A visual and tactile quality inspection system and method for a stamped sheet metal part

Abstract

The present application relates to the technical field of stamping sheet metal part quality inspection, and provides a stamping sheet metal part visual and tactile quality inspection system and method, a line tail belt conveyor is used to convey stamping sheet metal parts, a visual detection device collects images and locates the positions of the stamping sheet metal parts, a controller receives position information and images, compares the images with a database, judges whether the surface quality meets the standard, and sends the position information to a tactile detection robot, the tactile detection robot performs touch inspection according to a set path, the controller judges whether the surface quality meets the standard, a visual positioning device positions the stamping sheet metal parts, sends position information to the controller, the controller transmits the information to a framing robot, adjusts the position of the framing robot according to the positioning data, an end effector of a mechanical arm of the framing robot corresponds to a sample frame, if no substandard quality information is received, the framing robot puts the stamping sheet metal parts meeting the standard into the sample frame, and if substandard quality information is received, the framing robot sends the stamping sheet metal parts to a line tail quality inspection table.

Description

Technical Field

[0001] This invention relates to the field of quality inspection technology for stamped sheet metal parts, and in particular to a visual and tactile quality inspection system and method for stamped sheet metal parts. Background Technology

[0002] Currently, many product parts are manufactured using stamping processes. During production, defects often occur on the surface of stamped parts due to factors such as rough die surfaces and improper operation of stamping equipment. Therefore, to ensure product quality, a quality inspection process is set up at the end of the stamping line. Current end-of-line quality inspection includes manual inspection and automated inspection. Manual inspection involves visual inspection, whetstone polishing, and tactile examination, which is inefficient and consumes a large amount of human resources. Automated end-of-line quality inspection relies solely on visual inspection technology, which has relatively low accuracy. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a visual and tactile quality inspection system and method for stamped sheet metal parts that can solve or at least alleviate the above-mentioned problems, so as to solve the technical problems of high manpower consumption, high labor intensity, and low inspection accuracy of simple visual automation equipment in the quality inspection of stamped sheet metal parts.

[0004] The technical solution provided by this invention is: a visual and tactile quality inspection system for stamped sheet metal parts, comprising a production line tail conveyor, a visual inspection device, a tactile inspection robot, a visual positioning device, a framing robot, a production line tail inspection table, and a controller. The production line tail conveyor transports stamped sheet metal parts. The visual inspection device, tactile inspection robot, and framing robot are sequentially placed along the material flow direction on one side of the production line tail conveyor. The visual inspection device acquires images of the stamped sheet metal parts from multiple angles and locates their positions. After receiving the position information and images of the stamped sheet metal parts, the controller compares the images with a database to determine whether the surface quality meets the standards, and sends the position information to the tactile inspection robot. The robotic arm is equipped with a dexterous hand at its end, which touches and inspects the stamped sheet metal parts along a pre-set path. The controller determines whether the surface quality of the stamped sheet metal parts meets the standards. The vision positioning device positions the stamped sheet metal parts and sends the position information to the controller. The controller then transmits this information to the framing robot, which adjusts its position based on the positioning data. The framing robot's robotic arm is equipped with an end effector to place a sample frame. If no quality non-compliance information is received from the controller, the framing robot places the compliant stamped sheet metal parts into the sample frame. If a non-compliance information is received, the framing robot releases the stamped sheet metal parts to the end-of-line quality inspection station for manual re-inspection.

[0005] In some embodiments, the visual inspection device is equipped with multiple cameras, which are mounted on a bracket above the tail conveyor belt. The cameras can capture images and locate the stamped sheet metal parts from multiple angles.

[0006] In some embodiments, the visual positioning device includes a support frame and a camera mounted on the support frame, mounted above the tail conveyor belt, for positioning the stamped sheet metal parts.

[0007] In some embodiments, the tactile detection robot and the framing robot are respectively mounted on slide rail assembly one and slide rail assembly two, and can move along the material flow direction to adjust the position of the dexterous hand and end effector.

[0008] In some embodiments, the dexterous hand of the tactile inspection robot is equipped with flexible tactile sensors and force sensors, enabling it to detect defects on the surface of stamped sheet metal parts.

[0009] In some embodiments, the tail inspection station is arranged at the tail end of the tail conveyor belt, and quality inspectors perform manual re-inspection on the tail inspection station.

[0010] In some embodiments, the visual inspection device includes a first visual inspection device, a second visual inspection device, and a flipping device, wherein the first visual inspection device and the second visual inspection device are placed sequentially on the tail conveyor along the material flow direction, and the flipping device is disposed between the first visual inspection device and the second visual inspection device; and the visual and tactile quality inspection system for stamped sheet metal parts further includes another tactile inspection robot disposed between the first visual inspection device and the flipping device.

[0011] In some embodiments, the flipping device includes a base mounted on one side of the tail conveyor belt, a guide rail mounted on the side of the base facing the tail conveyor belt, a slide mounted slidably on the guide rail, a drive member mounted on the base, and a flipping assembly connected to and driven by the drive member.

[0012] In some embodiments, the flipping assembly includes a rotating shaft, a support plate, a bracket, and suction cups; the rotating shaft is rotatably mounted in the mounting hole of the slide block, and a rotating rod is mounted on the end of the rotating shaft away from the tail conveyor belt. A protrusion is provided on the end of the rotating rod away from the rotating shaft, and the protrusion is disposed opposite to the rotating shaft; the support plate is mounted on the bottom plate of the base; a guide groove is provided on the support plate, and the protrusion is movably engaged in the guide groove; when the protrusion moves in the guide groove, it drives the rotating shaft to rotate 180° via the rotating rod; the bracket is mounted on the other end of the rotating shaft adjacent to the tail conveyor belt, and multiple suction cups are mounted on the bracket.

[0013] Furthermore, the present invention also provides a visual and tactile quality inspection method for stamped sheet metal parts, employing the aforementioned visual and tactile quality inspection system for stamped sheet metal parts, comprising the following steps: S01. Before using the visual and tactile quality inspection system for stamped sheet metal parts, input the standard positions of the visual inspection device, tactile inspection robot, and framing robot when working on the stamped sheet metal parts to be inspected into the controller, and adjust the positions of the visual inspection device, tactile inspection robot, and framing robot. S02. Before using the visual and tactile quality inspection system for stamped sheet metal parts, input the touch detection path trajectory of the tactile inspection robot for the stamped sheet metal parts to be inspected into the controller. S03. When the stamped sheet metal part passes through the vision inspection device, the vision inspection device acquires the image of the stamped sheet metal part and transmits it to the controller. The controller determines whether the quality of the stamped sheet metal part meets the standard. If the quality does not meet the standard, the controller sends a release command to the tactile inspection robot and the framing robot, so that the stamped sheet metal part is transported to the quality inspection station at the end of the line for manual re-inspection. If the controller determines that the image quality of the stamped sheet metal part acquired by the vision inspection device meets the standard, the vision inspection device also positions the stamped sheet metal part while acquiring the image. The controller receives the position information and sends it to the tactile inspection robot. The tactile inspection robot adjusts its own position according to the position information. S04. When the stamped sheet metal parts that are judged to meet the standards in step S03 pass through the tactile detection robot, the dexterous hand performs touch detection along the preset path trajectory and transmits the tactile information to the controller. The controller judges whether the quality of the stamped sheet metal parts meets the standards. If the quality does not meet the standards, the controller sends a release command to the framing robot so that the stamped sheet metal parts are transported to the end quality inspection station for manual re-inspection. S05. If the stamped sheet metal parts have no quality problems after visual and tactile inspection, they are moved to the visual positioning device for positioning. The controller transmits the position information to the framing robot. The framing robot adjusts its position according to the position information and prepares to grab and frame the stamped sheet metal parts. S06. When the stamped sheet metal part moves to the position of the framing robot, the controller sends the quality inspection information and position information of the stamped sheet metal part to the framing robot. If the quality of the stamped sheet metal part meets the standard, it will be grabbed and framed. If the quality does not meet the standard, it will be released and not grabbed. S07. After receiving stamped sheet metal parts that fail the quality inspection at the end of the line, the quality inspector will conduct a manual quality inspection. If the manual quality inspection confirms that the quality meets the standards, the quality inspector will manually frame the stamped sheet metal parts. If the manual quality inspection confirms that the quality of the stamped sheet metal parts fails the standards, the quality inspector will put the stamped sheet metal parts into the scrap bin. S08. Repeat S03 to S07 until all stamped sheet metal parts have been inspected.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: 1. The stamped sheet metal parts quality inspection system and method provided by the present invention automatically inspects the stamped sheet metal parts through a visual inspection device and a tactile inspection robot, realizing both visual inspection and tactile inspection methods, significantly improving inspection accuracy and efficiency, and reducing reliance on manual labor and the occupation of human resources.

[0015] 2. In this invention, an image of one side of the stamped sheet metal part is acquired by a first vision inspection device, and an image of the other side of the stamped sheet metal part is acquired by a second vision inspection device, so as to perform comprehensive inspection of the stamped sheet metal part and ensure the quality inspection accuracy.

[0016] 3. In this invention, the stamped sheet metal parts are flipped using a flipping device, which facilitates comprehensive inspection of the stamped sheet metal parts and improves the accuracy of quality inspection. Attached Figure Description

[0017] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the visual and tactile quality inspection system for stamped sheet metal parts according to the first embodiment of the present invention.

[0019] Figure 2 This is a plan view of the visual and tactile quality inspection system for stamped sheet metal parts according to the first embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the visual and tactile quality inspection system for stamped sheet metal parts according to the second embodiment of the present invention.

[0021] Figure 4 for Figure 3 A perspective view of the flipping device of the visual and tactile quality inspection system for stamped sheet metal parts.

[0022] Figure 5 for Figure 4 A perspective view of the flipping device from another direction.

[0023] Figure 6 This is a schematic diagram of the workflow of the visual and tactile quality inspection method for stamped sheet metal parts in the third embodiment of the present invention.

[0024] Explanation of reference numerals in the attached drawings: 1-Line tail conveyor belt, 2-Vision inspection device, 21-First vision inspection device, 22-Second vision inspection device, 23-Tilting device, 31-Base, 311-Slotting, 32-Guide rail, 33-Slide, 34-Tilting assembly, 41-Rotating shaft, 411-Rotating rod, 412-Protrusion, 42-Support plate, 421-Guide groove, 43-Support, 44-Suction cup, 35-Driver, 3-Tactile inspection robot, 4-Frame assembly robot, 5-Dexterous hand, 6-End effector, 7-Stamped sheet metal part, 8-Vision positioning device, 9-Slide rail assembly one, 10-Slide rail assembly two, 11-Sample frame, 12-Line tail quality inspection table. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0029] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0030] Example 1 like Figure 1 and Figure 2As shown in the figure, this specific embodiment provides a visual and tactile quality inspection system for stamped sheet metal parts, including a production line tail conveyor 1, a visual inspection device 2, a tactile inspection robot 3, a visual positioning device 8, a framing robot 4, a production line tail inspection table 12, and a controller; the production line tail conveyor 1 is used to transport stamped sheet metal parts 7. Preferably, the visual inspection device 2, the tactile inspection robot 3, and the framing robot 4 are placed sequentially along the material flow direction on one side of the production line tail conveyor 1. The visual inspection device 2 acquires images of the stamped sheet metal parts 7 from multiple angles and locates the position of the stamped sheet metal parts 7. After receiving the position information and images of the stamped sheet metal parts 7, the controller compares the images with the database to determine whether the surface quality meets the standards, and sends the position information to the tactile inspection robot 3. The end of the robotic arm of the tactile inspection robot 3 is equipped with a dexterous hand 5, which touches the stamped sheet metal parts 7 according to a set path. The inspection process involves the controller determining whether the surface quality of the stamped sheet metal part 7 meets the standards. The vision positioning device 8 positions the stamped sheet metal part 7 and sends the position information to the controller. The controller then transmits this information to the framing robot 4, causing it to adjust its position based on the positioning data. The framing robot 4 has an end effector 6 installed at the end of its robotic arm, which is used to place the sample frame 11. If no quality non-compliance information is received from the controller, the framing robot 4 places the compliant stamped sheet metal part 7 into the sample frame 11. If a non-compliance information is received, the framing robot 4 releases the stamped sheet metal part 7 to the end-of-line quality inspection station 12 for manual re-inspection. Preferably, the vision inspection device 2 is equipped with multiple cameras, which are mounted above the end-of-line conveyor 1 via a bracket. The cameras can capture images of the stamped sheet metal part 7 from multiple angles and perform positioning. The vision positioning device 8 includes a support frame and cameras mounted on the support frame, and is installed above the end-of-line conveyor for positioning the stamped sheet metal part.

[0031] like Figure 1 and Figure 2 As shown, the tactile detection robot 3 includes a collaborative robot and a dexterous hand 5. In this embodiment, the tactile detection robot 3 is a tactile detection collaborative robot. Preferably, the collaborative robot adopts a low-pressure, lightweight design, has collision detection capabilities, and is safe and reliable. The dexterous hand 5 has built-in flexible tactile sensors and force sensors, which can sense contact pressure distribution, minute textures, surface roughness, fine wrinkles, etc., and can replace manual touch inspection of the stamped sheet metal part 7, and can detect defects such as cracks and burrs on the surface of the stamped sheet metal part 7. It is conceivable that the collaborative robot can also be replaced by a humanoid robot, or the collaborative robot can adopt the upper body module of a humanoid robot. In addition, it is also preferred that the collaborative robot is a single-arm collaborative robot or a dual-arm collaborative robot.

[0032] like Figure 1 and Figure 2As shown, with two conveyor belts 1 arranged in the stamping line, the visual and tactile quality inspection system for stamped sheet metal parts can be symmetrically arranged to improve inspection efficiency. The tactile inspection robot 3 and the framing robot 4 are respectively mounted on slide rail assembly 9 and slide rail assembly 10, and can move along the material flow direction to adjust the position of the dexterous hand 5 and the end effector 6, facilitating the inspection and framing of the stamped sheet metal parts 7.

[0033] The tail conveyor belt 1, vision inspection device 2, framing robot 4, end effector 6, and controller in this specific embodiment are all existing technologies, and their structures and principles will not be described in detail.

[0034] Example 2 Also refer to Figures 3 to 5The visual inspection device 2 of the visual and tactile quality inspection system for stamped sheet metal parts in the second embodiment of the present invention includes a first visual inspection device 21, a second visual inspection device 22, and a flipping device 23. The first visual inspection device 21 and the second visual inspection device 22 are sequentially placed along the material flow direction on the tail conveyor belt 1, while the flipping device 23 is disposed between the first visual inspection device 21 and the second visual inspection device 22. The visual and tactile quality inspection system for stamped sheet metal parts also includes another tactile inspection robot 3 disposed between the first visual inspection device 21 and the flipping device 23. The first visual inspection device 21 and the second visual inspection device 22 respectively acquire images of the stamped sheet metal part 7 from multiple angles and locate the position of the stamped sheet metal part 7. Preferably, the first visual inspection device 21 acquires an image of one side of the stamped sheet metal part 7, and the second visual inspection device 22 acquires an image of the other side of the stamped sheet metal part 7. The flipping device 23 includes a base 31 mounted on one side of the tail conveyor 1, a guide rail 32 mounted on the side of the base 31 facing the tail conveyor 1, a slide 33 slidably mounted on the guide rail 32, a drive member 35 mounted on the base 31, and a flipping assembly 34 connected to and driven by the drive member 35. Preferably, the base 31 includes a bottom plate, a top plate, and a side plate connected between the bottom plate and the top plate. A through slot 311 is formed on the side plate of the base 31. The guide rail 32 is mounted on the side of the side plate facing the tail conveyor 1. Preferably, the two guide rails 32 are located on both sides of the slot 311. The two sides of the slide 33 are movably engaged with the two guide rails 32. Preferably, the slide 33 is generally plate-shaped. A mounting hole is provided at the center of the slide 33. The flipping assembly 34 is rotatably mounted in the mounting hole of the slide 33 by ball bearings. The flipping assembly 34 includes a rotating shaft 41, a support plate 42, a support 43, and a suction cup 44. The rotating shaft 41 is rotatably mounted in the mounting hole of the slide 33. A rotating rod 411 is mounted on the end of the rotating shaft 41 away from the end of the belt conveyor 1. A protrusion 412 is provided on the end of the rotating rod 411 away from the rotating shaft 41, and the protrusion 412 is positioned opposite to the rotating shaft 41. The support plate 42 is mounted on the bottom plate of the base 31. A guide groove 421 is provided on the support plate 42, and the protrusion 412 is movably engaged in the guide groove 421. When the protrusion 412 moves in the guide groove 421, it drives the rotating shaft 41 to rotate 180° via the rotating rod 411. The guide groove 421 includes a first vertical portion, a first inclined portion, a second inclined portion, and a second vertical portion connected sequentially from bottom to top in the vertical direction. Preferably, when the protrusion 412 moves in the first inclined section, the protrusion 412 drives the rotating shaft 41 to rotate 90° via the rotating rod 411, moving from the first inclined section to the second inclined section. When moving in the second inclined section, the protrusion 412 drives the rotating shaft 41 to continue rotating 90° via the rotating rod 411. A support 43 is installed on the other end of the rotating shaft 41 near the end of the belt conveyor 1, and a plurality of suction cups 44 are installed on the support 43.The driving component 35 drives the slide 33 to move up and down relative to the base 31, so that the suction cup 44 on the support 43 is attached to the stamped sheet metal part 7. Preferably, the driving component 35 is a cylinder.

[0035] In operation, when a stamped sheet metal part passes through the first vision inspection device 21, the first vision inspection device 21 captures an image of the stamped sheet metal part and transmits it to the controller. The controller determines whether the quality of the stamped sheet metal part meets the standards. If the quality does not meet the standards, the controller sends a release command to the second vision inspection device 22, the two sets of tactile inspection robots 3, and the framing robot 4, causing the stamped sheet metal part to be transported to the end-of-line quality inspection station 12 for manual re-inspection. If the controller determines that the image quality of the stamped sheet metal part captured by the first vision inspection device 21 meets the standards, the first vision inspection device 21 also positions the stamped sheet metal part while capturing the image, and the controller receives the position information. The stamped sheet metal part 7 is then sent to the tactile inspection robot 3 located between the first vision inspection device 21 and the flipping device 23. The tactile inspection robot 3 performs a touch inspection on the stamped sheet metal part 7 according to the set path. If the quality does not meet the standard, the controller sends a release command to the flipping device 23, the second vision inspection device 22, the tactile inspection robot 3 at the rear, and the framing robot 4, so that the stamped sheet metal part is transported to the quality inspection table 12 at the end of the line for manual re-inspection. If the quality meets the standard, the stamped sheet metal part is transported to the flipping device 23, which flips the stamped sheet metal part 7 180°. The second vision inspection device 22 inspects the other side of the stamped sheet metal part 7. Specifically, the drive member 35 drives the slide 33 to move downward relative to the base 31, so that the suction cup 44 on the support 43 is attached to the stamped sheet metal part 7. Then, the drive member 35 drives the slide 33 to move upward relative to the base 31. When the protrusion 412 moves in the first inclined part of the guide groove 421, the protrusion 412 drives the rotating shaft 41 to rotate 90° through the rotating rod 411 and moves from the first inclined part to the second inclined part. When moving in the second inclined part, the protrusion 412 drives the rotating shaft 41 to continue to rotate 90° through the rotating rod 411, thereby causing the stamped sheet metal part 7 to flip 180°. The second vision inspection device 22 acquires images of the stamped sheet metal parts and transmits them to the controller. The controller determines whether the quality of the stamped sheet metal parts meets the standards. If the quality does not meet the standards, the controller sends a release command to the tactile inspection robot 3 and the framing robot 4 at the rear, so that the stamped sheet metal parts are transported to the quality inspection station 12 at the end of the line for manual re-inspection. If the controller determines that the image quality of the stamped sheet metal parts acquired by the second vision inspection device 22 meets the standards, the second vision inspection device 22 also positions the stamped sheet metal parts while acquiring the images. The controller receives the position information and sends it to the tactile inspection robot 3. The tactile inspection robot 3 adjusts its own position according to the position information.

[0036] Example 3 Also refer to Figure 6This specific embodiment also provides a visual and tactile quality inspection method for stamped sheet metal parts, which uses the above-mentioned visual and tactile quality inspection system for stamped sheet metal parts and includes the following steps: S01. Before using the visual and tactile quality inspection system for stamped sheet metal parts, input the standard positions of the visual inspection device 2, tactile inspection robot 3, and framing robot 4 when they are working on the stamped sheet metal parts to be inspected into the controller, and adjust the positions of the visual inspection device 2, tactile inspection robot 3, and framing robot 4.

[0037] S02. Before using the visual and tactile quality inspection system for stamped sheet metal parts, input the touch detection path trajectory of the tactile inspection robot 3 to be inspected into the controller.

[0038] S03. When the stamped sheet metal part passes through the vision inspection device 2, the vision inspection device 2 collects the image of the stamped sheet metal part and transmits it to the controller. The controller judges whether the quality of the stamped sheet metal part meets the standard. If the quality does not meet the standard, the controller sends a release command to the tactile inspection robot 3 and the framing robot 4, so that the stamped sheet metal part is transported to the end quality inspection station 12 for manual re-inspection. If the controller judges that the image quality of the stamped sheet metal part collected by the vision inspection device 2 meets the standard, the vision inspection device 2 also positions the stamped sheet metal part while collecting the image. The controller receives the position information and sends it to the tactile inspection robot 3. The tactile inspection robot adjusts its own position according to the position information. Preferably, when the stamped sheet metal part passes through the first vision inspection device 21, the first vision inspection device 21 acquires an image of the stamped sheet metal part and transmits it to the controller. The controller determines whether the quality of the stamped sheet metal part meets the standard. If the quality does not meet the standard, the controller sends a release command to the second vision inspection device 22, the two sets of tactile inspection robots 3, and the framing robot 4, so that the stamped sheet metal part is transported to the end-of-line quality inspection station 12 for manual re-inspection. If the controller determines that the image quality of the stamped sheet metal part acquired by the first vision inspection device 21 meets the standard, the first vision inspection device 21 also positions the stamped sheet metal part while acquiring the image. The controller receives the position information and... The stamped sheet metal part 7 is sent to the tactile inspection robot 3 located between the first vision inspection device 21 and the flipping device 23. The tactile inspection robot 3 performs a touch inspection on the stamped sheet metal part 7 according to the set path. If the quality does not meet the standard, the controller sends a release command to the flipping device 23, the second vision inspection device 22, the tactile inspection robot 3 at the rear, and the framing robot 4, so that the stamped sheet metal part is transported to the quality inspection table 12 at the end of the line for manual re-inspection. If the quality meets the standard, the stamped sheet metal part is transported to the flipping device 23, which flips the stamped sheet metal part 7 180°. The second vision inspection device 22 inspects the other side of the stamped sheet metal part 7. Specifically, the drive member 35 drives the slide 33 to move downward relative to the base 31, so that the suction cup 44 on the support 43 is attached to the stamped sheet metal part 7. Then, the drive member 35 drives the slide 33 to move upward relative to the base 31. When the protrusion 412 moves in the first inclined part of the guide groove 421, the protrusion 412 drives the rotating shaft 41 to rotate 90° through the rotating rod 411 and moves from the first inclined part to the second inclined part. When moving in the second inclined part, the protrusion 412 drives the rotating shaft 41 to continue to rotate 90° through the rotating rod 411, thereby causing the stamped sheet metal part 7 to flip 180°.The second vision inspection device 22 acquires images of the stamped sheet metal parts and transmits them to the controller. The controller determines whether the quality of the stamped sheet metal parts meets the standards. If the quality does not meet the standards, the controller sends a release command to the tactile inspection robot 3 and the framing robot 4 at the rear, so that the stamped sheet metal parts are transported to the quality inspection station 12 at the end of the line for manual re-inspection. If the controller determines that the image quality of the stamped sheet metal parts acquired by the second vision inspection device 22 meets the standards, the second vision inspection device 22 also positions the stamped sheet metal parts while acquiring the images. The controller receives the position information and sends it to the tactile inspection robot 3. The tactile inspection robot 3 adjusts its own position according to the position information.

[0039] S04. When the stamped sheet metal parts that were judged to meet the standards in step S03 pass through the tactile detection robot 3, the dexterous hand 5 performs touch detection along the preset path trajectory and transmits the tactile information to the controller. The controller judges whether the quality of the stamped sheet metal parts meets the standards. If the quality does not meet the standards, the controller sends a release command to the framing robot 4 so that the stamped sheet metal parts are transported to the end-of-line quality inspection station 12 for manual re-inspection.

[0040] S05. If the stamped sheet metal part has no quality problems after visual and tactile inspection, it is moved to the visual positioning device 8 for positioning. The controller transmits the position information to the framing robot 4. The framing robot 4 adjusts its position according to the position information and prepares to grab and frame the stamped sheet metal part.

[0041] S06. When the stamped sheet metal part moves to the position of the framing robot 4, the controller sends the quality inspection information and position information of the stamped sheet metal part to the framing robot 4. If the quality of the stamped sheet metal part meets the standard, it is picked up and framed; if the quality does not meet the standard, it is released and not picked up.

[0042] S07. After receiving stamped sheet metal parts that fail the quality inspection, the quality inspector will conduct a manual quality inspection. If the manual quality inspection confirms that the quality meets the standards, the quality inspector will manually frame the stamped sheet metal parts. If the manual quality inspection confirms that the quality of the stamped sheet metal parts fails the standards, the quality inspector will put the stamped sheet metal parts into the scrap bin.

[0043] S08. Repeat S03 to S07 until all stamped sheet metal parts have been inspected.

[0044] The visual inspection device 2 and the tactile inspection robot 3 automatically inspect the stamped sheet metal parts 7, realizing both visual and tactile inspection methods, which significantly improves the accuracy and efficiency of inspection, reduces reliance on manual labor, and lowers the consumption of human resources.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual and tactile quality inspection system for stamped sheet metal parts, characterized in that, The system includes a tail conveyor belt (1), a vision inspection device (2), a tactile inspection robot (3), a vision positioning device (8), a framing robot (4), a tail quality inspection station (12), and a controller. The tail conveyor belt (1) transports stamped sheet metal parts (7). The vision inspection device (2), the tactile inspection robot (3), and the framing robot (4) are placed sequentially along the material flow direction on one side of the tail conveyor belt (1). The vision inspection device (2) acquires images of the stamped sheet metal parts (7) from multiple angles and locates their positions. After receiving the position information and images of the stamped sheet metal parts (7), the controller compares the images with the database to determine whether the surface quality meets the standards and sends the position information to the tactile inspection robot (3). The robotic arm of the tactile inspection robot (3) is equipped with a dexterous hand (5). The dexterous hand (5) touches the stamped sheet metal part (7) according to the set path for inspection. The controller judges whether the surface quality of the stamped sheet metal part (7) meets the standard. The visual positioning device (8) positions the stamped sheet metal part (7) and sends the position information to the controller. The controller then transmits the information to the framing robot (4) so ​​that it can adjust its own position according to the positioning data. The framing robot (4) is equipped with an end effector (6) at the end of its robotic arm and places a sample frame (11) accordingly. If no quality non-compliance information is received from the controller, the framing robot (4) puts the qualified stamped sheet metal part (7) into the sample frame (11). If a non-compliance information is received, the framing robot (4) releases the stamped sheet metal part (7) to the end quality inspection station (12) for manual re-inspection.

2. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 1, characterized in that, The visual inspection device (2) is equipped with multiple cameras, which are arranged above the tail conveyor belt (1) via a bracket. The cameras can capture images and position the stamped sheet metal parts (7) from multiple angles.

3. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 1, characterized in that, The visual positioning device (8) includes a support frame and a camera mounted on the support frame. It is installed above the tail conveyor belt and is used to position the stamped sheet metal parts.

4. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 1, characterized in that, The tactile detection robot (3) and the framing robot (4) are respectively installed on slide rail assembly one (9) and slide rail assembly two (10), and can move along the logistics direction to adjust the position of the dexterous hand (5) and end effector (6).

5. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 4, characterized in that, The tactile detection robot (3) has a dexterous hand (5) equipped with flexible tactile sensors and force sensors, which can detect defects on the surface of the stamped sheet metal part (7).

6. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 1, characterized in that, The tail inspection station (12) is arranged at the tail end of the tail conveyor belt (1), and the quality inspector performs manual re-inspection on the tail inspection station (12).

7. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 1, characterized in that, The visual inspection device (2) includes a first visual inspection device (21), a second visual inspection device (22), and a flipping device (23), wherein the first visual inspection device (21) and the second visual inspection device (22) are placed sequentially along the material flow direction on the tail conveyor (1), and the flipping device (23) is arranged between the first visual inspection device (21) and the second visual inspection device (22); and the visual and tactile quality inspection system for stamped sheet metal parts also includes another tactile inspection robot (3) arranged between the first visual inspection device (21) and the flipping device (23).

8. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 7, characterized in that, The flipping device (23) includes a base (31) mounted on one side of the tail conveyor (1), a guide rail (32) mounted on the side of the base (31) facing the tail conveyor (1), a slide (33) slidably mounted on the guide rail (32), a drive member (35) mounted on the base (31), and a flipping assembly (34) connected to and driven by the drive member (35).

9. The visual and tactile quality inspection system for stamped sheet metal parts according to claim 8, characterized in that, The flipping assembly (34) includes a rotating shaft (41), a support plate (42), a support (43), and a suction cup (44); the rotating shaft (41) is rotatably installed in the mounting hole of the slide (33), and a rotating rod (411) is installed at the end of the rotating shaft (41) away from the end of the belt conveyor (1), and a protrusion (412) is provided on the end of the rotating rod (411) away from the rotating shaft (41), and the protrusion (412) is disposed away from the rotating shaft (41); the support plate (42) is mounted on... The base plate is mounted on the base (31); the support plate (42) has a guide groove (421) and the protrusion (412) is movably engaged in the guide groove (421); when the protrusion (412) moves in the guide groove (421), it drives the rotating shaft (41) to rotate 180° through the rotating rod (411); the support (43) is installed on the other end of the rotating shaft (41) near the end of the tail belt conveyor (1), and multiple suction cups (44) are installed on the support (43).

10. A visual and tactile quality inspection method for stamped sheet metal parts, characterized in that, The visual and tactile quality inspection system for stamped sheet metal parts according to claim 1 includes the following steps: S01. Before using the visual and tactile quality inspection system for stamped sheet metal parts, input the standard positions of the visual inspection device, tactile inspection robot, and framing robot when working on the stamped sheet metal parts to be inspected into the controller, and adjust the positions of the visual inspection device, tactile inspection robot, and framing robot. S02. Before using the visual and tactile quality inspection system for stamped sheet metal parts, input the touch detection path trajectory of the tactile inspection robot for the stamped sheet metal parts to be inspected into the controller. S03. When the stamped sheet metal part passes through the vision inspection device, the vision inspection device acquires the image of the stamped sheet metal part and transmits it to the controller. The controller determines whether the quality of the stamped sheet metal part meets the standard. If the quality does not meet the standard, the controller sends a release command to the tactile inspection robot and the framing robot, so that the stamped sheet metal part is transported to the quality inspection station at the end of the line for manual re-inspection. If the controller determines that the image quality of the stamped sheet metal part acquired by the vision inspection device meets the standard, the vision inspection device also positions the stamped sheet metal part while acquiring the image. The controller receives the position information and sends it to the tactile inspection robot. The tactile inspection robot adjusts its own position according to the position information. S04. When the stamped sheet metal parts that are judged to meet the standards in step S03 pass through the tactile detection robot, the dexterous hand performs touch detection along the preset path trajectory and transmits the tactile information to the controller. The controller judges whether the quality of the stamped sheet metal parts meets the standards. If the quality does not meet the standards, the controller sends a release command to the framing robot so that the stamped sheet metal parts are transported to the end quality inspection station for manual re-inspection. S05. If the stamped sheet metal parts have no quality problems after visual and tactile inspection, they are moved to the visual positioning device for positioning. The controller transmits the position information to the framing robot. The framing robot adjusts its position according to the position information and prepares to grab and frame the stamped sheet metal parts. S06. When the stamped sheet metal part moves to the position of the framing robot, the controller sends the quality inspection information and position information of the stamped sheet metal part to the framing robot. If the quality of the stamped sheet metal part meets the standard, it will be grabbed and framed. If the quality does not meet the standard, it will be released and not grabbed. S07. After receiving stamped sheet metal parts that fail the quality inspection at the end of the line, the quality inspector will conduct a manual quality inspection. If the manual quality inspection confirms that the quality meets the standards, the quality inspector will manually frame the stamped sheet metal parts. If the manual quality inspection confirms that the quality of the stamped sheet metal parts fails the standards, the quality inspector will put the stamped sheet metal parts into the scrap bin. S08. Repeat S03 to S07 until all stamped sheet metal parts have been inspected.

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