Device for quickly identifying reference surface of retainer

Abstract

The invention belongs to the technical field of retainer detection, and particularly relates to a device for quickly identifying a retainer reference surface, which comprises symmetrically arranged conveying belts, the upper end of each conveying belt is fixedly connected with a protection plate, an arc-shaped separation plate is arranged between the two conveying belts, one end of the separation plate is fixedly connected with an L-shaped conveying plate, and the other end of the separation plate is fixedly connected with a clamping plate. And the surface of the separating plate is fixedly connected with an arc-shaped strip. According to the rapid identification device, a signal cylinder can drive a camera to accurately position a detection station of a to-be-detected object, and an angle adjusting cylinder drives a mechanical arm to flexibly adjust the posture of a clamping disc through a rotating rod, so that the clamping disc is matched and attached to the to-be-detected object; when the control system judges that the reference surface of the to-be-detected object is reverse, deviates out of limits or inclines through image analysis, contour fitting and normal vector comparison, an instruction is immediately sent to the telescopic air cylinder, the ejector pin is driven to eject the limiting plate, meanwhile, the pushing air cylinder is linked to quickly push unqualified products to a special collecting tank, and the unqualified products can be separated without manual intervention in the whole process.

Description

Technical Field

[0001] This invention relates to the field of cage inspection technology, and in particular to a device for rapidly identifying cage reference surfaces. Background Technology

[0002] As one of the core components of a bearing, the machining accuracy of the cage's reference surface directly determines the bearing's rotational accuracy, load-bearing capacity, and service life after assembly. The mass production process of cages involves multiple steps, including surface grinding and precision machining. If the reference surface is reversed during the initial surface grinding process, it will lead to positioning deviations in subsequent machining processes.

[0003] In existing technologies, cages are automatically fed to the processing machine via a feeding tray and feed line, and the identification of the front and back of the reference surface relies entirely on the operator's visual judgment. This method has the following significant drawbacks: First, manual identification is inefficient and difficult to adapt to the high-speed flow requirements of automated production lines, thus restricting the overall production cycle. Second, operators are prone to visual fatigue from repeatedly performing the same identification action, and subjective errors are significant due to individual experience and concentration, making it impossible to reliably identify defective products with the reference surface worn in reverse. Third, once a cage with the reference surface worn in reverse flows into subsequent processing steps, it will cause product dimensional deviations and structural damage due to positioning errors, ultimately resulting in the scrapping of the entire batch of products, significantly increasing production losses and manufacturing costs. Fourth, manual screening lacks standardized judgment criteria, making it difficult to accurately intercept defective products, posing a significant challenge to quality control in large-scale production.

[0004] To address the above problems, this invention proposes a device for quickly identifying the cage reference plane. Summary of the Invention

[0005] To address the existing technical problem of the inability to identify the reference surface after grinding the surface of the object being inspected, resulting in the scrapping of the processed product, this invention proposes a device for quickly identifying the reference surface of the cage.

[0006] This invention proposes a device for quickly identifying the reference plane of a cage, comprising symmetrically arranged conveyor belts, a protective plate fixedly connected to the upper end of each conveyor belt, an arc-shaped separation plate between two conveyor belts, an L-shaped conveyor plate fixedly connected to one end of the separation plate, an arc-shaped strip fixedly connected to the surface of the separation plate, a right-angle plate fixedly connected to the upper end of the separation plate, adjustment mechanisms respectively provided on both sides of the right-angle plate, an object to be inspected slidably connected to the upper end of the conveyor plate, a support platform provided on one side of the conveyor plate, a pushing cylinder placed on the upper end of the support platform, and a control system provided on one side of the right-angle plate.

[0007] Preferably, one end of the separating plate has a movable groove along both sides of the conveying plate, and the separating plate has symmetrical support rods arranged along its lower length. The upper end of the support rods is fixedly connected to the lower surface of the conveying plate. Limiting plates are elastically hinged to both sides of the conveying plate. The body of the limiting plate has a fan-shaped opening. A baffle is provided above the conveying plate, and the surface of the baffle is fixedly connected to the vertical surface of the right-angle plate.

[0008] Preferably, the adjustment mechanism includes a signal line, one end of which is electrically connected to a signal cylinder. One end of the outer shell of the signal cylinder is fixedly connected to the upper end of the right-angle plate. The piston rod of the signal cylinder is slidably connected to the body of the right-angle plate. An angle adjustment cylinder is fixedly connected to the outer surface of the signal cylinder. A rotating rod is symmetrically arranged at the upper end of the right-angle plate along the axis of symmetry. Both ends of the rotating rod are fixedly connected to the surface of the right-angle plate through bearing bases.

[0009] Preferably, a robotic arm is fixedly connected to the surface of the rotating rod, and a clamping disk is rotatably connected to the end of the robotic arm. The outer surface of the clamping disk is adapted to the fan-shaped opening of the body of the limiting plate. A telescopic cylinder is provided on one side of the right-angle plate, and a limiting disk is provided on one side of the baffle. A spring is provided between the limiting disk and the baffle. The two ends of the spring are fixedly connected to the sides of the limiting plate and the baffle, respectively. A pin is slidably connected to the lower end of the baffle. The side of the pin is fixedly connected to the piston rod of the telescopic cylinder through a connecting rod. The two ends of the pin are in contact with the side of the limiting plate, respectively. A camera is fixedly connected to one end of the piston rod of the signal cylinder.

[0010] Preferably, the surface of the clamping disc is provided with an arc-shaped surface that matches the surface of the object to be inspected, and the arc-shaped surface of the clamping disc is provided with a rubber pad.

[0011] Preferably, the control system includes an image processing unit, a position determination unit, and an execution control unit. The image processing unit receives the image of the object to be inspected captured by the camera and extracts the contour features of the object to be inspected using an edge detection algorithm. The position determination unit calculates the offset between the geometric center of the object to be inspected and a preset reference plane based on the contour features, and determines whether the reference plane is qualified according to the following formula. ,in, The coordinates of the geometric center of the outline of the object to be inspected are: To preset the center coordinates of the reference plane, The maximum allowable offset threshold.

[0012] Preferably, the image processing unit further includes a contour fitting module for performing least-squares ellipse fitting on the edge point set of the object to be inspected, fitting the ellipse equation. And based on the ratio of the major and minor axes of the fitted ellipse. The method determines whether the object under inspection is tilted, where A, B, C, D, E, and F are all elliptical geometric feature coefficients obtained by fitting the edge point set of the object under inspection, and satisfy the core constraint condition of the elliptical equation. Specifically, A is the x² term coefficient of the ellipse fitted to the outline of the object under inspection, which is related to the curvature of the ellipse along the x-axis and reflects the extent of the ellipse's extension along the x-axis. The larger its absolute value, the more significant the curvature of the ellipse's outline along the x-axis. B is the xy cross term coefficient of the ellipse fitted to the outline of the object under inspection, which primarily reflects the degree of inclination of the ellipse. When B=0, the major axis / minor axis of the ellipse is parallel to the x-axis and y-axis of the coordinate system. The larger the absolute value of B, the larger the inclination angle of the ellipse relative to the coordinate system. C is the y² term coefficient of the ellipse fitted to the outline of the object under inspection, which is related to the curvature of the ellipse along the y-axis and reflects the extent of the ellipse's extension along the y-axis. The larger its absolute value, the more significant the curvature of the ellipse's outline along the y-axis. The ratio of A to C is used to calculate the ratio of the major and minor axes of the ellipse. The core parameter is based on: D is the coefficient of the first-order x-term of the ellipse fitting the contour of the object to be inspected, which is directly related to the x-coordinate of the geometric center of the ellipse. Combined with the E coefficient, it can be obtained through the formula... The x-axis coordinate of the ellipse center is calculated; E is the coefficient of the first-order y-term of the ellipse fitted to the contour of the object to be inspected, which is directly related to the y-coordinate of the geometric center of the ellipse, and can be obtained by combining the coefficient D with the formula. The y-axis coordinates of the ellipse center are calculated; F is determined by the overall distribution characteristics of the edge point set and is used to balance the overall formula relationship of the ellipse equation to ensure that the error between the fitting result and the actual contour of the object to be inspected is minimized.

[0013] Preferably, the position determination unit further includes a reference plane feature extraction module, used to calculate the reference plane normal vector direction of the object under inspection based on the fitted ellipse equation, and compare it with the standard normal vector. ,in, The normal vector of the standard reference plane. Let be the normal vector of the reference surface of the object to be inspected.

[0014] Preferably, the control system further includes an adaptive learning module for dynamically updating the offset threshold based on historical detection data. Tilt threshold and angle threshold The formula is ,in, Let N be the learning rate, and N be the number of samples in the most recent batch of tests. Let be the offset of the i-th sample. This represents the average offset.

[0015] Preferably, the surface of the conveyor plate is coated with a lubricating layer.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. By setting up a camera and the image processing unit and position judgment unit of the control system to work together, the automatic identification of the cage reference surface is realized, completely replacing the traditional manual visual identification method. Employees do not need to judge the front and back of the reference surface in advance and can directly put the object to be inspected into the loading tray, which greatly reduces the operation threshold and labor costs. At the same time, relying on edge detection, ellipse fitting and other algorithms, the contour features and reference surface information of the object to be inspected are accurately extracted. Even if the reference surface is worn in reverse in the previous process, it can be quickly identified, avoiding the subjective error and missed detection risk of manual identification. The identification accuracy is effectively improved by more than 100% compared with manual identification.

[0018] 2. By setting up an adjustment mechanism, the signal cylinder can drive the camera to accurately position the inspection station of the object to be inspected, and the angle adjustment cylinder drives the robotic arm to flexibly adjust the posture of the clamping plate through the rotating rod to ensure a proper fit with the object to be inspected. When the control system determines, through image analysis, contour fitting and normal vector comparison, that the reference surface of the object to be inspected is reversed, offset beyond the standard or tilted, it will immediately send a command to the telescopic cylinder to drive the ejector pin to open the limit plate. At the same time, the linkage push cylinder will quickly push the defective product to the special collection tank. The separation of defective products can be completed without manual intervention. This design completely solves the defect of traditional manual identification that cannot detect the reversed reference surface, intercepts defective products before processing, avoids product scrapping and material waste caused by subsequent processing, and greatly reduces the production risk caused by manual screening. It also significantly improves the stability and continuity of the production process.

[0019] 3. By setting the arc-shaped surface of the clamping plate to precisely match the surface of the object to be inspected, and the rubber pads set on the arc-shaped surface, the clamping stability can be improved and the surface of the object to be inspected can be prevented from being scratched; the lubricating layer coated on the surface of the conveyor plate reduces the frictional resistance when the object to be inspected slides, reduces component wear, and extends the service life of the device. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a device for quickly identifying the reference plane of a cage, as proposed in this invention.

[0021] Figure 2 This is a perspective view of the adjustment mechanism of a device for quickly identifying the reference plane of a cage, as proposed in this invention.

[0022] Figure 3 This is a diagram showing the position of the clamping disc in a device for quickly identifying the reference plane of a cage, as proposed in this invention.

[0023] Figure 4 This is a diagram showing the position of the ejector pin in a device for quickly identifying the reference plane of a cage, as proposed in this invention.

[0024] Figure 5A perspective view of the limiting plate of the device for quickly identifying the reference plane of the cage proposed in this invention;

[0025] Figure 6 This is a flowchart illustrating the identification process of a device for rapidly identifying the reference plane of a cage, as proposed in this invention.

[0026] In the diagram: 1. Conveyor belt; 2. Separator plate; 20. Conveyor plate; 21. Movable trough; 22. Support rod; 23. Limiting plate; 24. Baffle; 3. Protective plate; 4. Arc strip; 5. Right angle plate; 6. Adjustment mechanism; 61. Signal line; 62. Signal cylinder; 63. Rotating rod; 64. Angle adjustment cylinder; 65. Robotic arm; 66. Clamping plate; 67. Telescopic cylinder; 68. Limiting plate; 69. Spring; 610. Ejector pin; 611. Camera; 7. Object to be inspected; 8. Pushing cylinder; 9. Support platform. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0028] Reference Figures 1-6 A device for quickly identifying the reference plane of a cage includes symmetrically arranged conveyor belts 1. A protective plate 3 is fixedly connected to the upper end of each conveyor belt 1. An arc-shaped separation plate 2 is arranged between two conveyor belts 1. An L-shaped conveyor plate 20 is fixedly connected to one end of the separation plate 2. An arc-shaped strip 4 is fixedly connected to the surface of the separation plate 2. A right-angle plate 5 is fixedly connected to the upper end of the separation plate 2. Adjustment mechanisms 6 are respectively arranged on both sides of the right-angle plate 5. An object to be inspected 7 is slidably connected to the upper end of the conveyor plate 20. A support platform 9 is arranged on one side of the conveyor plate 20. A push cylinder 8 is placed on the upper end of the support platform 9. A control system is arranged on one side of the right-angle plate 5.

[0029] In this embodiment, a movable groove 21 is provided at one end of the separating plate 2 along both sides of the conveying plate 20. A support rod 22 is symmetrically arranged along the lower end of the length of the separating plate 2. The upper end of the support rod 22 is fixedly connected to the lower surface of the conveying plate 20. Limiting plates 23 are elastically hinged to both sides of the conveying plate 20. The body of the limiting plate 23 is provided with a fan-shaped opening. A baffle 24 is provided above the conveying plate 20. The surface of the baffle 24 is fixedly connected to the vertical surface of the right-angle plate 5.

[0030] Specifically, the width and depth of the movable groove 21 provide ample space for the elastic flipping of the limiting plate 23, avoiding interference with the separation plate 2 during flipping; the support rod 22 is made of 45# steel and is fixed to the conveyor plate 20 by welding to ensure that the conveyor plate 20 does not deform significantly when carrying the object to be inspected 7; the limiting plate 23 is made of polyurethane, and the torsion spring at the elastic hinge can adapt to the width of the object to be inspected 7 and achieve preliminary limiting, and the central angle of its fan-shaped opening is 60-90°, and the radius is consistent with the radius of the clamping plate 66 to ensure precise matching with the clamping plate 66; the baffle 24 is made of transparent acrylic material with a thickness of 8-10mm, which neither obstructs the shooting field of the camera 611 nor causes the object to be inspected 7 to shift during the inspection process, ensuring the integrity of image acquisition.

[0031] In this embodiment, the adjustment mechanism 6 includes a signal line 61, one end of which is electrically connected to a signal cylinder 62. One end of the outer shell of the signal cylinder 62 is fixedly connected to the upper end of the right-angle plate 5. The piston rod of the signal cylinder 62 is slidably connected to the body of the right-angle plate 5. An angle adjustment cylinder 64 is fixedly connected to the outer surface of the signal cylinder 62. A rotating rod 63 is symmetrically arranged at the upper end of the right-angle plate 5 along the axis of symmetry. Both ends of the rotating rod 63 are fixedly connected to the surface of the right-angle plate 5 through bearing bases.

[0032] Specifically, signal line 61 is a shielded twisted pair cable with a transmission rate of ≥1Mbps, effectively avoiding electromagnetic interference in the industrial environment and ensuring stable control signal transmission; the piston rod of signal cylinder 62 drives camera 611 to move up and down in the vertical direction, adapting to the image acquisition needs of objects 7 at different heights; the angle adjustment cylinder 64 has an adjustment angle range of 0-90° and an angle control accuracy of ±0.5°. The angle adjustment cylinder 64 is rotatably connected to the rotating rod 63 by a pin, driving the rotating rod 63 to rotate around the bearing base, thereby adjusting the horizontal angle of the robotic arm 65.

[0033] In this embodiment, a robotic arm 65 is fixedly connected to the surface of the rotating rod 63, and a clamping disk 66 is rotatably connected to the end of the robotic arm 65. The outer surface of the clamping disk 66 is adapted to the fan-shaped opening of the body of the limiting plate 23. A telescopic cylinder 67 is provided on one side of the right-angle plate 5, and a limiting disk 68 is provided on one side of the baffle 24. A spring 69 is provided between the limiting disk 68 and the baffle 24. The two ends of the spring 69 are fixedly connected to the sides of the limiting disk 68 and the baffle 24, respectively. A pin 610 is slidably connected to the lower end of the baffle 24. The side of the pin 610 is fixedly connected to the piston rod of the telescopic cylinder 67 through a connecting rod. The two ends of the pin 610 are in contact with the side of the limiting plate 23, respectively. A camera 611 is fixedly connected to one end of the piston rod of the signal cylinder 62.

[0034] Specifically, the robotic arm 65 is a six-axis robotic arm made of aluminum alloy, which is lightweight and rigid. It can rotate synchronously with the rotating rod 63. Its end is connected to the clamping plate 66 through a joint bearing, allowing for ±5° angle fine adjustment to ensure that the clamping plate 66 is in close contact with the surface of the object to be inspected 7. The limiting plate 68 is made of nylon. When the object to be inspected 7 is pushed into the detection position of the conveyor plate 20 by the pushing cylinder 8, the elastic deformation of the spring 69 can absorb the impact force and avoid the surface of the object to be inspected 7 from being bumped and damaged. The ejector pin 610 is made of stainless steel and its length is adapted to the spacing of the limiting plate 23. When the telescopic cylinder 67 drives the ejector pin 610 to push the limiting plate 23, the limiting plate 23 can be flipped open and closed. The camera 611 is an industrial CMOS camera with a resolution of ≥1920×1080, a frame rate of ≥30fps, and a lens focal length of 8-12mm. It can clearly capture the detailed features of the reference surface of the object to be inspected 7, and the image transmission delay is ≤0.05 seconds.

[0035] In this embodiment, the surface of the clamping disk 66 is provided with an arc-shaped surface that is adapted to the surface of the object to be inspected 7, and the arc-shaped surface of the clamping disk 66 is provided with a rubber pad.

[0036] Specifically, the curvature of the arc-shaped surface of the clamping disc 66 is consistent with the outer circular curvature of the holder of the object to be inspected 7, which is suitable for objects to be inspected with a diameter of 50-100mm. The fit error does not exceed ±0.03mm, increasing the contact area with the object to be inspected to improve clamping stability. The rubber pad is made of Shore A50-60 anti-slip and wear-resistant silicone rubber with a thickness of 2-3mm. The surface is provided with arc-shaped anti-slip textures with a width of 0.5mm and a depth of 0.3mm and a texture spacing of 2mm. This can increase the coefficient of friction ≥0.6 to prevent the object to be inspected from sliding. It can also adapt to the small bumps and depressions on the surface of the object to be inspected through elastic deformation to avoid surface scratches caused by rigid contact. At the same time, the silicone rubber material is resistant to aging and oil stains.

[0037] In this embodiment, the control system includes an image processing unit, a position determination unit, and an execution control unit. The image processing unit receives the image of the object to be inspected 7 captured by the camera 611 and extracts the contour features of the object to be inspected 7 using an edge detection algorithm. The position determination unit calculates the offset between the geometric center of the object to be inspected 7 and a preset reference plane based on the contour features, and determines whether the reference plane is qualified according to the following formula. ,in, The coordinates of the geometric center of the outline of the object to be inspected are: To preset the center coordinates of the reference plane, The maximum allowable offset threshold.

[0038] Specifically, the edge detection algorithm of the image processing unit uses the Canny operator, with a low threshold set to 50 and a high threshold set to 150. Gaussian filtering is used to preprocess the image to filter noise and quickly extract the continuous edges of the object's contour. The position determination unit calculates the geometric center coordinates. At that time, the solution is based on the average coordinates of the contour pixels, i.e. ,in Here, n represents the x and y coordinates of the contour pixels, and n is the total number of contour pixels. In the formula for judging the passability of the reference plane, the maximum allowable offset threshold is... The default value is 0.2mm, and the calculated offset is... If the reference plane position is qualified, then the reference plane position is qualified. If the result is deemed unqualified, the control unit will immediately trigger a screening action.

[0039] In this embodiment, the image processing unit further includes a contour fitting module, used to perform least-squares ellipse fitting on the edge point set of the object to be inspected 7, fitting the ellipse equation. And based on the ratio of the major and minor axes of the fitted ellipse. To determine whether the object under inspection 7 is tilted, where A, B, C, D, E, and F are all elliptical geometric characteristic coefficients obtained by fitting the edge point set of the object under inspection 7, and satisfy the core constraint conditions of the elliptical equation. Specifically, A is the x² term coefficient of the ellipse fitted to the contour of object 7, which is related to the curvature of the ellipse along the x-axis and reflects the extent of the ellipse's extension along the x-axis. The larger its absolute value, the more significant the contour curvature of the ellipse along the x-axis. B is the xy cross term coefficient of the ellipse fitted to the contour of object 7, which primarily reflects the degree of inclination of the ellipse. When B=0, the major axis / minor axis of the ellipse is parallel to the x-axis and y-axis of the coordinate system. The larger the absolute value of B, the larger the inclination angle of the ellipse relative to the coordinate system. C is the y² term coefficient of the ellipse fitted to the contour of object 7, which is related to the curvature of the ellipse along the y-axis and reflects the extent of the ellipse's extension along the y-axis. The larger its absolute value, the more significant the contour curvature of the ellipse along the y-axis. The ratio of A to C is used to calculate the ratio of the major and minor axes of the ellipse. The core parameters are based on: D is the coefficient of the first-order x-term of the ellipse fitting the contour of the object under inspection (7), which is directly related to the x-coordinate of the geometric center of the ellipse. Combined with the E coefficient, it can be obtained through the formula... The x-axis coordinate of the ellipse center is calculated; E is the coefficient of the first-order y-term of the ellipse fitting the contour of the object to be inspected (7), which is directly related to the y-coordinate of the geometric center of the ellipse. Combined with the D coefficient, it can be obtained through the formula... The y-axis coordinates of the ellipse center are calculated; F is determined by the overall distribution characteristics of the edge point set and is used to balance the overall formula relationship of the ellipse equation to ensure that the fitting result has the smallest error with the actual contour of the object to be inspected.

[0040] Specifically, the contour fitting module uses a least-squares ellipse fitting algorithm to fit the extracted edge point set. , m is the number of edge points. Solve for the coefficients AF of the ellipse equation to minimize the fitting error. Minimum constraints on the equation of an ellipse Ensure the fitted result is an ellipse. When B=0, the major and minor axes of the ellipse are parallel to the x-axis and y-axis of the coordinate system, respectively, and the ratio of the major to the minor axis is... tilt threshold The default value is 1.2. It was determined that the object to be inspected was not tilted. If the position is determined to be tilted, the position determination unit will transmit the tilt signal to the execution control unit.

[0041] In this embodiment, the position determination unit further includes a reference plane feature extraction module, which is used to calculate the reference plane normal vector direction of the object under inspection 7 based on the fitted ellipse equation, and compare it with the standard normal vector as follows. ,in, The normal vector of the standard reference plane. is the normal vector of the reference plane of the object to be inspected 7.

[0042] Specifically, based on the fitted ellipse equation, through the elliptic quadratic form matrix... Solve for the normal vector of the reference plane. =(2A,B,2C), after standardization, we obtain the unit normal vector. The standard reference plane normal vector is preset to (1, 0.1), and the normal vector comparison uses the cosine similarity formula. The preset angle is 0.95. When determining that the reference plane orientation is correct, If the reference plane is reversed, the non-conforming product rejection process is triggered.

[0043] In this embodiment, the control system further includes an adaptive learning module, used to dynamically update the offset threshold based on historical detection data. Tilt threshold and angle threshold The formula is ,in, Let N be the learning rate, and N be the number of samples in the most recent batch of tests. Let be the offset of the i-th sample. This represents the average offset.

[0044] Specifically, the learning rate of the adaptive learning module The value range is 0.02-0.1, with a default value of 0.05; the number of samples N in the most recent batch is set to 100, meaning the threshold is updated every 100 samples tested. The threshold update formula is as follows: ,in Let i be the weight of the i-th sample. Let be the offset of the i-th sample. The average offset of 100 samples is used to dynamically adjust the threshold to adapt to the processing errors of different batches of test objects, ensuring that the recognition accuracy remains stable at over 99.5% during long-term use.

[0045] In this embodiment, the surface of the conveyor plate 20 is coated with a lubricating layer.

[0046] Specifically, the lubricating layer on the surface of the conveyor plate 20 is made of polytetrafluoroethylene coating. This coating has the characteristics of high temperature resistance, wear resistance and oil resistance, which can make the object to be inspected 7 slide on the conveyor plate 20, reduce the position displacement caused by sliding resistance, and avoid scratches caused by direct friction between the surface of the object to be inspected 7 and the conveyor plate 20.

[0047] Reference Figures 1-6 A method for quickly identifying the reference plane of a cage, comprising the following steps:

[0048] Step 1: The employee places the item to be inspected 7 into the automatic feeding tray without discrimination. The feeding tray transports the item to be inspected 7 to the conveyor plate 20 through the automatic material conveyor. The push cylinder 8 pushes the item to be inspected to the inspection position on the conveyor plate 20 until it contacts the limit plate 23 and the limit plate 68 on one side of the baffle 24, which is directly below the camera 611. The limit plate 23 achieves lateral limitation of the item to be inspected 7 through elastic clamping. The buffer structure composed of the limit plate 23 and the spring 69 absorbs the impact force of the item to be inspected 7, completing the initial positioning of the item to be inspected.

[0049] Step 2: The system triggers the cylinder 62 to move, driving the camera 611 to adjust to the preset shooting height. The camera captures the image of the reference surface of the object 7 at a frame rate of ≥30fps and transmits it to the image processing unit via the HDMI interface. The image processing unit uses the Canny edge detection algorithm to extract contour features, performs Gaussian filtering for noise reduction, obtains the ellipse equation through least squares ellipse fitting, and calculates the ratio of the major and minor axes R and the reference surface normal vector. The position determination unit calculates the geometric center based on the coordinates of the contour pixels. Solve for the center of the preset datum plane. offset Combining R with The calculation results are used to determine whether the reference surface of the object under inspection 7 is qualified;

[0050] Step 3: If the reference surface is deemed acceptable, the control unit controls the angle adjustment cylinder 64 to drive the rotating rod 63 to rotate, causing the robotic arm 65 and the clamping plate 66 to rotate until they are in contact with the surface of the object to be inspected 7. The rubber pad of the clamping plate 66 increases friction to prevent the object to be inspected 7 from sliding, thus achieving precise fixation of the object to be inspected 7. The controller controls one of the robotic arms 65 to push the object to be inspected 7, while the telescopic cylinder 67 drives the ejector pin 610 to move towards the processing groove on the acceptable side, i.e., the conveyor belt 1 on the acceptable side, completing one inspection process. If the reference surface is deemed unacceptable, due to reverse direction, excessive offset, or tilt, the control unit immediately controls the piston rod of the telescopic cylinder 67 to drive the ejector pin 610 to push the limit plate 23 to flip open and close. The piston rod drives the ejector pin 610 to push the unacceptable object to be inspected to the special collection tank.

[0051] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A device for rapidly identifying a cage reference plane, comprising symmetrically arranged conveyor belts (1), characterized in that: A protective plate (3) is fixedly connected to the upper end of each of the conveyor belts (1). An arc-shaped separation plate (2) is provided between the two conveyor belts (1). An L-shaped conveyor plate (20) is fixedly connected to one end of the separation plate (2). An arc-shaped strip (4) is fixedly connected to the surface of the separation plate (2). A right-angle plate (5) is fixedly connected to the upper end of the separation plate (2). An adjustment mechanism (6) is provided on both sides of the right-angle plate (5). An object to be inspected (7) is slidably connected to the upper end of the conveyor plate (20). A support platform (9) is provided on one side of the conveyor plate (20). A push cylinder (8) is placed on the upper end of the support platform (9). A control system is provided on one side of the right-angle plate (5).

2. The device for quickly identifying the reference plane of a cage according to claim 1, characterized in that: One end of the separation plate (2) is provided with a movable groove (21) along both sides of the conveying plate (20). The separation plate (2) is symmetrically provided with support rods (22) along its lower end. The upper end of the support rods (22) is fixedly connected to the lower surface of the conveying plate (20). Limiting plates (23) are elastically hinged to both sides of the conveying plate (20). The body of the limiting plate (23) is provided with a fan-shaped opening. A baffle (24) is provided above the conveying plate (20). The surface of the baffle (24) is fixedly connected to the vertical surface of the right angle plate (5).

3. The device for quickly identifying the reference plane of a cage according to claim 2, characterized in that: The adjustment mechanism (6) includes a signal line (61), one end of which is electrically connected to a signal cylinder (62). One end of the outer shell of the signal cylinder (62) is fixedly connected to the upper end of the right angle plate (5). The piston rod of the signal cylinder (62) is slidably connected to the body of the right angle plate (5). An angle adjustment cylinder (64) is fixedly connected to the outer surface of the signal cylinder (62). A rotating rod (63) is symmetrically arranged at the upper end of the right angle plate (5) along the axis of symmetry. Both ends of the rotating rod (63) are fixedly connected to the surface of the right angle plate (5) through a bearing base.

4. The device for quickly identifying the reference plane of a cage according to claim 3, characterized in that: A mechanical arm (65) is fixedly connected to the surface of the rotating rod (63). A clamping plate (66) is rotatably connected to the end of the mechanical arm (65). The outer surface of the clamping plate (66) is adapted to the fan-shaped opening of the body of the limiting plate (23). A telescopic cylinder (67) is provided on one side of the right-angle plate (5). A limiting plate (68) is provided on one side of the baffle (24). A spring (69) is provided between the limiting plate (68) and the baffle (24). The two ends of the spring (69) are fixedly connected to the side of the limiting plate (68) and the baffle (24) respectively. The lower end of the baffle (24) is slidably connected to the ejector pin (610). The side of the ejector pin (610) is fixedly connected to the piston rod of the telescopic cylinder (67) through a connecting rod. The two ends of the ejector pin (610) are in contact with the side of the limiting plate (23) respectively. One end of the piston rod of the signal cylinder (62) is fixedly connected to a camera (611).

5. The device for quickly identifying the reference plane of a cage according to claim 4, characterized in that: The surface of the clamping disc (66) is provided with an arc-shaped surface that is adapted to the surface of the object to be inspected (7), and the arc-shaped surface of the clamping disc (66) is provided with a rubber pad.

6. The device for quickly identifying the reference plane of a cage according to claim 5, characterized in that: The control system includes an image processing unit, a position determination unit, and an execution control unit. The image processing unit is used to receive the image of the object to be inspected (7) captured by the camera (611) and extract the contour features of the object to be inspected (7) through an edge detection algorithm. The position determination unit calculates the offset between the geometric center of the object to be inspected (7) and the preset reference plane based on the contour features, and determines whether the reference plane is qualified according to the following formula. ,in, The coordinates of the geometric center of the outline of the object to be inspected are: To preset the center coordinates of the reference plane, The maximum allowable offset threshold.

7. The device for quickly identifying the reference plane of a cage according to claim 6, characterized in that: The image processing unit further includes a contour fitting module, used to perform least-squares ellipse fitting on the edge point set of the object to be inspected (7), fitting the ellipse equation. And based on the ratio of the major and minor axes of the fitted ellipse. It is determined whether the object to be inspected (7) is tilted, where A, B, C, D, E and F are all elliptical geometric feature coefficients obtained by fitting the edge point set of the object to be inspected (7), and satisfy the core constraint condition of the elliptical equation. Specifically, A is the x² term coefficient of the ellipse fitted to the contour of the object under inspection (7), which is related to the curvature of the ellipse in the x-axis direction and reflects the extent of the ellipse's extension along the x-axis. The larger its absolute value, the more significant the contour curvature of the ellipse in the x-axis direction. B is the xy cross term coefficient of the ellipse fitted to the contour of the object under inspection (7), which mainly reflects the degree of inclination of the ellipse. When B=0, the major axis / minor axis of the ellipse is parallel to the x-axis and y-axis of the coordinate system. The larger the absolute value of B, the larger the inclination angle of the ellipse relative to the coordinate system. C is the y² term coefficient of the ellipse fitted to the contour of the object under inspection (7), which is related to the curvature of the ellipse in the y-axis direction and reflects the extent of the ellipse's extension along the y-axis. The larger its absolute value, the more significant the contour curvature of the ellipse in the y-axis direction. The ratio of A to C is used to calculate the ratio of the major and minor axes of the ellipse. The core parameter basis; D is the coefficient of the first-order x-term of the ellipse fitting the contour of the object to be inspected (7), which is directly related to the x-coordinate of the geometric center of the ellipse. Combined with the coefficient E, it can be obtained through the formula The x-axis coordinate of the ellipse center is calculated; E is the coefficient of the first-order y-term of the ellipse fitting the contour of the object to be inspected (7), which is directly related to the y-coordinate of the geometric center of the ellipse. Combined with the coefficient D, it can be obtained through the formula The y-axis coordinates of the ellipse center are calculated; F is determined by the overall distribution characteristics of the edge point set and is used to balance the overall formula relationship of the ellipse equation to ensure that the fitting result has the smallest error with the actual contour of the object to be inspected (7).

8. The device for quickly identifying the reference plane of a cage according to claim 7, characterized in that: The position determination unit further includes a reference plane feature extraction module, which is used to calculate the reference plane normal vector direction of the object to be inspected (7) based on the fitted ellipse equation, and compare it with the standard normal vector as follows. ,in, The normal vector of the standard reference plane. The reference plane normal vector of the object to be inspected (7) is given.

9. The device for quickly identifying the reference plane of a cage according to claim 8, characterized in that: The control system also includes an adaptive learning module for dynamically updating the offset threshold based on historical detection data. Tilt threshold and angle threshold The formula is ,in, Let N be the learning rate, and N be the number of samples in the most recent batch of tests. Let be the offset of the i-th sample. This represents the average offset.

10. The device for quickly identifying the reference plane of a cage according to claim 9, characterized in that: The surface of the conveyor plate (20) is coated with a lubricating layer.

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