A projection welding piece adaptive sorting system and method based on visual detection

Abstract

The application discloses a kind of based on visual inspection's projection welding piece adaptive sorting system, comprising: rack, rack is equipped with machine table, and machine table is provided with opening, and the side of opening upper side is provided with opening baffle;Blanking mechanism, it includes first slide and second slide;Detection camera;Warning device;Fluent frame unit, it is set below machine table, and fluent frame unit includes fluent frame;Control unit, it is arranged in rack, first cylinder, second cylinder, detection camera, warning device, first limit cylinder, second limit cylinder, third limit cylinder, fourth limit cylinder, fifth cylinder and sixth cylinder are all connected control unit.The sorting system of the application can adapt to the size of corresponding type qualified product material frame, improve switching efficiency;The application makes that qualified product material frame is not prone to stacking, improves material frame space utilization.

Description

Technical Field

[0001] This invention relates to sorting systems, and more particularly to an adaptive sorting system and method for weld protrusions based on vision detection. Background Technology

[0002] Sorting projectile weld parts using a projectile weld sorting device is a preliminary step after projectile welding. After sorting, qualified parts enter the qualified part box (bin), and unqualified parts enter the unqualified part box. This sorting device can sort various types of projectile weld parts (such as welded bolts and nuts). However, this type of device has shortcomings: First, parts in the qualified part box are prone to stacking, affecting the loading capacity, and manually adjusting the box position is time-consuming and labor-intensive; second, because different projectile weld parts correspond to different qualified part box sizes, switching between sorting projectile weld part types requires manual adjustment of the qualified part box limit plate (manually tightening screws to change types), resulting in low efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive sorting system for protruding weld parts based on vision detection. This system reduces the likelihood of parts stacking in the qualified product bins, improves the space utilization of the qualified product bins, avoids manual adjustment of the qualified product bins, thereby improving production efficiency, and is highly efficient when switching between sorting different types of protruding weld parts.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an adaptive sorting system for weld protrusions based on visual inspection, comprising:

[0005] A frame with a machine platform on it. An opening is provided on the machine platform, and an opening baffle is provided on the upper side of the opening. A positioning sensor is provided at the opening.

[0006] The unloading mechanism includes a first slide plate and a second slide plate arranged on the lower side of the opening for opening and closing. A first track and a second track are respectively arranged on the bottom of the machine base and on both sides of the opening. The first slide plate is connected to the first track and the second track on both sides by a first slider. The first slide plate is connected to the piston rod of a first cylinder. The cylinder body of the first cylinder is connected to the machine base. The second slide plate is connected to the first track and the second track on both sides by a second slider. The second slide plate is connected to the piston rod of a second cylinder. The cylinder body of the second cylinder is connected to the machine base.

[0007] A detection camera is positioned above the opening;

[0008] Warning devices are installed on the machine base;

[0009] A flow rack unit is located below the machine base. The flow rack unit includes a flow rack, with a first outer limiting plate and a second outer limiting plate respectively installed on the upper two sides of the flow rack. A first limiting cylinder is installed on the first outer limiting plate, and a first baffle is installed on the piston rod of the first limiting cylinder. A second limiting cylinder is installed on the second outer limiting plate, and a second baffle is installed on the piston rod of the second limiting cylinder. The first and second baffles cooperate to limit the upper part of the material box. A third limiting cylinder and a fourth limiting cylinder are installed on the lower two sides of the flow rack, with a third baffle installed on the piston rod of the third limiting cylinder and a fourth baffle installed on the piston rod of the fourth limiting cylinder. The third and fourth baffles cooperate to limit the lower part of the material box. A mounting base is installed at one end of the lower part of the flow rack, with a fifth cylinder and a sixth cylinder installed at the mounting base. A fifth stop is installed on the piston rod of the fifth cylinder, and a sixth stop is installed on the piston rod of the sixth cylinder. The fifth and sixth stops sequentially block the material box.

[0010] The control unit is located on the frame. The position sensor, the first cylinder, the second cylinder, the detection camera, the warning device, the first limit cylinder, the second limit cylinder, the third limit cylinder, the fourth limit cylinder, the fifth cylinder and the sixth cylinder are all connected to the control unit.

[0011] Furthermore, there are four opening baffles, each with an L-shaped cross-section, which are detachably installed on the front, rear, left, and right sides of the opening.

[0012] Furthermore, the first outer limiting plate has a first outer limiting main plate, and a first outer arc-shaped plate is provided at one end of the first outer limiting main plate; the second outer limiting plate has a second outer limiting main plate, and a second outer arc-shaped plate is provided at one end of the second outer limiting main plate.

[0013] Furthermore, the third baffle has a square third main board, and two third extension plates passing through the flow rack are provided on the top of the third main board; the fourth baffle has a square fourth main board, and two fourth extension plates passing through the flow rack are provided on the top of the fourth main board.

[0014] Furthermore, the fifth stop has a fifth stop seat, a fifth U-shaped mounting body is provided on one side of the fifth stop seat, a fifth connecting body is rotatably provided at the fifth U-shaped mounting body, the fifth connecting body has a fifth triangular main body, the top of the fifth triangular main body has a fifth upturned part, the two opposite sides of the fifth upturned part are respectively provided with fifth stop wheels, the bottom of the fifth triangular main body on the side away from the fifth stop wheel is provided with a fifth channel, and the top of the fifth top rod arranged on the fifth stop seat is inserted into the fifth channel;

[0015] The sixth stop has a sixth stop seat, a sixth U-shaped mounting body is provided on one side of the sixth stop seat, a sixth connecting body is rotatably provided at the sixth U-shaped mounting body, the sixth connecting body has a sixth triangular main body, the top of the sixth triangular main body has a sixth upturned part, the two opposite sides of the sixth upturned part are respectively provided with a sixth stop wheel, the bottom of the sixth triangular main body on the side away from the sixth stop wheel is provided with a sixth channel, and the top of the sixth top rod arranged on the sixth stop seat is inserted into the sixth channel.

[0016] Furthermore, a camera mounting bracket is provided on the machine platform, which has a first column and a second column arranged on both sides of the machine platform. A first horizontal column is provided at the top between the first column and the second column, a second horizontal column is provided in the middle, a third horizontal column is provided at the intersection of the first column and the second horizontal column and arranged in the left-right direction, a fourth horizontal column is provided near the second column of the second horizontal column, a fifth horizontal column is provided on the first horizontal column and arranged in the left-right direction, the camera is installed on the fifth horizontal column, and a warning device is provided at the first horizontal column.

[0017] In another aspect of the present invention, a vision-based adaptive sorting method for weld protrusions is characterized by using any of the vision-based adaptive sorting systems for weld protrusions described above, comprising the following steps:

[0018] S1. The user selects the type of welded parts to be sorted via the touch screen of the control unit;

[0019] S2. The control unit loads the detection model corresponding to the type of the weldment;

[0020] S3. Based on the size of the qualified material frame corresponding to the type of weldment, the control unit drives the first limiting cylinder, the second limiting cylinder, the third limiting cylinder, and the fourth limiting cylinder to move to the limiting position of the qualified material frame, and drives the fifth cylinder and the sixth cylinder to unfold, so that the fifth stop and the sixth stop are located at the blocking position of the qualified material frame.

[0021] S4. The user places the qualified material box onto the flow rack, which is blocked by the fifth stop. At this time, the first drop position of the qualified material box is below the opening.

[0022] S5. After the positioning sensor detects that the protruding weldment is placed at the first and second sliding plates, the detection camera takes a picture.

[0023] S6. The detection model detects the photo:

[0024] S61. If qualified, the control unit controls the first cylinder and the second cylinder to open the first slide and the second slide respectively, and the qualified weldment falls into the qualified material frame. At the same time, the control unit counts the qualified weldments that fall. After counting, the control unit determines whether the count has reached the threshold.

[0025] S611. When the count of qualified welded parts that have been cut has not reached the threshold, repeat step S5.

[0026] S612. When the count of qualified welded parts reaches the first threshold, the control unit controls the fifth cylinder to reset. The qualified material frame slides on the flow rack and is blocked by the sixth stop. At this time, the second dropping position of the qualified material frame is below the opening. Repeat step S5.

[0027] S613. When the count of qualified welded parts reaches the second threshold, the control unit controls the warning device to issue a full material warning. The user takes out the qualified material box, the fifth cylinder unfolds to move the fifth stop to the blocking position, and the step S4 is repeated.

[0028] S62. If it is not qualified, the control unit will activate the alarm device to sound an alarm for failure. The worker will remove the unqualified welded part and repeat step S5.

[0029] Compared with the prior art, the present invention has the following beneficial effects: The sorting system of the present invention, through the first baffle, second baffle, third baffle and fourth baffle driven by the first limit cylinder, second limit cylinder, third limit cylinder and fourth limit cylinder, can adapt to the size of the corresponding qualified product box when switching the type of welded parts, improve the switching efficiency and avoid manual screw tightening for type change; The present invention, through the fifth baffle and sixth baffle driven by the fifth cylinder and sixth cylinder, makes it less likely for qualified product boxes to stack (local stacking), significantly improves the space utilization of the box, can increase the effective loading capacity of the box by more than 30%, and effectively reduce the frequency of manual box replacement. Attached Figure Description

[0030] Figure 1 This is a front view of an adaptive sorting system for protruding weld parts based on vision detection.

[0031] Figure 2 This is a rear view of a vision-based adaptive sorting system for weld protrusions.

[0032] Figure 3 This is a left view of a vision-based adaptive sorting system for weld protrusions.

[0033] Figure 4 This is a right view of a vision-based adaptive sorting system for weld protrusions.

[0034] Figure 5 This is a top view of an adaptive sorting system for protruding weldments based on vision detection.

[0035] Figure 6 This is a bottom view of an adaptive sorting system for protruding weldments based on vision detection.

[0036] Figure 7This is a 3D view of an adaptive sorting system for protruding weld parts based on vision detection.

[0037] Figure 8 This is a 3D view of the first and second skateboards.

[0038] Figure 9 This is the first directional perspective view of the fluent truss, with some structures omitted in the figure.

[0039] Figure 10 This is a second-direction perspective view of the flow rack, with some structures omitted in the figure.

[0040] Figure 11 This is a 3D view of the fifth and sixth barriers; some structures are omitted in the image.

[0041] Figure 12 This is a three-dimensional view of the first direction of the fifth and sixth gears.

[0042] Figure 13 This is a three-dimensional view of the fifth and sixth gears from the second direction.

[0043] Figure 14 This is a 3D view of the fifth and sixth channels. Detailed Implementation

[0044] Example 1: Unless otherwise specified, the orientations in the example, such as front, back, left, and right, are referenced to the main view of the vision-based adaptive sorting system for protruding weld parts.

[0045] See Figures 1 to 14 An adaptive sorting system for protruding weld parts based on vision detection includes a frame 11, a machine platform 12 on the frame 11, an opening 12a on the machine platform 12, an opening baffle 12b on the upper side of the opening 12a, and a position sensor (not shown in the figure) at the opening.

[0046] In this embodiment, there are four opening baffles 12b, each with an L-shaped cross-section, which are detachably installed on the front, rear, left, and right sides of the opening 12a, respectively. The opening baffles 12b can mark the area for placing the weld protrusion to facilitate placement, while also limiting and blocking the placement of the weld protrusion.

[0047] The unloading mechanism includes a first slide plate 21a and a second slide plate 21b arranged on the lower side of the opening for opening and closing. A first track 22a and a second track 22b are respectively arranged on the bottom of the machine base 12 and on both sides of the opening. The first slide plate 21a is connected to the first track 22a and the second track 22b on both sides by a first slider. The first slide plate 21a is connected to the piston rod of the first cylinder 23a. The cylinder body of the first cylinder 23a is connected to the machine base 12. The second slide plate 21b is connected to the first track 22a and the second track 22b on both sides by a second slider. The second slide plate 21b is connected to the piston rod of the second cylinder 23b. The cylinder body of the second cylinder 23b is connected to the machine base 12.

[0048] The first and second slide plates are in a closed state, on which the weld protrusions to be inspected can be placed. A positioning sensor (referencing existing technology, including but not limited to photoelectric sensors) is positioned at the opening. After the positioning sensor detects the weld protrusion, a detection camera takes a picture (described below). The picture is transmitted to the control system (described below) and inspected by the detection model in the control system. If the weld protrusion is qualified, the first and second cylinders actuate, causing the first slide plate to slide to the right and the second slide plate to slide to the left, thereby opening the opening and allowing the qualified weld protrusion to fall into the qualified product box (described below). This achieves physical error prevention by "only allowing OK parts into the box," reducing the labor intensity of manual secondary picking.

[0049] The inspection camera 31 is positioned above the opening 12a. After the positioning sensor at the opening detects the protruding weld, the inspection camera takes a picture of the protruding weld to acquire an image of the workpiece under test.

[0050] Warning device 41 is arranged on machine base 12. The warning device is an audible and visual warning device, which can be referred to in the prior art.

[0051] In this embodiment, a camera mounting bracket is provided on the machine base 12. The bracket has a first column 13a and a second column 13b arranged on both sides of the machine base. A first horizontal column 13c is located at the top between the first column 13a and the second column 13b, and a second horizontal column 13d is located in the middle. A third horizontal column 13e is located at the intersection of the first column 13a and the second horizontal column 13d, arranged in a left-right direction. A fourth horizontal column 13f is located near the second column 13b on the second horizontal column 13d. A fifth horizontal column 13g is located on the first horizontal column 13c, arranged in a left-right direction. The camera 31 is mounted on the fifth horizontal column 13g, and a warning device 41 is located at the first horizontal column 13c. The camera mounting bracket can install the camera and the warning device, allowing the system to photograph and warn about parts. The placement of the third horizontal column 13e and the fourth horizontal column 13f reduces worker intrusion into the photographing area, avoiding impact on inspection results and sorting efficiency, while not hindering workers from placing or removing welded parts.

[0052] The flow rack unit is located below the machine base 12. The flow rack unit includes a flow rack 5. A first outer limiting plate 51 and a second outer limiting plate 52 are respectively installed on the upper two sides of the flow rack 5. A first limiting cylinder 61 is installed on the first outer limiting plate 51, and a first baffle 61a is installed on the piston rod of the first limiting cylinder 61. A second limiting cylinder 62 is installed on the second outer limiting plate 52, and a second baffle 62a is installed on the piston rod of the second limiting cylinder 62. The first baffle 61a and the second baffle 62a cooperate to limit the upper part of the material box. Third limiting plates are respectively installed on the lower two sides of the flow rack 5. The cylinder 71 and the fourth limiting cylinder 72 are equipped with a third baffle 71a at the piston rod of the third limiting cylinder 71 and a fourth baffle 72a at the piston rod of the fourth limiting cylinder 72. The third baffle 71a and the fourth baffle 72a cooperate to limit the lower part of the material box. The flow frame 5 is equipped with a mounting base 8 at one end of the lower part. The mounting base 8 is equipped with a fifth cylinder 81 and a sixth cylinder 82. The piston rod of the fifth cylinder 81 is equipped with a fifth baffle 81a and the piston rod of the sixth cylinder 82 is equipped with a sixth baffle 82a. The fifth baffle 81a and the sixth baffle 82a block the material box in sequence.

[0053] In this embodiment, the first outer limiting plate 51 has a first outer limiting main plate 51a, and a first outer arc-shaped plate 51b is provided at one end of the first outer limiting main plate 51a; the second outer limiting plate 52 has a second outer limiting main plate 52a, and a second outer arc-shaped plate 52b is provided at one end of the second outer limiting main plate 52a. The first and second outer limiting plates serve as guides and limiters, facilitating the placement of the material frame into the flow rack.

[0054] In the embodiment, the third baffle 71a has a square third main board 71a1, and two third extension plates 71a2 passing through the flow rack 5 are provided on the top of the third main board 71a1; the fourth baffle 72a has a square fourth main board 72a1, and two fourth extension plates 72a2 passing through the flow rack 5 are provided on the top of the fourth main board 72a1.

[0055] See Figure 1 The flow rack tilts to the right. After the material bin is placed into the flow rack from the left entrance, it slides to the right under gravity. The material bin stops when the fifth stop blocks the bottom right side of the bin. At this point, the bin is below the opening and can receive material. Specifically, this is the first feeding position of the bin (the right side of the bin) below the opening, and qualified weldments fall into the first feeding position. After the first feeding position is full, the fifth cylinder retracts and moves downward, causing the fifth stop to move down and no longer block the bin. The bin slides to the right under gravity, and then the sixth stop blocks the bottom right side of the bin. At this point, the bin is also below the opening and can receive material. Specifically, this is the second feeding position of the bin (the left side of the bin) below the opening, and qualified weldments fall into the second feeding position.

[0056] The control unit is located on the frame 11. The position sensor, the first cylinder 23a, the second cylinder 23b, the detection camera 31, the warning device 41, the first limit cylinder 61, the second limit cylinder 62, the third limit cylinder 71, the fourth limit cylinder 72, the fifth cylinder 81 and the sixth cylinder 82 are all connected to the control unit.

[0057] Example 2: The difference between this example and Example 1 is that, see [link to example]. Figure 12-14 The fifth stop body 81a has a fifth stop seat 81a1, a fifth U-shaped mounting body 81a2 is provided on one side of the fifth stop seat 81a1, a fifth connecting body 81a3 is rotatably provided at the fifth U-shaped mounting body 81a2, the fifth connecting body 81a3 has a fifth triangular body (the fifth triangular body is connected to the fifth U-shaped mounting body through a rotating shaft, and the fifth triangular body can rotate at the fifth U-shaped mounting body), the top of the fifth triangular body has a fifth upturned part, the two opposite sides of the fifth upturned part are respectively provided with fifth stop wheels 81a4, the bottom of the fifth triangular body away from the fifth stop wheel is provided with a fifth channel, and the top of the fifth top rod 81a5 arranged on the fifth stop seat 81a1 is inserted into the fifth channel. The sixth stop 82a has a sixth stop seat 82a1, a sixth U-shaped mounting body 82a2 on one side of the sixth stop seat 82a1, and a sixth connecting body 82a3 rotatably mounted at the sixth U-shaped mounting body 82a2. The sixth connecting body has a sixth triangular main body (the sixth triangular main body is mounted on the sixth U-shaped mounting body via a pivot and can rotate at the sixth U-shaped mounting body). The top of the sixth triangular main body has a sixth upturned part, and sixth stop wheels 82a4 are respectively set on two opposite sides of the sixth upturned part. A sixth channel is set at the bottom of the sixth triangular main body on the side away from the sixth stop wheels. The top of the sixth push rod 82a5 arranged on the sixth stop seat 82a1 is inserted into the sixth channel. The fifth connecting body 81a3 and the sixth connecting body 82a3 are eccentric force-bearing structures, used to convert the lateral shear force when the material box slides down and hits the cylinder piston rod stop into the axial compressive force of the piston rod through the rotating shaft, avoiding the cylinder piston rod from bearing lateral bending moment, protecting the cylinder and extending its service life.

[0058] Example 3: An adaptive sorting method for weld protrusions based on vision detection, which is the adaptive sorting system for weld protrusions based on vision detection as described in Example 1 or Example 2, including the following steps:

[0059] S1. The user selects the type of weld protrusions to be sorted via the control unit's touchscreen. For example, the sorting system can sort welded bolts and nuts; when selecting, the user can choose the corresponding weld protrusion type to select welded bolts or nuts. The above is just an example; other types of weld protrusions can also be selected.

[0060] S2. The control unit loads the detection model corresponding to the type of weld protrusion. The detection model used to detect whether the weld protrusion is qualified can refer to existing technology. For example, a sorting system can sort welded bolts and nuts, and the detection model is correspondingly a welded bolt detection model or a nut detection model. The above is only an example. If it is another type of weld protrusion, the corresponding weld protrusion detection model will be used.

[0061] S3. Based on the size of the qualified material frame corresponding to the type of weldment, the control unit drives the first, second, third, and fourth limit cylinders to the limit position of the qualified material frame, and drives the fifth and sixth cylinders to unfold, so that the fifth and sixth stops are located at the blocking position of the qualified material frame. For example, the sorting system can sort welded bolts and nuts. The qualified material frame is the qualified material frame for welded bolts and the qualified material frame for nuts. The two are different in size. When sorting welded bolts, the first, second, third, and fourth limit cylinders move to the limit position of the qualified material frame for welded bolts. When sorting nuts, the first, second, third, and fourth limit cylinders move to the limit position of the qualified material frame for nuts.

[0062] S4. The user places the qualified material box onto the flow rack, which is blocked by the fifth stop. At this time, the first drop position of the qualified material box is below the opening.

[0063] S5. The positioning sensor (the positioning sensor is arranged at the opening, and can refer to existing technology, including but not limited to photoelectric sensors) detects that a protruding weldment is placed at the first and second sliding plates, and then the detection camera takes a picture.

[0064] S6. The detection model detects the photo:

[0065] S61. If qualified, the control unit controls the first cylinder and the second cylinder to open the first slide plate and the second slide plate respectively, and the qualified weldment falls into the qualified material frame. At the same time, the control unit counts the qualified weldment falling into the frame. After counting, the control unit determines whether the count has reached the threshold.

[0066] S611. When the count of qualified welded parts dropped does not reach the threshold (not reaching the first threshold and the second threshold; the first threshold is set according to actual needs until the first feeding position of the material frame is full, and the second threshold is set according to actual needs until the second feeding position of the material frame is full), repeat step S5.

[0067] S612. When the count of qualified welded parts reaches the first threshold, the control unit controls the fifth cylinder to reset (contract and move downward). The qualified material frame slides on the flow rack and is blocked by the sixth stop. At this time, the second dropping position of the qualified material frame is below the opening. Repeat step S5.

[0068] S613. When the count of qualified welded parts reaches the second threshold, the control unit controls the warning device to issue a full material warning. The user takes out the qualified material box, the fifth cylinder unfolds to move the fifth stop to the blocking position, and the step S4 is repeated.

[0069] S62. If it is not qualified, the control unit will activate the alarm device to sound an alarm for failure. The worker will remove the unqualified welded part and repeat step S5.

[0070] The above description is merely a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. All technical solutions that fall within the principles of the present invention are within the scope of protection of the present invention. For those skilled in the art, any improvements made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An adaptive sorting system for protruding weld parts based on vision detection, characterized in that, include: A frame (11) is provided on the frame (11), a machine platform (12) is provided on the machine platform (12), an opening (12a) is provided on the machine platform (12), an opening baffle (12b) is provided on the upper side of the opening (12a), and a position sensor is provided at the opening; The unloading mechanism includes a first slide plate (21a) and a second slide plate (21b) arranged on the lower side of the opening for opening and closing. The bottom of the machine base (12) and the two sides of the opening are respectively provided with a first track (22a) and a second track (22b). The two sides of the first slide plate (21a) are connected to the first track (22a) and the second track (22b) respectively through a first slider. The first slide plate (21a) is connected to the piston rod of the first cylinder (23a). The cylinder body of the first cylinder (23a) is connected to the machine base (12). The two sides of the second slide plate (21b) are connected to the first track (22a) and the second track (22b) respectively through a second slider. The second slide plate (21b) is connected to the piston rod of the second cylinder (23b). The cylinder body of the second cylinder (23b) is connected to the machine base (12). A detection camera (31) is positioned above the opening (12a); Warning device (41), which is arranged on the machine base (12); The flow rack unit is located below the machine base (12). The flow rack unit includes a flow rack (5). A first outer limiting plate (51) and a second outer limiting plate (52) are respectively provided on the upper two sides of the flow rack (5). A first limiting cylinder (61) is provided on the first outer limiting plate (51). A first baffle (61a) is provided on the piston rod of the first limiting cylinder (61). A second limiting cylinder (62) is provided on the second outer limiting plate (52). A second baffle (62a) is provided on the piston rod of the second limiting cylinder (62). The first baffle (61a) and the second baffle (62a) cooperate to limit the upper part of the material box. A third limiting cylinder is provided on the lower two sides of the flow rack (5). (71) and the fourth limiting cylinder (72), the piston rod of the third limiting cylinder (71) is provided with a third baffle (71a), the piston rod of the fourth limiting cylinder (72) is provided with a fourth baffle (72a), the third baffle (71a) and the fourth baffle (72a) cooperate to limit the lower part of the material box; the flow rack (5) is provided with a mounting seat (8) at one end of the lower part, the mounting seat (8) is provided with a fifth cylinder (81) and a sixth cylinder (82), the piston rod of the fifth cylinder (81) is provided with a fifth stop (81a), the piston rod of the sixth cylinder (82) is provided with a sixth stop (82a), the fifth stop (81a) and the sixth stop (82a) block the material box in sequence; The control unit is located on the frame (11). The position sensor, the first cylinder (23a), the second cylinder (23b), the detection camera (31), the warning device (41), the first limit cylinder (61), the second limit cylinder (62), the third limit cylinder (71), the fourth limit cylinder (72), the fifth cylinder (81), and the sixth cylinder (82) are all connected to the control unit.

2. The adaptive sorting system and method for protruding weldments based on vision detection according to claim 1, characterized in that: There are four opening baffles (12b), each with an L-shaped cross section, which are detachably installed on the front, rear, left, and right sides of the opening (12a).

3. The adaptive sorting system and method for protruding weldments based on vision detection according to claim 1, characterized in that: The first outer limiting plate (51) has a first outer limiting main plate (51a), and a first outer arc plate (51b) is provided at one end of the first outer limiting main plate (51a); the second outer limiting plate (52) has a second outer limiting main plate (52a), and a second outer arc plate (52b) is provided at one end of the second outer limiting main plate (52a).

4. The adaptive sorting system and method for protruding weldments based on vision inspection according to claim 1, characterized in that: The third baffle (71a) has a square third main board (71a1) with two third extension boards (71a2) passing through the flow rack (5) on the top of the third main board (71a1); the fourth baffle (72a) has a square fourth main board (72a1) with two fourth extension boards (72a2) passing through the flow rack (5) on the top of the fourth main board (72a1).

5. The adaptive sorting system and method for protruding weldments based on vision detection according to claim 1, characterized in that: The fifth stop (81a) has a fifth stop seat (81a1), a fifth U-shaped mounting body (81a2) is provided on one side of the fifth stop seat (81a1), a fifth connecting body (81a3) is rotatably provided at the fifth U-shaped mounting body (81a2), the fifth connecting body (81a3) has a fifth triangular body, the top of the fifth triangular body has a fifth upturned part, the two opposite sides of the fifth upturned part are respectively provided with fifth stop wheels (81a4), the bottom of the fifth triangular body on the side away from the fifth stop wheel is provided with a fifth channel, and the top of the fifth top rod (81a5) arranged on the fifth stop seat (81a1) is inserted into the fifth channel; The sixth stop (82a) has a sixth stop seat (82a1), a sixth U-shaped mounting body (82a2) is provided on one side of the sixth stop seat (82a1), a sixth connecting body (82a3) is rotatably provided at the sixth U-shaped mounting body (82a2), the sixth connecting body has a sixth triangular body, the top of the sixth triangular body has a sixth upturned part, the two opposite sides of the sixth upturned part are respectively provided with a sixth stop wheel (82a4), the bottom of the sixth triangular body away from the sixth stop wheel is provided with a sixth channel, and the top of the sixth top rod (82a5) arranged on the sixth stop seat (82a1) is inserted into the sixth channel.

6. The adaptive sorting system and method for protruding weldments based on vision detection according to claim 1, characterized in that: A camera mounting bracket is provided on the machine (12), which has a first column (13a) and a second column (13b) arranged on both sides of the machine. A first horizontal column (13c) is provided at the top between the first column (13a) and the second column (13b), and a second horizontal column (13d) is provided in the middle. A third horizontal column (13e) arranged in the left-right direction is provided at the intersection of the first column (13a) and the second horizontal column (13d). A fourth horizontal column (13f) is provided near the second column (13b) of the second horizontal column (13d). A fifth horizontal column (13g) arranged in the left-right direction is provided on the first horizontal column (13c). The camera (31) is installed on the fifth horizontal column (13g). A warning device (41) is provided at the first horizontal column (13c).

7. An adaptive sorting method for protruding weld parts based on vision detection, characterized in that: The system uses a vision-based adaptive sorting system for protruding welds as described in any one of claims 1-6, comprising the following steps: S1. The user selects the type of welded parts to be sorted via the touch screen of the control unit; S2. The control unit loads the detection model corresponding to the type of the weldment; S3. Based on the size of the qualified material frame corresponding to the type of weldment, the control unit drives the first limiting cylinder, the second limiting cylinder, the third limiting cylinder, and the fourth limiting cylinder to move to the limiting position of the qualified material frame, and drives the fifth cylinder and the sixth cylinder to unfold, so that the fifth stop and the sixth stop are located at the blocking position of the qualified material frame. S4. The user places the qualified material box onto the flow rack, which is blocked by the fifth stop. At this time, the first drop position of the qualified material box is below the opening. S5. After the positioning sensor detects that the protruding weldment has been placed at the first and second sliding plates, the detection camera takes a picture. S6. The detection model detects the photo: S61. If qualified, the control unit controls the first cylinder and the second cylinder to open the first slide and the second slide respectively, and the qualified weldment falls into the qualified material frame. At the same time, the control unit counts the qualified weldments that fall. After counting, the control unit determines whether the count has reached the threshold. S611. When the count of qualified welded parts that have been cut has not reached the threshold, repeat step S5. S612. When the count of qualified welded parts reaches the first threshold, the control unit controls the fifth cylinder to reset. The qualified material frame slides on the flow rack and is blocked by the sixth stop. At this time, the second dropping position of the qualified material frame is below the opening. Repeat step S5. S613. When the count of qualified welded parts reaches the second threshold, the control unit controls the warning device to issue a full material warning. The user takes out the qualified material box, the fifth cylinder unfolds to move the fifth stop to the blocking position, and the step S4 is repeated. S62. If it is not qualified, the control unit will activate the alarm device to sound an alarm for failure. The worker will remove the unqualified welded part and repeat step S5.

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