Visual inspection device for inner hole of part

Abstract

The utility model discloses a visual inspection device for an inner hole of a part. The visual inspection device comprises a bracket, and a feeding manipulator, a first rotary carrier, a second rotary carrier, a third rotary carrier, a first identification system, a second identification system, a conveying manipulator and a discharging manipulator which are arranged on the bracket, the feeding mechanical arm is used for feeding parts to the first rotating carrier, the conveying mechanical arm sequentially places the parts on the first rotating carrier on the second rotating carrier and the third rotating carrier, and the first recognition system is located above the second rotating carrier. The second recognition system is located above the third rotating carrier, and the discharging mechanical arm is used for discharging the parts on the third rotating carrier. The detection device greatly improves the detection efficiency and accuracy of the inner hole of the part.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field, concretely is a kind of part inner hole vision detection device. BACKGROUND

[0002] Graphite rotor is the core part of small water pump and oil pump for vehicle, and each end has a graphite bearing, with the innovation of technology, the traditional bearing rotor is replaced by the sintered graphite rotor with good self-lubricating, and the graphite rotor shows excellent wear resistance. However, in the sintering link in the production process of graphite rotor, cracks, sintering nodular protrusions, pits and other defects may occur. In view of these defects, manufacturers need to accurately and efficiently eliminate defective products. Since the inner wall of the graphite bearing at both ends of the graphite rotor needs to be detected, manual detection cannot meet the requirements of high production rhythm of automatic production line (the production rhythm of some production lines is only 6 seconds, and personnel cannot complete the detection of graphite rotor within 6 seconds), in addition, the accuracy of personnel detection cannot be guaranteed. Therefore, the detection of the inner wall of the graphite bearing becomes a bottleneck in the production process. SUMMARY

[0003] In order to overcome the defects in the prior art, the utility model embodiment provides a part inner hole vision detection device, which is used to solve the above problems.

[0004] The embodiment of the present application discloses a part inner hole vision detection device, which comprises a support, an upper feeding manipulator, a first rotating carrier, a second rotating carrier, a third rotating carrier, a first identification system, a second identification system, a conveying manipulator and a lower feeding manipulator arranged on the support; the upper feeding manipulator is used to feed parts to the first rotating carrier, the conveying manipulator places the parts on the first rotating carrier on the second rotating carrier and the third rotating carrier in turn, the first identification system is located above the second rotating carrier, the second identification system is located above the third rotating carrier, and the lower feeding manipulator is used to feed the parts on the third rotating carrier.

[0005] Specifically, the first identification system comprises N industrial cameras, N is a natural number, and the N industrial cameras are uniformly distributed in the circumferential direction to detect the first end of the part inner hole.

[0006] Specifically, a transition carrier is further arranged between the second rotating carrier and the third rotating carrier.

[0007] Specifically, the material handling robot includes an X-axis drive module and a first gripper cylinder, a first rotary gripper cylinder, a second gripper cylinder, and a second rotary gripper cylinder sequentially arranged on the X-axis drive module. The first gripper cylinder is used to grip a part on a first rotating carrier and place it on a second rotating carrier. The first rotary gripper cylinder is used to grip a part on the second rotating carrier, flip it over, and place it on a transition carrier. The second gripper cylinder is used to grip a part on the transition carrier and place it on a third rotating carrier. The second rotary gripper cylinder is used to grip a part on the third rotating carrier and flip it over.

[0008] Specifically, the first rotating carrier is also equipped with a laser marking system and a third identification system on the feeding side. The third identification system is used to detect the position of the parts gripped by the feeding robot, and the laser marking system is used to mark a QR code on the outer wall of the parts.

[0009] Specifically, the loading robot includes a Y-axis drive module, a first Z-axis drive module connected to the Y-axis drive module, an R-axis drive module connected to the first Z-axis drive module, and a third gripper cylinder connected to the R-axis drive module.

[0010] Specifically, the first rotating carrier includes a second Z-axis drive module, a first rotating cylinder connected to the second Z-axis drive module, a first support connected to the first rotating cylinder, and two first positioning seats disposed on the first support. One of the first positioning seats is used to receive the part placed by the third gripper cylinder, and the other first positioning seat is used to provide the part to the material transfer robot.

[0011] Specifically, the detection device also includes a barcode scanner, which is used to detect QR codes on parts located in the first positioning seat near the third gripper cylinder.

[0012] Specifically, the second rotating carrier includes a third Z-axis drive module, a second rotating cylinder connected to the third Z-axis drive module, a second support connected to the second rotating cylinder, and a second positioning seat disposed on the second support.

[0013] The present invention has at least the following beneficial effects: the visual inspection device for the inner hole of the part in this embodiment detects the inner walls of the first end and the second end of the inner hole of the part through the first recognition system and the second recognition system respectively, which greatly improves the efficiency and accuracy of the inspection.

[0014] To make the above and other objects, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the visual inspection device (including bracket) for the inner hole of a part in this embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the visual inspection device for the inner hole of a part (excluding the bracket) in an embodiment of this utility model;

[0018] Figure 3 This is a schematic diagram showing the positional relationship between the loading robot and the first rotating carrier in an embodiment of this utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the first rotating vehicle in this embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the second rotating carrier in this embodiment of the present invention.

[0021] The reference numerals in the above figures are as follows: 1. Support; 2. Loading robot; 21. Y-axis drive module; 22. First Z-axis drive module; 23. R-axis drive module; 24. Third gripper cylinder; 3. First rotating carrier; 31. Second Z-axis drive module; 32. First rotating cylinder; 33. First support; 34. First positioning seat; 4. Second rotating carrier; 5. Third rotating carrier; 51. Transition carrier; 6. First identification system; 61. Industrial camera; 7. Second identification system; 8. Material transfer robot; 81. X-axis drive module; 82. First gripper cylinder; 83. First rotating gripper cylinder; 84. Second gripper cylinder; 85. Second rotating gripper cylinder; 9. Unloading robot; 10. Loading conveyor belt; 11. Laser marking system; 12. Third identification system; 13. Barcode scanner; 14. Defective product tray; 20. Unloading conveyor belt. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "fixing," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "below," and "over" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] In the description of this embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0026] Furthermore, the terms "first" and "second" are used only to distinguish between different terms in description and do not have any special meaning.

[0027] The part internal hole visual inspection device of this embodiment can be used to perform appearance inspection of the inner wall of the hole in parts with internal holes, such as graphite rotors.

[0028] Combination Figure 1 and Figure 2As shown, the visual inspection device for the inner hole of a part in this embodiment mainly includes a support 1 and a loading robot 2, a first rotating carrier 3, a second rotating carrier 4, a third rotating carrier 5, a first identification system 6, a second identification system 7, a transfer robot 8, and a unloading robot 9, all mounted on the support 1. The loading robot 2 is used to grab parts from the loading conveyor belt 10 and place them on the first rotating fixture; the first identification system 6 is correspondingly positioned above the second rotating carrier 4 and is used to inspect the first end of the inner hole of the part placed on the second rotating carrier 4; the second identification system 7 is correspondingly positioned above the third rotating carrier 5 and is used to inspect the second end of the inner hole of the part placed on the third rotating carrier 5; the transfer robot 8 is used to sequentially place parts from the first rotating carrier 3 onto the second rotating carrier 4 and the third rotating carrier 5; and the unloading robot 9 is used to unload parts from the third rotating carrier 5.

[0029] With the above structure, the visual inspection device for internal holes of parts in this embodiment can inspect the inner walls of the first end and the second end of the internal hole of the part through the first recognition system 6 and the second recognition system 7 respectively, which greatly improves the efficiency and accuracy of the inspection.

[0030] like Figure 2 As shown, the first identification system 6 in this embodiment includes N industrial cameras 61, where N is a natural number. Specifically, N is 2, 3, 4, 5...N industrial cameras 61 are evenly distributed circumferentially to detect the first end of the inner hole of a part. More specifically, taking a first identification system 6 including four industrial cameras 61 as an example, each industrial camera 61 takes a picture of the inner hole of the part at the same angle, and the area detected by each industrial camera 61 is a 45° angle region. After the first identification system 6 takes a picture of the first end of the part, the second rotating carrier 4 rotates the part by 45°, and the industrial cameras 61 of the first identification system 6 take another picture of the inner hole of the part, thus completing the 360° detection of the inner wall of the inner hole of the part. The structure and working process of the second identification system 7 are the same as those of the first identification system 6.

[0031] like Figure 2 As shown, a transition carrier 51 is provided between the second rotating carrier 4 and the third rotating carrier 5 in this embodiment. The transition carrier 51 is used to temporarily store the parts detected by the first identification system 6. After the third rotating carrier 5 is vacated, the material transfer robot 8 places the parts on the transition carrier 51 onto the third rotating carrier 5.

[0032] Continue to refer to Figure 2As shown, the material handling robot 8 in this embodiment mainly includes an X-axis drive module 81 and a first gripper cylinder 82, a first rotary gripper cylinder 83, a second gripper cylinder 84, and a second rotary gripper cylinder 85 sequentially arranged on the X-axis mechanical module. Specifically, the first gripper cylinder 82 is used to grip a part from the first rotary carrier 3 and place it on the second rotary carrier 4; the first rotary gripper cylinder 83 is used to grip a part on the second rotary carrier 4, flip the part so that its first and second ends are interchanged, and then place the part on the transition carrier 51; the second gripper cylinder 84 is used to grip a part on the transition carrier 51 and place it on the third rotary carrier 5; the second rotary gripper cylinder 85 is used to grip a part on the third rotary carrier 5, flip the part so that its first and second ends are interchanged, and then wait for the unloading robot 9 to remove and unload the part. Using the above scheme, the first gripper cylinder 82, the first rotary gripper cylinder 83, the second gripper cylinder 84, and the second rotary gripper cylinder 85 in this embodiment can move synchronously to the corresponding carriers to pick up and put down materials under the drive of the same X-axis drive module 81, which improves the working efficiency of the device.

[0033] like Figure 3 As shown, the first rotating carrier 3 in this embodiment is also equipped with a laser marking system 11 and a third identification system 12 on its feeding side. After the loading robot 2 picks up the part from the loading conveyor belt 10, it moves the part to the third identification system 12. The third identification system 12 identifies the positioning mark on the part and feeds back the identification result to the electronic control system of the device. The electronic control system drives the loading robot 2 to adjust the position of the part to a preset angle according to the received identification result. Then, the laser marking system 11 marks a QR code on the outer wall of the part for subsequent traceability.

[0034] Furthermore, such as Figure 3 As shown, the loading robot 2 in this embodiment includes a Y-axis drive module 21, a first Z-axis drive module 22 connected to the Y-axis drive module 21, an R-axis drive module 23 connected to the first Z-axis drive module 22, and a third gripper cylinder 24 connected to the R-axis drive module 23. The Y-axis drive module 21 is used to drive the third gripper cylinder 24 to move back and forth between the loading conveyor belt 10 and the first rotating station to transport parts; the first Z-axis drive module 22 is used to drive the third gripper cylinder 24 to move up and down to pick up and put down parts; the R-axis drive module 23 is used to drive the third gripper cylinder 24 to rotate. When the third identification system 12 detects that the positioning mark on the part is not in the preset position, the R-axis drive module 23 drives the third gripper to rotate so that the part of the part to be marked with a QR code is aligned with the laser marking system 11.

[0035] like Figure 4As shown, the first rotating carrier 3 in this embodiment includes a second Z-axis drive module 31, a first rotating cylinder 32 connected to the second Z-axis drive module 31, a first support 33 connected to the first rotating cylinder 32, and two first positioning seats 34 disposed on the first support 33. One of the first positioning seats 34 is used to receive the part placed by the third gripper cylinder 24, and the other first positioning seat 34 is used to provide the part to the transfer robot 8. In other words, one first positioning seat 34 is close to the loading robot 2, and the other first positioning seat 34 is close to the transfer robot 8. Specifically, after the laser marking system 11 marks a QR code on the part, the third gripper cylinder 24 places the part on the first positioning seat 34 close to it. Then, the first rotating cylinder 32 rotates the first support 33 so that the first positioning seat 34 carrying the part is close to the transfer robot 8. The transfer robot 8 picks up the part from the first positioning seat 34. At the same time, the third gripper cylinder 24 places the next part on the empty first positioning seat 34 close to it.

[0036] like Figure 4 As shown, the detection device in this embodiment may also include a barcode scanner 13, which is used to detect whether there is a QR code on the part inside the first positioning seat 34 near the third gripper cylinder 24.

[0037] like Figure 5 As shown, the second rotating carrier 4 in this embodiment includes a third Z-axis drive module, a second rotating cylinder connected to the third Z-axis drive module, a second support connected to the second rotating cylinder, and a second positioning seat disposed on the second support. The working process of the second rotating carrier 4 is largely the same as that of the first rotating carrier 3, except that the rotation of the first rotating cylinder 32 of the first rotating carrier 3 is used to swap the positions of the two first positioning seats 34, while the rotation of the second rotating cylinder of the second rotating carrier 4 is used to adjust the placement position of the parts on the second positioning seats so that all parts of the inner hole of the parts can be photographed and detected by the first recognition system 6.

[0038] The structure and operation of the third rotating carrier 5 in this embodiment are the same as those of the second rotating carrier 4. The structure and operation of the transition carrier 51 are also largely the same as those of the second rotating carrier 4, except that the transition carrier 51 does not have a rotating cylinder.

[0039] Better, such as Figure 2 As shown, the detection device in this embodiment also includes a defective product carrier tray 14 set on the bracket 1. When one of the third identification system 12, the first identification system 6 and the second identification system 7 detects a defect, the unloading robot 9 will pick up the material from the second rotary gripper cylinder 85 and place it on the defective product carrier tray 14.

[0040] In summary, the working process of the detection device in this embodiment is as follows: When the material is fed onto the feeding conveyor belt 10 with the first end of the part facing upwards, the feeding robot 2 takes the part off the feeding conveyor belt 10. After the third identification system 12 detects the positioning mark on the part, the feeding robot 2 aligns the marking area of ​​the part with the laser marking system 11. After marking is completed, the feeding robot 2 places the part on the first rotating carrier 3. The first rotating carrier 3 rotates the part to a position close to the transfer robot 8. The first gripper cylinder 82 grips the part and places it on the second rotating carrier 4. The first identification system 6 performs a second marking on the inner wall of the part. After one inspection, the second rotating carrier 4 rotates the part, the first identification system 6 performs a second inspection on the inner wall of the part, the first gripper rotary cylinder picks up the part from the second rotating carrier 4 and flips the part so that the second end faces upward, and then places it on the transition fixture. The second gripper cylinder 84 picks up the part and places it on the third rotating carrier 5. After being inspected by the second identification system 7 (using the same method as the first identification system 6), the second rotating gripper cylinder 85 picks up the part from the third rotating carrier 5 and flips it so that the first end faces upward again, waiting for the unloading robot 9 to pick up the part and place it on the unloading conveyor belt 20.

[0041] This utility model uses specific embodiments to illustrate the principle and implementation of the utility model. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the utility model. Therefore, the content of this specification should not be construed as a limitation of the utility model.

Claims

1. A visual inspection device for the inner hole of a part, characterized in that, include: The system includes a support frame and a loading robot, a first rotating carrier, a second rotating carrier, a third rotating carrier, a first identification system, a second identification system, a transfer robot, and an unloading robot mounted on the support frame. The loading robot is used to load parts onto the first rotating carrier. The transfer robot sequentially places parts from the first rotating carrier onto the second rotating carrier and the third rotating carrier. The first identification system is located above the second rotating carrier, and the second identification system is located above the third rotating carrier. The unloading robot is used to unload parts from the third rotating carrier.

2. The visual inspection device for internal holes of parts according to claim 1, characterized in that, The first identification system includes N industrial cameras, where N is a natural number, and the N industrial cameras are evenly distributed circumferentially to detect the first end of the inner hole of the part.

3. The visual inspection device for internal holes of parts according to claim 1, characterized in that, A transition vehicle is also provided between the second rotating vehicle and the third rotating vehicle.

4. The visual inspection device for internal holes of parts according to claim 3, characterized in that, The material handling robot includes an X-axis drive module and a first gripper cylinder, a first rotary gripper cylinder, a second gripper cylinder, and a second rotary gripper cylinder sequentially arranged on the X-axis drive module. The first gripper cylinder is used to grip a part on a first rotating carrier and place it on a second rotating carrier. The first rotary gripper cylinder is used to grip a part on the second rotating carrier, flip it over, and place it on a transition carrier. The second gripper cylinder is used to grip a part on the transition carrier and place it on a third rotating carrier. The second rotary gripper cylinder is used to grip a part on the third rotating carrier and flip it over.

5. The visual inspection device for internal holes of parts according to claim 1, characterized in that, The first rotating carrier is also equipped with a laser marking system and a third identification system on the feeding side. The third identification system is used to detect the position of the parts gripped by the feeding robot, and the laser marking system is used to mark a QR code on the outer wall of the parts.

6. The visual inspection device for internal holes of parts according to claim 5, characterized in that, The loading robot includes a Y-axis drive module, a first Z-axis drive module connected to the Y-axis drive module, an R-axis drive module connected to the first Z-axis drive module, and a third gripper cylinder connected to the R-axis drive module.

7. The visual inspection device for internal holes of parts according to claim 6, characterized in that, The first rotating carrier includes a second Z-axis drive module, a first rotating cylinder connected to the second Z-axis drive module, a first support connected to the first rotating cylinder, and two first positioning seats disposed on the first support. One of the first positioning seats is used to receive the part placed by the third gripper cylinder, and the other first positioning seat is used to provide the part to the material transfer robot.

8. The visual inspection device for internal holes of parts according to claim 7, characterized in that, The detection device also includes a barcode scanner, which is used to detect QR codes on parts located in the first positioning seat near the third gripper cylinder.

9. The visual inspection device for internal holes of parts according to claim 1, characterized in that, The second rotating carrier includes a third Z-axis drive module, a second rotating cylinder connected to the third Z-axis drive module, a second support connected to the second rotating cylinder, and a second positioning seat disposed on the second support.

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