Refrigerator appearance visual inspection equipment based on machine vision

Abstract

The utility model provides refrigerator appearance visual inspection equipment based on machine vision, which comprises an equipment main body frame, a transportation mechanism and a visual inspection mechanism, and a bracket is arranged at the lower end of the middle position in the internal composition of the equipment main body frame. Compared with the prior art, the refrigerator conveying device has the advantages that by additionally arranging the device body frame, the conveying mechanism and the visual inspection mechanism, a refrigerator is placed above the auxiliary conveying table at the right end, conveying of the refrigerator is achieved through the auxiliary conveying table and the main conveying table, and the blocking air cylinder drives the blocking piece to block the refrigerator; after the six-axis robot reads refrigerator models, the six-axis robot controls the visual detection mechanism to move to photograph the appearances of the refrigerators, and photographing information is transmitted to the information processing table for quality judgment, so that the detection efficiency can be improved; the distance between the two photographing mechanisms is changed to adapt to detection of refrigerators of different models.

Description

Technical Field

[0001] The utility model belongs to the technical field of refrigerator appearance detection equipment, and particularly relates to a refrigerator appearance visual detection equipment based on machine vision. Background Technique

[0002] A refrigerator is a commonly used electrical appliance in modern families, providing food preservation and refrigeration functions to meet some daily needs of people. After the production of the refrigerator, it is necessary to conduct quality inspection first, which involves operation and appearance quality inspection. For the appearance inspection, the commonly used method in production is manual visual identification. The operators in front of the assembly line judge the presence or absence of casters, caster screws, feet, water receiving tray guides, etc. for the passing refrigerators to achieve the detection purpose. However, this detection method has reduced efficiency, and the operators' attention is difficult to concentrate after a long time, which will further reduce the detection efficiency and quality. In addition, long-term visual inspection will have an impact on the eyes of the operators, causing eye soreness and affecting eye health.

[0003] In summary, there are some problems with the traditional manual method for refrigerator appearance detection, so it is hoped to propose a new structure to solve the above technical problems. Content of the Utility Model

[0004] Aiming at the deficiencies of the existing technology, the purpose of the utility model is to provide a refrigerator appearance visual detection equipment based on machine vision to solve the problems put forward in the above background technique.

[0005] The utility model is realized through the following technical solutions: A refrigerator appearance visual detection equipment based on machine vision, comprising: an equipment main frame, a transportation mechanism, and a visual detection mechanism. At the lower end of the middle position of the internal composition of the equipment main frame, there is a bracket. Above the bracket, there is a moving overhead rail for assisting the six-axis robot to move left and right. Above the moving overhead rail, there is a moving slider for carrying the six-axis robot. Above the moving slider, there is a six-axis robot for realizing multi-position photographing. At the upper end of the six-axis robot, there is a visual detection mechanism for visually identifying and detecting the refrigerator. In front of the bracket, there is a transportation mechanism for transporting the refrigerator.

[0006] As a preferred implementation manner, a connecting flange one is provided on the upper side of the six-axis robot, and a connecting flange two is provided at the upper end of the internal composition of the visual detection mechanism. The connecting flange one and the connecting flange two are fixedly connected by bolts.

[0007] As a preferred embodiment, a connecting member is provided below the second connecting flange, a mechanism main frame is provided below the connecting member, two sets of symmetrically arranged photographing assemblies are provided on the left side of the mechanism main frame, a CCD camera is provided at the left end of the internal components of the photographing assembly, and the six-axis robot and the vision detection mechanism can be connected through the first connecting flange and the second connecting flange, and photographing processing is performed by the CCD camera.

[0008] As a preferred embodiment, a moving chute is provided at the middle position of the upper surface of the moving overhead rail, a rack groove is provided at the rear side of the moving chute, a moving rack is provided inside the rack groove, and a moving gear is provided above the moving rack;

[0009] A moving motor is provided at the front side of the moving gear, the moving motor is located inside the moving slider, the moving rack and the moving gear are meshed with each other, the moving slider and the moving chute are movably fitted with each other, and the moving motor drives the moving gear to rotate above the moving rack, so that the moving slider can slide left and right inside the moving chute, adjust the left and right positions of the six-axis robot, and expand the activity radius of the six-axis robot.

[0010] As a preferred embodiment, an information processing platform is provided at the rear side of the bracket, a control box is provided at the front side of the bracket, a mounting frame is provided inside the bracket, a blocking cylinder is provided inside the mounting frame, and a blocking member is provided above the blocking cylinder.

[0011] As a preferred embodiment, a main bracket is provided at the lower end of the middle position of the internal components of the transportation mechanism, a main conveyor table is provided above the main bracket, and a set of sub-brackets are provided on both the left and right sides of the main bracket;

[0012] A sub-conveyor table is provided above the sub-bracket, and lifting members for lifting the main conveyor table and the sub-conveyor table are provided below the main conveyor table and the sub-conveyor table. The lifting members are a kind of screw jack, which can quickly convey the refrigerator through the transportation mechanism, and drive the blocking member to block the refrigerator through the blocking cylinder.

[0013] As a preferred embodiment, an adjustment chute is provided on the left side surface of the mechanism main frame, an adjustment screw for adjusting the distance between the two photographing assemblies is provided inside the adjustment chute, and a camera mounting frame is provided on the right side of the CCD camera.

[0014] As a preferred embodiment, an adjustment slider is provided on the right side of the camera mounting frame, an adjustment threaded hole is provided on the rear side surface of the adjustment slider, and the adjustment slider and the adjustment chute are movably fitted with each other;

[0015] The adjusting screw rod is in threaded fit connection with the adjusting threaded holes. The rotation directions of the front and rear groups of adjusting threaded holes are opposite. An adjusting motor is arranged on the front side of the adjusting screw rod. According to different refrigerator models, the adjusting motor drives the adjusting screw rod to rotate, changing the distance between the two photographing mechanisms, so as to adapt to the detection of different models of refrigerators.

[0016] After adopting the above technical solutions, the beneficial effects of the present utility model are as follows: By adding the equipment main frame, the transportation mechanism and the visual detection mechanism, the refrigerator is placed above the auxiliary conveyor table at the right end, and the refrigerator is conveyed through the auxiliary conveyor table and the main conveyor table. The blocking air cylinder drives the blocking piece to block the refrigerator. After the six-axis robot reads the refrigerator model, it controls the visual detection mechanism to move to take pictures of the appearance of the refrigerator, and the photographed information is transmitted to the information processing table for quality judgment, thereby being able to improve the detection efficiency. By adding the visual detection mechanism, according to different refrigerator models, the adjusting motor drives the adjusting screw rod to rotate, changing the distance between the two photographing mechanisms, so as to adapt to the detection of different models of refrigerators. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of an appearance visual detection device for a refrigerator based on machine vision according to the present utility model;

[0019] Figure 2 It is a schematic diagram of the structure of the equipment main frame in an appearance visual detection device for a refrigerator based on machine vision according to the present utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the visual detection mechanism in an appearance visual detection device for a refrigerator based on machine vision according to the present utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the photographing component in an appearance visual detection device for a refrigerator based on machine vision according to the present utility model;

[0022] Figure 5 It is a schematic diagram of the structure of the transportation mechanism in an appearance visual detection device for a refrigerator based on machine vision according to the present utility model.

[0023] In the figure, 100 - equipment main frame, 101 - information processing table, 102 - bracket, 103 - movable overhead rail, 104 - movable chute, 105 - movable rack, 106 - control box, 107 - movable slider, 108 - six - axis robot, 109 - connecting flange I, 110 - blocking member, 111 - blocking cylinder;

[0024] 200 - vision detection mechanism, 201 - mechanism main frame, 202 - adjustment chute, 203 - adjustment screw, 204 - adjustment motor, 205 - connecting flange II, 206 - photographing assembly;

[0025] 300 - transportation mechanism, 301 - main bracket, 302 - main conveyor table, 303 - auxiliary bracket, 304 - auxiliary conveyor table, 305 - lifting member;

[0026] 206a - adjustment slider, 206b - adjustment threaded hole, 206c - camera mounting bracket, 206d - CCD camera. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0028] Please refer to Figures 1 to 5 , the present invention provides a technical solution: a refrigerator appearance vision detection device based on machine vision, including: an equipment main frame 100, a transportation mechanism 200, and a vision detection mechanism 300. At the lower end of the middle position of the internal components of the equipment main frame 100, there is a bracket 102;

[0029] Above the bracket 102, there is a movable overhead rail 103 for assisting the left - right movement of the six - axis robot 108. Above the movable overhead rail 103, there is a movable slider 107 for carrying the six - axis robot 108. Above the movable slider 107, there is a six - axis robot 108 for realizing multi - position photographing;

[0030] At the upper end of the six - axis robot 108, there is a vision detection mechanism 300 for visually identifying and detecting the refrigerator. In front of the bracket 102, there is a transportation mechanism 200 for transporting the refrigerator.

[0031] On the upper side of the six - axis robot 108, there is a connecting flange I 109. At the upper end of the internal components of the vision detection mechanism 300, there is a connecting flange II 205. The connecting flange I 109 and the connecting flange II 205 are fixedly connected by bolts.

[0032] Below the connecting flange two 205, there is a connecting member. Below the connecting member, there is a mechanism main frame 201. On the left side of the mechanism main frame 201, there are two groups of symmetrically arranged photographing assemblies 206. At the left end of the internal composition of the photographing assembly 206, there is a CCD camera 206d. Through the connecting flange one 109 and the connecting flange two 205, the six-axis robot 108 can be connected to the vision inspection mechanism 300, and photographing processing is carried out through the CCD camera 206d.

[0033] In the middle position of the upper surface of the moving overhead rail 103, there is a moving sliding groove 104. At the rear side of the moving sliding groove 104, there is a rack groove. Inside the rack groove, there is a moving rack 105. Above the moving rack 105, there is a moving gear.

[0034] In front of the moving gear, there is a moving motor. The moving motor is located inside the moving slider 107. The moving rack 105 and the moving gear are meshed with each other. The moving slider 107 and the moving sliding groove 104 are movably fitted with each other. The moving motor drives the moving gear to rotate above the moving rack 105, which can make the moving slider 107 slide left and right inside the moving sliding groove 104, adjust the left and right positions of the six-axis robot 108, and expand the moving radius of the six-axis robot 108.

[0035] At the rear side of the bracket 102, there is an information processing platform 101. At the front side of the bracket 102, there is a control box 106. Inside the bracket 102, there is a mounting frame. Inside the mounting frame, there is a blocking cylinder 111. Above the blocking cylinder 111, there is a blocking member 110.

[0036] At the lower end of the middle position of the internal composition of the transportation mechanism 200, there is a main bracket 301. Above the main bracket 301, there is a main conveyor table 302. On both the left and right sides of the main bracket 301, there is a group of sub-brackets 303.

[0037] Above the sub-bracket 303, there is a sub-conveyor table 304. Below both the main conveyor table 302 and the sub-conveyor table 304, there is a lifting member 305 for the lifting of the main conveyor table 302 and the sub-conveyor table 304. The lifting member 305 is a kind of screw jack, which can realize the rapid transportation of the refrigerator through the transportation mechanism 200, and the blocking member 111 is driven by the blocking cylinder 111 to block the refrigerator.

[0038] Please refer to Figures 1 - 5, as the first embodiment of the present utility model: First, the operator hoists the refrigerator to be detected above the transportation mechanism 200, and quickly transports the refrigerator to the recognition position of the six-axis robot 108 through the main transfer table 302 and the auxiliary transfer table 304. The six-axis robot 108 is fixedly connected to the visual inspection mechanism 300 through the connecting flange one 109 and the connecting flange two 205. After the six-axis robot 108 recognizes the refrigerator model, it can drive the visual inspection mechanism 200 to move, so that the CCD camera 206d takes four photos of different positions of the refrigerator, and transmits the recognition information to the information processing table 101 to judge the presence or absence of casters, caster screws, floor feet, water receiving tray guides, etc. Secondly, the moving motor drives the moving gear to rotate above the moving rack 105, enabling the moving slider 107 to slide left and right inside the moving chute 104, adjusting the left and right positions of the six-axis robot 108 and expanding the activity radius of the six-axis robot 108, thereby improving the efficiency of refrigerator appearance inspection.

[0039] An adjustment chute 202 is provided on the left side of the mechanism main frame. Inside the adjustment chute 202, there is an adjustment screw 203 for adjusting the distance between the two photographing assemblies 206. A camera mounting frame 206c is provided on the right side of the CCD camera 206d.

[0040] An adjustment slider 206a is provided on the right side of the camera mounting frame 206c. An adjustment threaded hole 206b is provided on the rear side of the adjustment slider 206a. The adjustment slider 206a is movably fitted with the adjustment chute 202;

[0041] The adjustment screw 203 is in threaded fit with the adjustment threaded hole 206b. The rotation directions of the front and rear adjustment threaded holes 206b are opposite. An adjustment motor 204 is provided on the front side of the adjustment screw 203. According to different refrigerator models, the adjustment motor 204 drives the adjustment screw 203 to rotate, changing the distance between the two photographing mechanisms 206, and being able to adapt to the detection of different models of refrigerators.

[0042] Please refer to Figures 1 - 4 , as the second embodiment of the present utility model: Based on the above first embodiment, in the refrigerator appearance inspection, according to different refrigerator models, the adjustment motor 204 can drive the adjustment screw 203 to rotate. Under the threaded fit of the adjustment screw 203 and the adjustment threaded hole 206b, the two photographing assemblies 206 are driven to move towards the middle or both sides at the same time, changing the distance between the two photographing assemblies 206, so as to be able to adapt to the detection of different models of refrigerators.

[0043] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An appearance visual inspection device for a refrigerator based on machine vision, comprising: The equipment main frame (100), the transport mechanism (200) and the visual inspection mechanism (300) are characterized in that: a bracket (102) is provided at the lower end of the middle position of the internal components of the equipment main frame (100); A movable overhead rail (103) for assisting the six-axis robot (108) to move left and right is provided above the bracket (102); a movable slider (107) for carrying the six-axis robot (108) is provided above the movable overhead rail (103); and a six-axis robot (108) for realizing multi-position photography is provided above the movable slider (107); A visual detection mechanism (300) for visually identifying and detecting the refrigerator is provided at the upper end of the six-axis robot (108), and a transport mechanism (200) for transporting the refrigerator is provided at the front side of the support (102).

2. The visual inspection device for the appearance of a refrigerator based on machine vision according to claim 1, characterized in that: A connecting flange 1 (109) is provided on the upper side of the six-axis robot (108), and a connecting flange 2 (205) is provided on the upper end of the internal component of the visual inspection mechanism (300), and the connecting flange 1 (109) and the connecting flange 2 (205) are fixed by bolt connection.

3. The appearance vision detection device of a refrigerator based on machine vision according to claim 2, wherein: A connecting piece is provided below the second connecting flange (205), a main body frame (201) is provided below the connecting piece, two groups of symmetrically arranged photographing components (206) are provided on the left side of the main body frame (201), and a CCD camera (206d) is provided at the left end of the internal component of the photographing component (206).

4. The appearance vision detection device for a refrigerator based on machine vision according to claim 3, characterized in that: A movable slide groove (104) is provided in the middle of the upper surface of the movable overhead rail (103), a rack groove is provided at the rear side of the movable slide groove (104), a movable rack (105) is provided inside the rack groove, and a movable gear is provided above the movable rack (105); A moving motor is provided on the front side of the moving gear, and the moving motor is located inside the moving slider (107). The moving rack (105) and the moving gear are meshed with each other, and the moving slider (107) and the moving slide groove (104) are movably engaged with each other.

5. The appearance vision detection device of a refrigerator based on machine vision according to claim 4, wherein: An information processing table (101) is provided on the rear side of the bracket (102), a control box (106) is provided on the front side of the bracket (102), a mounting frame is provided on the inside of the bracket (102), a blocking cylinder (111) is provided on the inside of the mounting frame, and a blocking member (110) is provided above the blocking cylinder (111).

6. The appearance vision detection device of a refrigerator based on machine vision according to claim 1, characterized in that: The transport mechanism (200) has a main support (301) at the lower middle end of its internal components, a main conveying platform (302) is provided above the main support (301), and a group of auxiliary supports (303) are provided on both sides of the main support (301); A secondary conveying platform (304) is arranged above the secondary support (303), and a lifting member (305) for lifting the main conveying platform (302) and the secondary conveying platform (304) is arranged below each of the main conveying platform (302) and the secondary conveying platform (304), and the lifting member (305) is a screw lift.

7. The appearance vision detection device of a refrigerator based on machine vision according to claim 3, characterized in that: On the left side of the main frame of the mechanism, an adjustment chute (202) is provided. Inside the adjustment chute (202), an adjustment screw rod (203) is provided for adjusting the distance between two groups of photographing components (206). On the right side of the CCD camera (206d), a camera mounting bracket (206c) is provided.

8. The appearance vision detection device for a refrigerator based on machine vision according to claim 7, characterized in that: On the right side of the camera mounting bracket (206c), an adjustment slider (206a) is provided. On the rear side of the adjustment slider (206a), an adjustment threaded hole (206b) is provided. The adjustment slider (206a) is movably fitted with the adjustment chute (202); The adjustment screw rod (203) is in threaded connection with the adjustment threaded hole (206b). The rotation directions of the front and rear adjustment threaded holes (206b) are opposite. On the front side of the adjustment screw rod (203), an adjustment motor (204) is provided.

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