Curvature detection device

Abstract

The utility model provides a curvature detection device, and relates to the technical field of bar detection. The curvature detection device comprises a conveying mechanism, a discharging mechanism, a collecting mechanism and a detection mechanism, the conveying mechanism comprises a conveying table and a conveying assembly, and the conveying table is used for bearing a to-be-detected bar; the discharging mechanism is used for containing a to-be-detected bar and can convey the to-be-detected bar to the conveying table. Wherein the conveying table is configured to be capable of receiving to-be-detected bars output from the discharging mechanism, the conveying assembly can drive the to-be-detected bars to roll along the conveying table and towards the collecting mechanism, the collecting mechanism can collect end image information of the to-be-detected bars, and the detecting mechanism detects the end image information of the to-be-detected bars according to the end image information of the to-be-detected bars. And determining a curvature detection result of the to-be-detected bar. By capturing and analyzing the end image information of the to-be-detected bar, the automatic detection of the quality of the to-be-detected bar is realized, the detection standard is unified, and the detection accuracy and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to bar detection technical field in general, and specifically relates to a bending degree detection device. BACKGROUND

[0002] Because the bending degree or straightness of bar plays a key role in assembly of spare parts, therefore, the product with certain precision requirement needs to detect the bending degree of bar before assembly. The existing bar bending degree detection has the following several forms:

[0003] The first kind, manual visual inspection or manual measurement by using a ruler or a dial gauge, the detection method is over-reliant on subjective experience of the operator, and for the bar with not obvious bending degree, it is difficult to distinguish by naked eye, easy to miss detection, and difficult to guarantee the reliability of detection result;

[0004] The second kind, transferring the bar to a special bending degree measuring device for measurement. Specifically, the bending degree measuring device has a contact or non-contact sensor to collect the shape data of the bar to be measured, but the detection process is relatively complicated and time-consuming, and is not suitable for occasions with high automation requirement.

[0005] In addition, the above two methods are only suitable for offline detection, which affects the production continuity and production efficiency, and the offline detection cannot timely reflect the product quality, resulting in high scrap rate after assembly. CONTENT OF THE UTILITY MODEL

[0006] The bending degree detection device can improve detection accuracy and production efficiency.

[0007] According to one aspect of the utility model, a bending degree detection device is provided, which comprises:

[0008] A conveying mechanism comprising a conveying table and a conveying assembly, the conveying table is used for bearing a bar to be detected;

[0009] A blanking mechanism used for accommodating the bar to be detected and capable of conveying the bar to be detected to the conveying table;

[0010] A collecting mechanism located on the side of the blanking mechanism away from the conveying assembly;

[0011] A detection mechanism located on at least one side of the conveying mechanism;

[0012] The conveying table is configured to receive the rod to be detected output from the discharging mechanism. The conveying assembly is capable of driving the rod to be detected to roll along the conveying table and towards the collecting mechanism, so that the collecting mechanism can collect the end image information of the rod to be detected. The detecting mechanism determines the bending degree detection result of the rod to be detected according to the end image information of the rod to be detected.

[0013] In some embodiments, the conveying assembly comprises:

[0014] The conveying air nozzle is capable of blowing air towards the conveying table, so that the rod to be detected rolls relative to the conveying table.

[0015] In some embodiments, along the first direction, the height of the conveying air nozzle is equal to the height of the conveying table, and the conveying air nozzle and the top surface of the conveying table along the first direction are arranged in parallel.

[0016] Alternatively, along the first direction, the height of the conveying air nozzle is greater than the height of the conveying table, and the conveying air nozzle and the top surface of the conveying table along the first direction are arranged at an angle.

[0017] In some embodiments, the conveying table is provided with two first baffles on both sides along the third direction, and the rod to be detected is located between the two first baffles. The first baffles extend along the second direction and are used to limit the rod to be detected.

[0018] The first direction, the second direction and the third direction are perpendicular to each other, and the second direction is the extension direction of the conveying table.

[0019] In some embodiments, the side surface of the conveying air nozzle along the second direction and the side surface of the first baffle along the third direction are arranged perpendicularly.

[0020] The center axis of the conveying air nozzle along the second direction and the distance between the two first baffles along the third direction are the same.

[0021] In some embodiments, the collecting mechanism comprises:

[0022] The shooting component is used to shoot the end position of the rod to be detected.

[0023] The light source is arranged opposite to the shooting component.

[0024] The first sensor is located between the shooting component and the discharging mechanism and is used to identify the rod to be detected.

[0025] A second sensor is arranged on the side of the photographing component away from the first sensor, and is configured to identify the rod to be detected after the photographing is completed.

[0026] In some embodiments, a sorting mechanism is further included, and the sorting mechanism is arranged on the side of the collecting mechanism away from the feeding mechanism, and is configured to sort and collect the rod after the detection.

[0027] In some embodiments, the sorting mechanism includes:

[0028] A first collecting box and a first air nozzle are arranged on the two sides of the conveying table along the third direction and are arranged correspondingly, and the first air nozzle is configured to blow the rod after the detection into the first collecting box.

[0029] A second collecting box and a second air nozzle are arranged on the two sides of the first collecting box along the second direction and are arranged correspondingly, and the second air nozzle is configured to blow the rod after the detection into the second collecting box.

[0030] In some embodiments, one of the first collecting box and the second collecting box is configured to collect the qualified rod after the detection, and the other is configured to collect the defective rod after the detection.

[0031] In some embodiments, the second direction and the third direction are perpendicular to each other, and the second direction is the extension direction of the conveying table.

[0032] In some embodiments, two second baffles are arranged on the two sides of the conveying table along the third direction, respectively, and the second baffles are arranged between the first collecting box, the first air nozzle, the second collecting box and the second air nozzle, the rod to be detected is arranged between the two second baffles, and the second baffles are configured to limit the rod to be detected.

[0033] In some embodiments, the detection mechanism includes:

[0034] An image processing unit is configured to process the end image information of the rod to be detected collected by the collecting mechanism, so as to extract the movement track of the rod to be detected.

[0035] A detection judgment unit is configured to analyze the movement track of the rod to be detected obtained by the image processing unit, and obtain the bending degree detection result of the rod to be detected, and the bending degree detection result includes the qualified rod and the defective rod.

[0036] A result statistics unit is configured to perform result statistics according to the bending degree detection result obtained by the detection judgment unit.

[0037] A control unit is configured to control the sorting mechanism to sort and collect defective bars and qualified bars from the bars that have been detected according to the bending degree detection result.

[0038] In some embodiments, the feeding mechanism comprises:

[0039] A mounting frame;

[0040] A feeding hopper is rotatably connected to the mounting frame, and is configured to accommodate the bars to be detected, wherein the feeding hopper is at least partially in a conical structure, and a small end of the feeding hopper is arranged towards the conveying table, and the small end of the feeding hopper is provided with a feeding opening;

[0041] A first driving assembly is connected to the feeding hopper, and is configured to drive the feeding hopper to swing relative to the mounting frame;

[0042] A receiving plate is provided with an accommodating groove on one side thereof facing the feeding opening;

[0043] A second driving assembly is arranged on the mounting frame and connected to the receiving plate, and is configured to drive the receiving plate to move towards the feeding opening, so that the accommodating groove is arranged opposite to the feeding opening, and the bars to be detected fall into the accommodating groove through the feeding opening.

[0044] An embodiment of the utility model has the following advantages or beneficial effects:

[0045] The bending degree detection device provided by the embodiment utilizes the feeding mechanism to output the bars to be detected to the conveying table, and under the driving action of the conveying assembly, the bars to be detected can roll along the conveying table, and when the bars to be detected pass through the collecting mechanism, the collecting mechanism can collect the end image information of the bars to be detected.

[0046] By capturing and analyzing the end image motion track of the bars to be detected, the bending degree of the bars to be detected can be quickly and accurately detected, the automatic detection of the quality of the bars to be detected is realized, the detection standard is unified, the problems of low efficiency and low accuracy of manual detection are solved, the detection personnel can be relieved from heavy and repetitive labor, the accuracy and efficiency of detection can be improved, and the labor cost can be saved. BRIEF DESCRIPTION OF DRAWINGS

[0047] For a better understanding of the present application, reference can be made to the embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and related elements can be omitted in order to emphasize and clarify the technical features of the present application. In addition, related elements or components can have different settings as known in the art. Furthermore, in the drawings, the same reference numerals represent the same or similar components throughout the various drawings. The above and other features and advantages of the present application will become more apparent by describing in detail example embodiments thereof with reference to the attached drawings.

[0048] wherein:

[0049] Figure 1 A structure diagram of a rod to be detected required by the bending degree detection device of an embodiment of the present application is shown.

[0050] Figure 2 A structure diagram of the bending degree detection device of an embodiment of the present application is shown. Figure 1

[0051] Figure 3 A structure diagram of the bending degree detection device of an embodiment of the present application is shown. Figure 2

[0052] Figure 4 A structure diagram of the blanking mechanism in the bending degree detection device of an embodiment of the present application is shown. Figure 1

[0053] Figure 5 A structure diagram of the blanking mechanism in the bending degree detection device of an embodiment of the present application is shown. Figure 2

[0054] Figure 6 A sectional view of the blanking mechanism in the bending degree detection device of an embodiment of the present application is shown.

[0055] Figure 7 A structure diagram of Figure 6 A local enlarged view at A is shown.

[0056] Figure 8 A movement trajectory diagram of the rod to be detected detected by the bending degree detection device of an embodiment of the present application is shown. Figure 1

[0057] Figure 9 A movement trajectory diagram of the rod to be detected detected by the bending degree detection device of an embodiment of the present application is shown. Figure 2

[0058] Figure 10 A flow chart of the bending degree detection method of an embodiment of the present application is shown. ​​​​​​

[0059] Wherein, the reference signs are explained as follows:

[0060] 100, a rod to be detected; 101, a oil pipe; 102, a pen head;

[0061] 1, a conveying mechanism; 2, a blanking mechanism; 3, a collecting mechanism; 4, a detecting mechanism; 5, a sorting mechanism; 6, a base;

[0062] 11, a conveying table; 111, a first baffle; 112, a second baffle;

[0063] 12, a conveying assembly; 121, a conveying air nozzle; 122, a first fixing seat;

[0064] 21, a mounting frame; 22, a blanking hopper; 221, a blanking port; 23, a first driving assembly; 231, a first driving source; 232, a first connecting rod; 233, a second connecting rod; 234, a third connecting rod; 24, a receiving plate; 241, a containing groove; 25, a second driving assembly;

[0065] 31, a shooting component; 32, a light source; 33, a first sensor; 34, a second sensor; 35, a display;

[0066] 51, a first collecting box; 52, a first air nozzle; 53, a second collecting box; 54, a second air nozzle. DETAILED DESCRIPTION

[0067] The technical solutions in the example embodiments of the utility model will be clearly and completely described in combination with the drawings in the example embodiments of the utility model. The described example embodiments in this paper are only for the purpose of illustration, and not for limiting the protection scope of the utility model, so it should be understood that various modifications and changes can be made to the example embodiments without departing from the protection scope of the utility model.

[0068] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; the term "multiple" means two or more than two; the term "and / or" includes any combination and all combinations of one or more associated listed items. In particular, referring to "the" object or "one" object is also intended to represent one of the possible multiple such objects.

[0069] Unless otherwise defined or specified, the terms "connected", "fixed", and the like are to be construed broadly, for example, "connected" can be fixed connection, or detachable connection, or integrally connected, or electrically connected, or signal connected; "connected" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0070] Further, in the description of the utility model, it needs to be understood that the orientation words such as "upper", "lower", "inner", "outer" described in the example embodiments of the utility model are described with the angle shown in the drawings, and should not be understood as the limitation of the example embodiments of the utility model. It also needs to be understood that in the context, when referring to one element or feature connected to another element (one or more) "on", "below", or "inner", "outer", it can not only be directly connected to another element (one or more) "on", "below", or "inner", "outer", but also indirectly connected to another element (one or more) "on", "below", or "inner", "outer" through an intermediate element.

[0071] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example implementations to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus a detailed description of them will not be repeated.

[0072] The embodiment provides a bending degree detection device for detecting the bending degree of a to-be-detected rod 100, wherein the to-be-detected rod 100 is at least partially in a cylindrical structure, that is, the to-be-detected rod 100 can be entirely in a cylindrical structure, or can be partially in a cylindrical structure, for example, as shown in the drawing, the to-be-detected rod 100 can be a pen core, the pen core includes an oil pipe 101 and a pen head 102, the pen head 102 is arranged at the end of the oil pipe 101 in the axial direction of the oil pipe 101, and the diameter of the pen head 102 is smaller than the diameter of the pen barrel, so the position of the pen head 102 is specifically the end of the to-be-detected rod 100. Figure 1 The embodiment provides a bending degree detection device for detecting the bending degree of a to-be-detected rod 100, wherein the to-be-detected rod 100 is at least partially in a cylindrical structure, that is, the to-be-detected rod 100 can be entirely in a cylindrical structure, or can be partially in a cylindrical structure, for example, as shown in the drawing, the to-be-detected rod 100 can be a pen core, the pen core includes an oil pipe 101 and a pen head 102, the pen head 102 is arranged at the end of the oil pipe 101 in the axial direction of the oil pipe 101, and the diameter of the pen head 102 is smaller than the diameter of the pen barrel, so the position of the pen head 102 is specifically the end of the to-be-detected rod 100.

[0073] As shown in the drawing, Figures 2-3As shown, the bending degree detection device includes a base 6 and a conveying mechanism 1, a feeding mechanism 2, a collecting mechanism 3 and a detection mechanism 4 arranged on the base 6. The conveying mechanism 1 includes a conveying table 11 and a conveying assembly 12. The conveying table 11 is used to carry the rod to be detected 100. The feeding mechanism 2 is used to accommodate the rod to be detected 100 and can convey the rod to be detected 100 to the conveying table 11. The collecting mechanism 3 is located on the side of the feeding mechanism 2 away from the conveying assembly 12, and the detection mechanism 4 is located on at least one side of the conveying mechanism 1. The conveying table 11 is configured to receive the rod to be detected 100 output from the feeding mechanism 2. The conveying assembly 12 can drive the rod to be detected 100 to roll along the conveying table 11 and towards the collecting mechanism 3, so that the collecting mechanism 3 can collect the end image information of the rod to be detected 100. The detection mechanism 4 determines the bending degree detection result of the rod to be detected 100 according to the end image information of the rod to be detected 100.

[0074] The bending degree detection device provided by the embodiment can output the rod to be detected 100 to the conveying table 11 through the feeding mechanism 2. Under the driving action of the conveying assembly 12, the rod to be detected 100 can roll along the conveying table 11. When the rod to be detected 100 passes through the collecting mechanism 3, the collecting mechanism 3 can collect the end image information of the rod to be detected 100. With the rolling of the rod to be detected 100, if the bending degrees of the circumferential sides of the rod to be detected 100 are inconsistent, it will be directly reflected to the end position of the rod to be detected 100, that is, the change of the bending degree of the oil pipe 101 in the rod to be detected 100 is converted into the jumping amplitude of the pen head 102. By detecting the position of the pen head 102 of the rod to be detected 100, the bending degree of the pen barrel in the rod to be detected 100 can be represented. The detection mechanism 4 determines the bending degree detection result of the rod to be detected 100 according to the end image information of the rod to be detected 100.

[0075] By capturing and analyzing the end image information of the rod to be detected 100, the bending degree of the rod to be detected 100 can be quickly and accurately detected, the automatic detection of the quality of the rod to be detected 100 can be realized, the detection standard is unified, and the problems of low efficiency and low accuracy of manual detection can be solved. Not only can the detection personnel be relieved from the heavy and repetitive labor, but also the accuracy and efficiency of detection can be improved, and the labor cost can be saved.

[0076] It should be noted that although Figure 2 The rod to be detected 100 is shown in the embodiment, but the structure of the bending degree detection device provided by the embodiment does not include the rod to be detected 100.

[0077] It should be understood that the number of bars 100 to be tested can be one or more. When the feeding mechanism 2 accommodates multiple bars 100 to be tested, the feeding mechanism 2 can output the multiple bars 100 to be tested one by one to the conveyor table 11 to ensure the accuracy of the test results of each bar 100 to be tested.

[0078] In one embodiment, the base 6 is similar to a cuboid frame structure. The height direction of the base 6 is defined as the first direction, the length direction of the base 6 is defined as the second direction, which is the extension direction of the conveyor table 11, and the width direction of the base 6 is defined as the third direction. The first direction, the second direction, and the third direction are all perpendicular to each other.

[0079] The top surface of the conveyor table 11 along the first direction is a smooth plane, which facilitates the rolling of the bar 100 to be tested along the conveyor table 11.

[0080] In one embodiment, such as Figures 4-5 As shown, the feeding mechanism 2 includes a mounting frame 21, a feeding hopper 22, and a first drive assembly 23. The mounting frame 21 is mounted on the base 6 and is used to mount the feeding hopper 22 and the first drive assembly 23. The feeding hopper 22 is used to accommodate the bar 100 to be tested. The feeding hopper 22 is at least partially conical in shape, with its smaller end facing the conveyor table 11. The smaller end of the feeding hopper 22 is provided with a feeding port 221, which can be a through hole, such as a rectangular through hole. The size of the through hole is slightly larger than the size of one bar 100 to be tested, but smaller than the size of two bars 100 to be tested, so that one bar 100 to be tested can pass through the feeding port 221 one by one. The inclined surface of the conical structure acts as a guide, guiding and receiving the bar 100 to be tested along the inclined surface towards the feeding port 221, facilitating the discharge of the bar 100 from the feeding port 221.

[0081] One end of the feeding hopper 22 is rotatably connected to the mounting frame 21, and the other end is connected to the first drive assembly 23. For example, the feeding port 221 and the mounting frame 21 are connected by a rotating shaft, and the first drive assembly 23 can drive the feeding hopper 22 to swing relative to the mounting frame 21. If multiple bars 100 to be tested are closely arranged in the feeding hopper 22, when the feeding hopper 22 shakes, under the guiding action of the inclined surface of the conical structure, the multiple bars 100 to be tested will loosen, which is conducive to the discharge of the bars 100 to be tested through the feeding port 221.

[0082] Specifically, the first driving assembly 23 comprises a first driving source 231, a first connecting rod 232 and a second connecting rod 233. The first driving source 231 can be an electric motor. One end of the first connecting rod 232 is connected to an output end of the first driving source 231, and the other end is rotationally connected to the second connecting rod 233. One end of the second connecting rod 233, which is away from the first connecting rod 232, is connected to the lower hopper 22. The first driving source 231 can drive the first connecting rod 232 to rotate, and the rotation of the first connecting rod 232 drives the second connecting rod 233 to move along the third direction, and the second connecting rod 233 drives the lower hopper 22 to swing relative to the mounting frame 21, thereby playing a role of shaking the lower hopper 22.

[0083] The rotation speed of the first driving source 231 is controlled to control the time interval of the adjacent two rod bars 100 discharged from the discharge port 221, so that one rod bar 100 passes through the collection mechanism 3 and the detection mechanism 4 for collection and detection.

[0084] It can be understood that the number of the second connecting rods 233 can be one or more. Specifically, when the number of the second connecting rods 233 is one, the second connecting rod 233 can be connected to the approximate middle position of the lower hopper 22. The connection position between the second connecting rod 233 and the lower hopper 22 and the discharge port 221 are staggered with each other, so as to avoid the situation of blocking the discharge port 221.

[0085] Specifically, when the number of the second connecting rods 233 is two, the two second connecting rods 233 are arranged on both sides of the mounting frame 21 along the second direction. The first driving assembly 23 further comprises a third connecting rod 234. The third connecting rod 234 is arranged along the second direction and is arranged between the two second connecting rods 233. The two second connecting rods 233 are fixedly connected to both sides of the lower hopper 22 along the second direction, so as to ensure the stability of the swing of the lower hopper 22. At the same time, the third connecting rod 234 plays a role of intermediate transmission. By using one first driving source 231, the third connecting rod 234 can realize the synchronous movement of the two second connecting rods 233, so as to ensure the swing balance of the lower hopper 22.

[0086] In one embodiment, as shown in Figures 5-7 The discharging mechanism 2 comprises a receiving plate 24 and a second driving assembly 25. The side of the receiving plate 24 facing the discharge port 221 is provided with a receiving groove 241. The second driving assembly 25 is arranged on the mounting frame 21 and is connected to the receiving plate 24. The second driving assembly 25 can drive the receiving plate 24 to move towards or away from the discharge port 221.

[0087] When the second driving assembly 25 drives the receiving plate 24 to move towards the direction close to the discharging port 221, the accommodating groove 241 is arranged opposite to the discharging port 221, at this time, the discharging port 221 is in an open state, so that the to-be-detected rod material 100 falls through the discharging port 221 into the accommodating groove 241, and then the conveying assembly 12 blows the to-be-detected rod material 100 in the accommodating groove 241 to the conveying table 11.

[0088] When the second driving assembly 25 drives the receiving plate 24 to move away from the discharging port 221, the accommodating groove 241 is arranged opposite to the discharging port 221, at this time, the discharging port 221 is in a closed state, and the to-be-detected rod material 100 cannot fall through the discharging port 221 into the accommodating groove 241, at this time, it means that the last to-be-detected rod material 100 has not completely passed through the collecting mechanism 3 and the detection mechanism 4, and the discharging mechanism 2 is in a waiting discharging state, so as to avoid the situation that the collecting mechanism 3 collects multiple to-be-detected rod materials 100, which causes detection confusion and affects detection accuracy.

[0089] The second driving assembly 25 comprises a second driving source and a connecting shaft, and the output end of the second driving source is connected to the receiving plate 24 through the connecting shaft. The second driving source can be selected from a cylinder, a motor and the like.

[0090] In an embodiment, as shown in Figure 2 The conveying assembly 12 comprises a first fixed seat 122 and a conveying nozzle 121. The first fixed seat 122 is located on one side of the conveying table 11 along the second direction, and the conveying nozzle 121 is arranged on the top of the first fixed seat 122 along the first direction. The conveying nozzle 121 can blow air towards the conveying table 11, so that the to-be-detected rod material 100 rolls relative to the conveying table 11.

[0091] When the to-be-detected rod material 100 is a pen core, the mass of the to-be-detected rod material 100 is relatively light. By blowing air from the conveying nozzle 121 to the conveying table 11, the to-be-detected rod material 100 can be blown and rolled along the conveying table 11, thereby saving driving energy and reducing detection cost.

[0092] In an embodiment, along the first direction, when the height of the first fixed seat 122 is approximately equal to the height of the conveying table 11, the height of the conveying nozzle 121 is equal to the height of the conveying table 11, and the conveying nozzle 121 and the top surface of the conveying table 11 along the first direction are arranged in parallel.

[0093] In this way, the conveying nozzle 121 and the conveying table 11 are arranged in parallel, and the airflow direction of the conveying nozzle 121 is along the extension direction of the conveying table 11, which is beneficial to the to-be-detected rod material 100 directly rolling along the second direction on the conveying table 11.

[0094] In another embodiment, when the height of the first fixing base 122 is greater than the height of the conveying table 11 along the first direction, the height of the conveying air nozzle 121 is greater than the height of the conveying table 11, and the conveying air nozzle 121 and the top surface of the conveying table 11 along the first direction are arranged at an angle.

[0095] For example, the conveying air nozzle 121 is arranged downwardly inclined relative to the conveying table 11, so that the conveying air nozzle 121 has a certain angle between the airflow direction and the extension direction of the conveying table 11, and the force of the airflow output by the conveying air nozzle 121 on the to-be-detected rod 100 can be decomposed into a pressure F1 along the first direction and a driving force F2 along the second direction, the driving force F2 realizes the rolling of the to-be-detected rod 100 along the second direction on the conveying table 11, and the pressure F1 can press the to-be-detected rod 100 on the conveying table 11, avoiding the situation that the to-be-detected rod 100 is blown away to cause position deviation, thereby ensuring the detection and conveying accuracy of the to-be-detected rod 100.

[0096] It can be understood that the conveying assembly 12 includes but is not limited to the pneumatic rolling mode, and the conveying assembly 12 can also adopt the friction rolling mode, for example, the pen head 102 of the to-be-detected rod 100 is at least partially made of magnetic material, the conveying assembly 12 includes a moving part and a magnet, the moving part drives the magnet to move along the second direction, and the magnet attracts the pen head 102 of the to-be-detected rod 100, thereby driving the rolling and movement of the to-be-detected rod 100. Of course, the conveying assembly 12 can also be other modes, as long as it can realize the rolling and movement of the to-be-detected rod 100, which is within the protection scope of the embodiment.

[0097] In one embodiment, as shown in Figure 2 two first baffles 111 are arranged on both sides of the conveying table 11 along the third direction, the to-be-detected rod 100 is located between the two first baffles 111, the first baffles 111 extend along the second direction, and the first baffles 111 are used for limiting the position of the to-be-detected rod 100.

[0098] In this way, the extension direction of the first baffles 111 is consistent with the conveying direction of the to-be-detected rod 100, the first baffles 111 guide the to-be-detected rod 100 and limit the position of the to-be-detected rod 100 at the same time, avoid the position deviation of the to-be-detected rod 100 in the conveying process, ensure the position stability of the to-be-detected rod 100 when passing through the collection mechanism 3, and thereby ensure the detection accuracy of the to-be-detected rod 100.

[0099] In one embodiment, the side surface of the conveying air nozzle 121 along the second direction and the side surface of the first baffle 111 along the third direction are arranged vertically.

[0100] In this way, the side of the conveying air nozzle 121 along the second direction is parallel to the to-be-detected rod 100, and the airflow direction output by the conveying air nozzle 121 is perpendicular to the to-be-detected rod 100, which is conducive to the rolling of the to-be-detected rod 100 along the second direction.

[0101] In one embodiment, the distance between the central axis of the conveying air nozzle 121 along the second direction and the two first baffles 111 along the third direction is the same.

[0102] That is, the central axis of the conveying air nozzle 121 along the second direction is collinear with the central axis of the to-be-detected rod 100 along the second direction, and the conveying air nozzle 121 and the to-be-detected rod 100 are in an aligned state, avoiding the situation that the to-be-detected rod 100 is skewed due to the deviation of the air blowing of the conveying air nozzle 121.

[0103] In one embodiment, as shown in Figure 2 The collecting mechanism 3 includes a shooting component 31 and a light source 32. The shooting component 31 is used to shoot the end position of the to-be-detected rod 100, so as to collect the end image information of the to-be-detected rod 100. The light source 32 and the shooting component 31 are arranged on both sides of the conveying table 11 along the third direction, or the light source 32 is arranged directly above the conveying table 11 along the first direction. The light source 32 is arranged opposite to the shooting component 31, and is used to provide light for the shooting component 31, so as to ensure the accuracy of the shooting image of the shooting component 31.

[0104] Specifically, the shooting component 31 includes a camera, a lens, a shooting light source, and a light source controller. The lens is arranged on the camera. Specifically, the camera can be a face array camera, the lens can be an FA high-magnification lens, and the shooting light source can be a strip-shaped light source. The shooting light source is used to provide light for the lens, so as to improve the shooting quality. The light source controller is electrically connected to the shooting light source, and is used to adjust the opening and closing or brightness of the shooting light source.

[0105] Specifically, the shooting component 31 further includes an adjusting table. The adjusting table is connected to the camera, and can drive the camera to move along the first direction, the second direction, and the third direction, so as to precisely adjust the position of the camera, and better collect the end image information of the to-be-detected rod 100.

[0106] Specifically, the adjusting table includes a first adjusting driving source, a first adjusting platform, a second adjusting driving source, a second adjusting platform, a third adjusting driving source, and a third adjusting platform. The output end of the first adjusting driving source is connected to the first adjusting platform, and the first adjusting driving source can drive the first adjusting platform to move along the second direction. The output end of the second adjusting driving source is connected to the second adjusting platform, and the second adjusting driving source can drive the second adjusting platform to move along the third direction. The output end of the third adjusting driving source is connected to the third adjusting platform, and the third adjusting driving source can drive the third adjusting platform to move along the first direction.

[0107] It can be understood that the first adjusting drive source, the second adjusting drive source and the third adjusting drive source can be motors or manual screws, and the embodiment does not limit the automatic adjusting or manual adjusting mode of each adjusting drive source, and the adjusting mode can be adjusted according to actual production needs. In addition, the embodiment takes the first adjusting platform, the second adjusting platform and the third adjusting platform as examples which are stacked in the first direction from bottom to top, and the setting positions of each adjusting platform can be interchanged, as long as the adjusting platform can realize the movement of the shooting component 31 in the first direction, the second direction and the third direction, which are within the protection scope of the embodiment.

[0108] In one embodiment, as shown in FIG. 3, the acquisition mechanism 3 further comprises a first sensor 33 and a second sensor 34, wherein the first sensor 33 can be an optical sensor or an infrared sensor, and the first sensor 33 is located between the shooting component 31 and the blanking mechanism 2, and is used to identify the to-be-detected bar 100. The second sensor 34 is located on the side of the shooting component 31 away from the first sensor 33, and is used to identify the to-be-detected bar 100 after the shooting of the shooting component 31 is completed. Figure 2

[0109] When the to-be-detected bar 100 rolls along the conveying table 11 and passes through the first sensor 33, at this time, the to-be-detected bar 100 just enters the shooting field of view of the shooting component 31, and the first sensor 33 sends a high-level signal to trigger the shooting component 31 to start recording. When the to-be-detected bar 100 continues to roll along the conveying table 11 and passes through the second sensor 34, the second sensor 34 is triggered, which means that the to-be-detected bar 100 just leaves the shooting field of view of the shooting component 31, and the second sensor 34 sends a high-level signal to trigger the shooting component 31 to stop recording.

[0110] It can be understood that the time difference between the triggering of the first sensor 33 and the second sensor 34 by the to-be-detected bar 100 is the recording time of the to-be-detected bar 100 by the shooting component 31.

[0111] It can be understood that by controlling the rotating speed of the first drive source 231 in the blanking mechanism 2, the blanking speed of the blanking mechanism 2 is controlled, and it is ensured that only one to-be-detected bar 100 can appear in the shooting field of view of the shooting component 31 at the same time, that is, the last to-be-detected bar 100 moves out of the shooting field of view of the shooting component 31, and the next to-be-detected bar 100 can enter the shooting field of view of the shooting component 31.

[0112] The acquisition mechanism 3 further comprises a display 35, and the end image information of the to-be-detected bar 100 collected by the shooting component 31 can be displayed on the display 35.

[0113] ​In one embodiment, the detection mechanism 4 comprises an image processing unit configured to process the end image information of the rod 100 to be detected collected by the collection mechanism 3 to extract the movement trajectory of the rod 100 to be detected.

[0114] Specifically, when the conveying assembly 12 is driven to roll along the conveying table 11, the end image information of the rod 100 to be detected at different positions is collected to obtain a plurality of image information of the rod 100 to be detected, and then the plurality of image information is processed to obtain a plurality of feature image points, and the plurality of feature image points are connected to obtain the movement trajectory of the rod 100 to be detected.

[0115] It can be understood that the video information of the rod 100 to be detected within a preset time can be collected, and the video information is the moving image of the refill in the rolling process of the rod 100 to be detected. Each frame of video information corresponds to an image information, and the video frames of the video information are extracted to make the plurality of image information be continuous image information, which can more accurately fit the movement trajectory of the rod 100 to be detected, and further improve the detection accuracy of the rod 100 to be detected.

[0116] The preset time can be obtained by identifying the time interval between the rod 100 to be detected through the first sensor 33 and the second sensor 34. For example, the time when the rod 100 to be detected passes through the first sensor 33 and triggers the first sensor 33 is T1, and the time when the rod 100 to be detected passes through the second sensor 34 and triggers the second sensor 34 is T2, and the preset time is T2-T1.

[0117] The video information of the rod 100 to be detected specifically refers to the image of the most pointed end of the pen head 102 or the image of the pen head 102 region.

[0118] Since the rod 100 to be detected is a moving object, the plurality of image information is a plurality of video frames in the image sequence of the rod 100 to be detected, and the plurality of feature image points are obtained by image processing the plurality of image information and the preset background image information. The preset background image information is the image collected when the conveying table 11 has no rod 100 to be detected. Then, the video information of the rod 100 to be detected collected by the collection mechanism 3 and the preset background image information are compared frame by frame, and the difference position of each frame of video information and the preset background image information is found by comparing and performing difference operation, and then the difference result is threshold processed to find the position of the pen head 102 of the rod 100 to be detected in each frame of video information, so as to extract the movement region of the end of the rod 100 to be detected, and obtain the end movement trajectory of the rod 100 to be detected.

[0119] For example, if the image information is a point image, such as the tip of the pen 102 in the rod 100 to be detected, the tip corresponds to a coordinate point. The coordinates corresponding to the point image are determined as feature image points to characterize the movement area of ​​the pen 102 in the rod 100 to be detected.

[0120] For example, if the image information is not a point image but a region image, the region image is an image within a region near the pen tip 102 of the rod 100 to be detected, and the region image includes at least a portion of the image corresponding to the pen tip 102 of the rod. The contour of the region image is obtained, and a minimum bounding rectangle is determined based on the contour. The coordinates corresponding to the center point of the minimum bounding rectangle are determined as feature image points. Then, the coordinates of the feature image points of each frame of video information are plotted on an image to obtain the motion trajectory of the pen tip 102 in the rod 100 to be detected.

[0121] The testing mechanism 4 also includes a testing and judgment unit, which is used to analyze the motion trajectory of the bar 100 to be tested obtained by the image processing unit and obtain the bending test result of the bar 100 to be tested. The bending test result includes qualified bars and defective bars.

[0122] like Figures 8-9 As shown, the bending degree detection result of the bar 100 to be tested is determined based on the maximum and minimum values ​​of the motion trajectory. Since the bar 100 to be tested moves along the second direction and from the first sensor 33 to the second sensor 34 within a preset time, the motion trajectory of the bar 100 changes periodically, approximating a sine curve. The maximum value of the motion trajectory is the peak of the sine curve, and the minimum value is the trough of the sine curve. The difference between the maximum and minimum values ​​of the motion trajectory is the peak amplitude of the sine curve. Figure 8 As shown, the peak amplitude is approximately 2 mm. The larger the peak amplitude, the greater the bending degree of the bar 100 under test; for example... Figure 9 As shown, the peak amplitude is approximately 1 mm. The smaller the peak amplitude, the smaller the curvature of the bar 100 under test. If the bar 100 under test is completely straight and without curvature, the movement trajectory of the bar 100 under test is approximately a straight line.

[0123] The curvature of the bar 100 to be tested is determined based on the difference between the maximum and minimum values ​​of the motion trajectory. The curvature of the bar 100 to be tested is compared with the preset curvature. If the curvature of the bar 100 to be tested is less than or equal to the preset curvature, it means that the curvature of the bar 100 to be tested is relatively small, and the curvature test result of the bar 100 to be tested is determined to be a qualified bar. If the curvature of the bar 100 to be tested is greater than the preset curvature, it means that the curvature of the bar 100 to be tested is relatively large, and the curvature test result of the bar 100 to be tested is determined to be a defective bar.

[0124] The detection mechanism 4 further comprises a result statistics unit for performing result statistics according to the bending degree detection result obtained by the detection judgment unit. The bending degree detection result is then stored in a database. Specifically, the database is updated in real time, and the total number of products, the total number of qualified products, the total number of defective products, and the qualified product rate are recorded and displayed in real time through the display screen 35. The image collected by the collection mechanism 3, the bending degree detection result analyzed by the detection mechanism 4, and the statistical production data are displayed in real time. Then, it is stored in the database in the form of excel, which is convenient for the production site to view real-time data, trace defective problems, and improve production quality. In this way, the production process can be monitored and improved in real time, and the product quality can be improved.

[0125] The detection mechanism 4 further comprises a result transmission unit and a control unit, and the result transmission unit is used to send the bending degree detection result obtained by the detection judgment unit to the control unit. For example, the result transmission unit sends the quality detection result in a binary form (e.g., 1 for qualified products and 0 for defective products) to the control unit. The transmission mode of the result transmission unit can be serial communication, network communication (such as Socket communication) or other standard communication protocols. The specific selection depends on factors such as application requirements, transmission distance, and data rate, and the present embodiment does not limit this.

[0126] In one embodiment, as shown in Figure 2 The bending degree detection device further comprises a sorting mechanism 5, which is located on the side of the collection mechanism 3 away from the feeding mechanism 2. The sorting mechanism 5 classifies and collects the defective rod and the qualified rod among the rod that has completed detection.

[0127] The bending degree detection result of the rod to be detected 100 can be determined after the rod to be detected 100 passes through the collection mechanism 3 and the detection mechanism 4, wherein the bending degree detection result includes the qualified rod and the defective rod. According to different bending degree detection results, the control unit is used to control the sorting mechanism 5 to classify and collect the qualified rod and the defective rod, and timely remove the defective rod. This can efficiently and automatically screen out rods with bending degrees exceeding the error range, reducing labor costs.

[0128] Specifically, as shown in Figure 2As shown, the sorting mechanism 5 includes a first collection box 51, a first air nozzle 52, a second collection box 53 and a second air nozzle 54. The first collection box 51 and the first air nozzle 52 are arranged correspondingly on both sides of the conveying table 11 along the third direction, and the first air nozzle 52 can blow the detected rod into the first collection box 51. The second collection box 53 and the second air nozzle 54 are arranged correspondingly on both sides of the first collection box 51 along the second direction, and the second air nozzle 54 can blow the detected rod into the second collection box 53. One of the first collection box 51 and the second collection box 53 is used to collect qualified rods among the detected rods, and the other is used to collect defective rods among the detected rods.

[0129] For example, when the rod to be detected 100 passes through the second sensor 34, the second sensor 34 triggers and sends a trigger signal to the control unit. If the rod to be detected 100 is a defective rod, the control unit controls the first air nozzle 52 to blow, so as to blow the detected rod into the first collection box 51, and the first collection box 51 is used to collect defective rods. If the rod to be detected 100 is a qualified rod, the control unit controls the second air nozzle 54 to blow, so as to blow the detected rod into the second collection box 53, and the second collection box 53 is used to collect qualified rods.

[0130] The first air nozzle 52 and the second air nozzle 54 can be selected as fan-shaped air nozzles, and the first air nozzle 52 and the second air nozzle 54 can be arranged parallel to the top surface of the conveying table 11 along the first direction or at an angle. The airflow directions of the first air nozzle 52 and the second air nozzle 54 are arranged at an angle, for example, the angle between the airflow directions of the first air nozzle 52 and the second air nozzle 54 is 90°, so that the output directions of the qualified rods and the defective rods do not interfere with each other.

[0131] In an embodiment, two second baffles 112 are arranged on both sides of the conveying table 11 along the third direction respectively, and the second baffles 112 are located between the first collection box 51, the first air nozzle 52, the second collection box 53 and the second air nozzle 54. The rod to be detected 100 is located between the two second baffles 112, and the second baffles 112 are used to limit the position of the rod to be detected 100.

[0132] In this way, the extension direction of the second baffle 112 is consistent with the conveying direction of the qualified rod, and the second baffle 112 plays a guiding role in the qualified rod while limiting the position of the qualified rod, avoiding the situation that the position of the qualified rod deviates when the second air nozzle 54 blows and outputs.

[0133] The bending detection device provided in this embodiment, based on machine vision, can be programmed using Python as the development language, combined with the open-source vision function libraries OpenCV and PYQT5, to achieve the functions required by a standardized detection system. The entire software interface can include an image display area, a basic menu area, a detection result display area, and a software button operation area. This bending detection device not only enables real-time display of the movement trajectory of the bar 100 to be inspected and automatic determination of whether the bending degree is qualified, but also allows for setting basic parameters in the menu area.

[0134] This embodiment also provides a method for detecting curvature, such as Figure 10 As shown, the curvature detection method includes the following steps:

[0135] S1. Acquire multiple image information of the bar 100 to be tested, wherein the multiple image information is end image information of the bar 100 at different positions when the bar 100 to be tested is driven by the conveying component 12 to roll along the conveying table 11.

[0136] S2. Perform image processing on multiple image information to obtain multiple feature image points;

[0137] S3. Connect the points of multiple feature images to obtain the motion trajectory of the rod 100 to be detected;

[0138] S4. Determine the bending test result of the bar 100 to be tested based on the maximum and minimum values ​​of the motion trajectory.

[0139] Specifically, the end image information of the bar to be tested 100 refers to the image information of the pen tip 102 in the bar to be tested, and the different positions of the bar to be tested 100 specifically refer to the various positions of the pen tip 102 when the bar to be tested 100 rolls at least once in the second direction along the conveyor table 11.

[0140] The bending detection method provided in this embodiment acquires end image information of the bar 100 to be tested at different positions when the conveying component 12 is driven to roll along the conveying table 11, thereby obtaining multiple image information of the bar 100 to be tested. Then, image processing is performed on the multiple image information to obtain multiple feature image points. The multiple feature image points are then connected to obtain the motion trajectory of the bar 100 to be tested. Based on the maximum and minimum values ​​of the motion trajectory, the bending detection result of the bar 100 to be tested is determined, thereby realizing automated quality detection of the bar 100 to be tested, with unified detection standards, effectively improving the efficiency and accuracy of detection, and saving labor costs.

[0141] The curvature detection method provided in this embodiment can be applied to the curvature detection device provided in this embodiment.

[0142] In one embodiment, the acquiring of the plurality of image information of the rod 100 to be detected comprises the following steps:

[0143] acquiring video information of the rod 100 to be detected within a preset time;

[0144] extracting video frames of the video information to obtain the plurality of image information.

[0145] The preset time can be obtained by identifying the time interval between the rod 100 to be detected passing through the first sensor 33 and the second sensor 34. For example, the time when the rod 100 to be detected passes through the first sensor 33 and triggers the first sensor 33 is T1, and the time when the rod 100 to be detected passes through the second sensor 34 and triggers the second sensor 34 is T2, and the preset time is T2-T1.

[0146] The video information of the rod 100 to be detected specifically refers to the image of the most pointed end of the lead 102 in the rod 100 to be detected, or the image of the lead 102 region.

[0147] By collecting the video information of the rod 100 to be detected within the preset time, the video information is the moving image of the lead collected in the rolling process of the rod 100 to be detected. Each frame of video information corresponds to an image information, and by extracting the video frames of the video information, the plurality of image information is continuous image information, which can more accurately fit the motion trajectory of the rod 100 to be detected, and further improve the detection accuracy of the rod 100 to be detected.

[0148] In another embodiment, the plurality of image information of the rod 100 to be detected can be intermittent image information. For example, when the conveying assembly 12 drives the rolling along the conveying table 11, the collecting mechanism 3 collects the end image information of the rod 100 to be detected at different positions within the interval time. The adjacent two interval times can be the same or different.

[0149] The processing method of image processing on the plurality of image information can adopt the background difference method. The background difference method compares the current frame image with the background model by constructing the background model, finds out the pixel points with large differences, and these points are considered as part of the moving target to detect the moving target.

[0150] Specifically, the image processing on the plurality of image information comprises the following steps:

[0151] image processing on the plurality of image information and the preset background image information to obtain a plurality of feature image points;

[0152] The preset background image information is the image collected when the conveying table 11 has no rod 100 to be detected.

[0153] Since the to-be-detected bar 100 is a moving object, the plurality of image information is a plurality of video frames in an image sequence of the to-be-detected bar 100, and the preset background image information is taken as a background reference model. The video information of the to-be-detected bar 100 collected by the collection mechanism 3 and the preset background image information are compared frame by frame, and the difference between the two is found through comparison and difference operation, and then the difference result is thresholded to find the position of the pen head 102 of the to-be-detected bar 100 in each frame of video information, so as to extract the motion area of the end of the to-be-detected bar 100, and obtain the end motion trajectory of the to-be-detected bar 100.

[0154] Exemplarily, the preset background image information is obtained before obtaining the plurality of image information or by calling a database.

[0155] Exemplarily, the preset background image can be video information of the conveying table 11 collected by the collection mechanism 3 without the to-be-detected bar 100 rolling in the shooting field of view of the collection mechanism 3 within a preset time. Then, within the same preset time, the video information with and without the to-be-detected bar 100 is compared frame by frame to find the difference position, and the obtained image information is taken as the motion area of the to-be-detected bar 100.

[0156] Specifically, the method of cv2.createBackgroundSubtractor() of the Python standard library OpenCV is used for implementation. cv2.createBackgroundSubtractorMOG2 is a function in the OpenCV library, which is used to create a background subtractor. The function is based on Gaussian Mixture Model (GMM) and is particularly suitable for processing cases with light changes and dynamic backgrounds. Its main parameters include: history, varThreshold and detectShadows. Among them, history is the number of historical frames of the background model, which is used to determine the update speed of the background model. If represents the number of past frames, when history is 1, it is the difference between two frames. varThreshold is the variance threshold of the pixel belonging to the background, which is used to judge whether the pixel belongs to the background, or the threshold of the square distance between the pixel and the sample, which is used to determine whether the pixel is close to the sample. detectShadows is whether to detect shadows, which is False by default.

[0157] Exemplarily, the preset background image can also be obtained by calling the image saved in the database as the preset background image.

[0158] In some other embodiments, the preset background image can also be constructed by averaging or other statistical methods on the first few frames of the video sequence as a background model.

[0159] The background difference method is simple to implement, easy to program and debug. Since the conveying table 11 provided in the embodiment is fixed or changes slowly when there is no rod 100 to be detected, the rod 100 to be detected can be provided with more accurate motion target information.

[0160] It can be understood that the processing method for processing the plurality of image information includes at least one of a background difference method, an optical flow method, a frame difference method, and a machine learning target detection algorithm.

[0161] In one embodiment, obtaining the plurality of feature image points includes the following steps:

[0162] When the image information is a point image, a coordinate corresponding to the point image is determined as a feature image point.

[0163] When the feature image point is a region image, an outline of the region image is obtained, a minimum circumscribed rectangle is determined according to the outline of the region image, and a coordinate corresponding to a center point of the minimum circumscribed rectangle is determined as a feature image point.

[0164] For example, if the image information is a point image, for example, the point image is the most pointed position of the pen head 102 of the rod 100 to be detected, at this time, the most pointed position corresponds to a coordinate point, and the coordinate point can be taken as a feature image point to represent the motion region of the pen head 102 of the rod 100 to be detected.

[0165] For example, if the image information is not a point image but a region image, the region image is an image in a region near the pen head 102 of the rod 100 to be detected, and the region image includes an image corresponding to at least part of the pen head 102 of the rod 100 to be detected.

[0166] The shape of the region image can be regular or irregular. For an irregular region image, a minimum circumscribed rectangle can be determined according to the external outline of the region image. The minimum circumscribed rectangle can also be referred to as a minimum boundary rectangle, a minimum containing rectangle, a minimum circumscribed rectangle, etc. The minimum circumscribed rectangle refers to the maximum range of a plurality of two-dimensional shapes (such as points, straight lines, polygons) represented by two-dimensional coordinates, i.e., a rectangle with a lower boundary defined by the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, and the minimum vertical coordinate of each vertex of the given two-dimensional shape. The minimum circumscribed rectangle contains the two-dimensional shape image represented by the given outline, i.e., the minimum circumscribed rectangle is a two-dimensional form of the minimum circumscribed frame.

[0167] Specifically, the contour of the region image is obtained by using the cv2.findContours() method of the Python standard library OpenCV. The contour of the region image can be regarded as a curve connecting continuous points (along the boundary) together, which has the same color or intensity. This function is commonly used in object detection and recognition in image processing and computer vision. Its main parameters include: image, mode method. Among them, image represents the input image, and must be a binary image. Mode represents the contour retrieval mode, commonly used modes are: only detect the external contour, detect all contours but not establish the hierarchical relationship between the contours, detect all contours and organize them into a two-level hierarchy, etc. Method represents the contour approximation method, commonly used are: store all contour points, compress horizontal, vertical and diagonal elements, etc.

[0168] After determining the minimum bounding rectangle, the coordinates corresponding to the center point of the minimum bounding rectangle are taken as the feature image point, and the center point of the rectangle is specifically the midpoint of the diagonal of the minimum bounding rectangle. Then the feature image point coordinates of each frame of video information are plotted on an image, and the motion trajectory of the pen head 102 in the detected rod 100 is obtained.

[0169] Since the detected rod 100 moves in the second direction and from the first sensor 33 to the second sensor 34 within a predetermined time, the motion trajectory of the detected rod 100 changes periodically, and the motion trajectory is approximately a sine curve. The maximum value of the motion trajectory is the peak of the sine curve, the minimum value of the motion trajectory is the trough of the sine curve, and the difference between the maximum value and the minimum value of the motion trajectory is the peak amplitude of the sine curve. The greater the peak amplitude, the greater the curvature of the detected rod 100; the smaller the peak amplitude, the smaller the curvature of the detected rod 100. If the detected rod 100 is completely flat without bending, the motion trajectory of the detected rod 100 is approximately a straight line.

[0170] In one embodiment, determining the curvature detection result of the detected rod 100 includes the following steps:

[0171] According to the difference between the maximum value and the minimum value of the motion trajectory, the curvature of the detected rod 100 is determined;

[0172] Compare the curvature of the detected rod 100 with the preset curvature;

[0173] Determine whether the curvature of the detected rod 100 is less than or equal to the preset curvature;

[0174] If yes, the curvature detection result of the detected rod 100 is determined as a qualified product rod;

[0175] If not, the curvature detection result of the detected rod 100 is determined as a defective product rod.

[0176] Specifically, the bending degree of the rod to be detected 100 can be obtained by linear modeling the peak amplitude and the bending degree of the rod to be detected 100. Wherein, the bending degree of the rod to be detected 100 can be obtained by the peak amplitude through the linear or nonlinear relationship between the peak amplitude and the bending degree of the rod to be detected 100, and the function relationship between the two is not described in detail.

[0177] If the bending degree of the rod to be detected 100 is less than or equal to the preset bending degree, which means that the bending degree of the rod to be detected 100 is relatively small, it is determined that the bending degree detection result of the rod to be detected 100 is a qualified product rod; if the bending degree of the rod to be detected 100 is greater than the preset bending degree, which means that the bending degree of the rod to be detected 100 is relatively large, it is determined that the bending degree detection result of the rod to be detected 100 is a defective product rod.

[0178] In some embodiments, the result statistics are performed after determining the bending degree detection result of the rod to be detected 100, and the bending degree detection result is stored in the database. Specifically, the database is updated in real time, the total number of current production, the total number of qualified products, the total number of defective products and the qualified product rate are recorded, and the images collected by the collection mechanism 3, the bending degree detection result analyzed by the detection mechanism 4 and the production data are displayed in real time. The display screen, and then stored in the database in the form of excel, so as to facilitate the production site to view real-time data, trace defective problems and improve production quality. In this way, the production process can be monitored and improved in real time, and the product quality can be improved.

[0179] It should be particularly pointed out that since most of the detection equipment in the production site is in an offline state, the result statistics unit in the example stores the detection result in the form of excel in the local. With the progress of automation, intelligentization and Internet of Things in the workshop, the collected data can be stored in the cloud at the same time, and the data of multiple devices, multiple production lines and even multiple factories can be uniformly managed to establish an intelligent defect traceability system, facilitate product problem tracing, and make the production process more transparent and facilitate production management.

[0180] In one embodiment, after determining the bending degree detection result of the rod to be detected 100, the following steps are included:

[0181] According to the bending degree detection result of the rod to be detected 100, the sorting mechanism 5 controls the classification and collection of the defective product rods and the qualified product rods among the rods that have completed detection.

[0182] Exemplarily, the result transmission unit transmits the bending degree detection result to the control unit, and the control unit is used to control the sorting mechanism 5 to move the defective rod from the qualified rod. Specifically, if the bending degree detection result of the to-be-detected rod 100 is a defective rod, when the to-be-detected rod 100 passes through the second sensor 34, the second sensor 34 triggers and sends a trigger signal to the control unit, and the control unit controls the first air nozzle 52 to blow air to blow the detected rod into the first collection box 51, and the first collection box 51 is used to collect the defective rod; if the bending degree detection result of the to-be-detected rod 100 is a qualified rod, the control unit controls the second air nozzle 54 to blow air to blow the detected rod into the second collection box 53, and the second collection box 53 is used to collect the qualified rod.

[0183] The bending degree detection method provided by the embodiment, the bending degree detection device based on machine vision, by tracking imaging the end trajectory of the to-be-detected rod 100, and calculating the peak amplitude of the trajectory, a model between the peak amplitude and the bending degree of the rod is constructed, so that the bending degree of the rod is automatically, efficiently and in real time detected, and the defective products can be timely rejected and the production data can be counted. Compared with the manual detection mode, the method has the advantages of simple operation, high efficiency, high accuracy and the like.

[0184] It should be noted that the embodiments of the present application can be in the drawings and described in the specification are only an example of the principle of the present application. Those skilled in the art should clearly understand that the principle of the present application is not limited to any detail or any component of the device shown in the drawings or described in the specification.

[0185] It should be understood that the present application does not limit its application to the detailed structure and arrangement of the components proposed in the specification. The present application can have other embodiments and can be implemented and executed in various ways. The foregoing modifications and modifications fall within the scope of the present application. It should be understood that the present application disclosed and limited in the specification extends to all alternative combinations of two or more individual features mentioned in the text and / or drawings. All these different combinations constitute alternative aspects of the present application. The embodiments described in the specification illustrate the best way known for implementing the present application and will enable those skilled in the art to utilize the present application.

[0186] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.

[0187] It is to be understood that the application is not limited to the precise structures hereinabove described and shown in the drawings for exemplification, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present application. The scope of the present application is to be limited only by the appended claims.

Claims

1. A bending degree detection device, characterized in that, include: The conveying mechanism includes a conveying table and a conveying assembly, wherein the conveying table is used to carry the bar to be tested; The feeding mechanism is used to accommodate the bar to be tested and to transport the bar to be tested to the conveying table; The collecting mechanism is located on the side of the unloading mechanism away from the conveying assembly; The detection mechanism is located on at least one side of the conveying mechanism; The conveyor table is configured to receive the bar to be tested output from the unloading mechanism. The conveying assembly can drive the bar to be tested to roll along the conveyor table toward the acquisition mechanism, so that the acquisition mechanism can acquire the end image information of the bar to be tested. The detection mechanism determines the bending detection result of the bar to be tested based on the end image information of the bar to be tested.

2. The curvature detection device according to claim 1, characterized in that, The conveying assembly includes: A conveying nozzle is provided, which can blow air toward the conveying table to make the bar to be tested roll relative to the conveying table.

3. The curvature detection device according to claim 2, characterized in that, Along the first direction, the height of the conveying nozzle is equal to the height of the conveying platform, and the conveying nozzle and the conveying platform are arranged parallel to each other on their top surfaces along the first direction. Alternatively, along the first direction, the height of the conveying nozzle is greater than the height of the conveying platform, and the conveying nozzle and the top surface of the conveying platform are arranged at an angle along the first direction.

4. The curvature detection device according to claim 3, characterized in that, The conveyor table is provided with two first baffles on both sides along the third direction. The bar to be tested is located between the two first baffles. The first baffles extend along the second direction and are used to limit the bar to be tested. Wherein, the first direction, the second direction, and the third direction are perpendicular to each other, and the second direction is the extension direction of the conveyor table.

5. The curvature detection device according to claim 4, characterized in that, The air delivery nozzle is perpendicular to the side of the second direction and the first baffle is perpendicular to the side of the third direction. And / or, the central axis of the delivery nozzle along the second direction is the same as the distance between the two first baffles along the third direction.

6. The curvature detection device according to claim 1, characterized in that, The data collection mechanism includes: The imaging component is used to capture the end position of the rod to be tested; The light source is positioned directly opposite the imaging component. The first sensor, located between the imaging component and the feeding mechanism, is used to identify the bar material to be detected; The second sensor, located on the side of the imaging component away from the first sensor, is used to identify the bar material to be tested after it has been photographed by the imaging component.

7. The curvature detection device according to any one of claims 1-6, characterized in that, It also includes a picking mechanism located on the side of the collecting mechanism away from the feeding mechanism, which is used to classify and collect the bars that have completed the inspection.

8. The curvature detection device according to claim 7, characterized in that, The picking mechanism includes: The first collection box and the first air nozzle are located on both sides of the conveyor table along the third direction and are correspondingly arranged. The first air nozzle can blow the tested bar into the first collection box. The second collection box and the second air nozzle are located on both sides of the first collection box along the second direction and are correspondingly arranged. The second air nozzle can blow the tested rod into the second collection box. Among them, one of the first collection box and the second collection box is used to collect qualified bars from the completed test bars, and the other is used to collect defective bars from the completed test bars; Wherein, the second direction and the third direction are perpendicular to each other, and the second direction is the extension direction of the conveyor table.

9. The curvature detection device according to claim 8, characterized in that, The conveyor table is provided with two second baffles on both sides along the third direction. The second baffles are located between the first collection box, the first air nozzle, the second collection box and the second air nozzle. The bar to be tested is located between the two second baffles. The second baffles are used to limit the bar to be tested.

10. The curvature detection device according to claim 7, characterized in that, The testing institutions include: The image processing unit is used to process the end image information of the bar to be tested acquired by the acquisition mechanism to extract the movement trajectory of the bar to be tested. The detection and judgment unit is used to analyze the motion trajectory of the bar to be detected obtained by the image processing unit and obtain the bending degree detection result of the bar to be detected. The bending degree detection result includes qualified bars and defective bars. The result statistics unit is used to perform result statistics based on the curvature detection results obtained by the detection and judgment unit. The control unit is used to control the picking mechanism to classify and collect defective and qualified bars from the inspected bars based on the bending degree detection results.

11. The curvature detection device according to any one of claims 1-6, characterized in that, The feeding mechanism includes: Mounting rack; A feeding hopper is rotatably connected to the mounting frame. The feeding hopper is used to hold the bar to be tested. The feeding hopper is at least partially conical in shape. The small end of the feeding hopper faces the conveyor table and is provided with a feeding port at the small end of the feeding hopper. A first drive assembly is connected to the hopper, and the first drive assembly is capable of driving the hopper to swing relative to the mounting frame. A receiving plate, wherein a receiving groove is provided on the side of the receiving plate facing the discharge port; The second driving component is disposed on the mounting frame and connected to the receiving plate. The second driving component can drive the receiving plate to move towards the discharge port, so that the receiving groove is positioned opposite the discharge port, so that the bar to be tested falls into the receiving groove through the discharge port.

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