inspection in one go. At the same time, the key rotates to the key tooth shape visual inspection device 6 station, where it is illuminated upwards by the high-backlight parallel light source plate 64, forming a clear tooth shape silhouette image in the key inspection camera 63.

[0038] 3. Intelligent sorting and collection The control system processes and identifies defects in the acquired images and instructs the sorting mechanism to operate. For disc locks, the rotary sorting and receiving device 5 is activated: the telescopic cylinder group 50 drives the adaptive clamping component 57 to rise and fall into place, the servo motor 570 drives the screw 571 and the linkage mechanism, so that the elastic arc-shaped clamping block 574 flexibly grasps the disc lock, and the rotary motor 55 drives the rotating rod 56 to transfer it and accurately place it into the corresponding qualified disc lock collection box 59 or unqualified disc lock collection box 59. For keys, the qualified key pneumatic sorting device 7 or the unqualified key pneumatic sorting device 8, according to the instruction, is driven by the telescopic cylinder group 71 to move the pneumatic nozzle 75 into place, and the external compressed air source provides air jet power to the pneumatic nozzle 75 to blow the key into the corresponding side-opening L-shaped collection box 76 in a non-contact manner.

[0039] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A multi-station machine vision-based device for inspecting the appearance and key tooth shape of a disc lock, comprising a base plate (1), characterized in that: The base plate (1) is coaxially equipped with a key indexing detection component (13) and a disc lock indexing detection component (14), and is surrounded by a correction device (2) and a rotary sorting and receiving device (5). The key indexing detection component (13) includes a first drive motor (131) and a key tooth detection disk (132) driven by the output shaft of the first drive motor (131). A key tooth visual detection device (6) is provided on the base plate (1) along the circumferential direction of the key tooth detection disk (132). The disc lock indexing detection component (14) includes a second drive motor (141) and a disc lock appearance detection disc (142) driven by the output shaft of the second drive motor (141). Along the circumferential direction of the disc lock appearance detection disc (142), a lock beam visual detection device (3) and a lock body visual detection device (4) for feeding disc locks are sequentially arranged on the base plate (1). The alignment device (2) is correspondingly set at the feeding station of the key tooth detection disc (132) and the disc lock appearance detection disc (142) to center and position the key and the disc lock respectively. The rotary sorting and receiving device (5) is set at the discharge station of the disc (142) for the appearance inspection of the disc lock, and is used to clamp and sort the disc locks after inspection.

2. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 1, characterized in that: The key indexing detection component (13) also includes a support outer cylinder (133) fixed to the center of the key tooth detection disc (132). The disc lock indexing detection assembly (14) also includes a support inner cylinder (143) fixed to the center of the disc lock appearance detection disc (142) and a support bearing (144) sleeved on the outside of the support inner cylinder (143). The outer support cylinder (133) is fixedly sleeved on the outer wall of the support bearing (144) to realize the coaxial rotational assembly of the key indexing detection component (13) and the disc lock indexing detection component (14).

3. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 1, characterized in that: The correction device (2) includes a first slide rail (21) vertically mounted on the base plate (1), and two sets of adjustment units (23) symmetrically mounted on the upper and lower parts of the first slide rail (21) via a first slider (22). The upper adjustment unit (23) is used to guide the disc lock, and the lower adjustment unit (23) is used to center and correct the key.

4. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 3, characterized in that: The upper adjustment unit (23) includes a first support block (231) and a pair of V-shaped guide plates (232) installed at its bottom, as well as a plurality of guide wheels (233) rotatably installed along the lower edge of the V-shaped guide plates (232). The lower adjustment unit (23) includes a second support block (234) and a pair of V-shaped correction plates (235) mounted on its bottom.

5. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 4, characterized in that: The first support block (231) and the second support block (234) are respectively provided with photoelectric sensors (24) for detecting the workpiece in place.

6. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 5, characterized in that: The rotary sorting and receiving device (5) includes a horizontal drive mechanism, a connecting plate (54) driven by the horizontal drive mechanism, a rotary motor (55) mounted on the connecting plate (54), and at least two sets of adaptive clamping components (57) driven by the rotary motor (55) and evenly distributed radially.

7. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 6, characterized in that: The adaptive clamping assembly (57) includes a servo motor (570), a screw (571) driven by the servo motor (570), and a pair of arc-shaped clamping blocks (574) connected to the screw (571) via a connecting rod and driven to open and close by the screw (571).

8. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 6, characterized in that: A conductive slip ring (58) is fixedly sleeved on the output end of the rotary motor (55).

9. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 1, characterized in that: Around the circumference of the key indexing detection disc (132), a pneumatic sorting device (7) for qualified keys and a pneumatic sorting device (8) for unqualified keys are also provided in sequence. Both the qualified key pneumatic sorting device (7) and the unqualified key pneumatic sorting device (8) include a movable pneumatic nozzle (75) and an L-shaped collection box (76) for receiving the blown-off keys. The pneumatic nozzle (75) is connected to an external compressed air source, and the L-shaped collection box (76) is located near the side opening of the key indexing detection disc (132).

10. The disc lock appearance and key tooth profile detection device based on multi-station machine vision according to claim 6, characterized in that: At least one set of L-shaped disc lock collection boxes (59) are fixedly installed on the base plate (1). The top opening of the disc lock collection box (59) corresponds to the placement position when the adaptive clamping assembly (57) releases the disc lock.

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