Multi-axis inspection apparatus for surface defect recognition

Abstract

The utility model discloses a kind of multi-axis detection equipment for surface defect identification of high detection efficiency, comprising: original tray and abnormal piece tray;M×N groove positions are equipped on original tray, M is row number and ≥2, N is the number of each row groove position and is ≥4 even number;Clamping component, including N / 2 electric claws;Photographing assembly, including N / 2 first camera that the object to be detected held by electric claw is photographed and the second camera that the furnace batch number of the object to be detected in original tray is photographed;Visual inspection module, receiving and processing the image output by photographing assembly;First displacement module for driving original tray to move along Y axis and Z axis;Second displacement module for driving electric claw to move along X axis and Z axis and rotate along Rz axis;Third displacement module for driving first camera to move along Y axis and rotate along Rx axis;Fourth displacement module for driving abnormal piece tray to move along Y axis;Fifth displacement module for driving second camera to move along X axis and Y axis.

Description

Technical Field

[0001] This utility model relates to the technical field of industrial automation inspection, and more specifically, to a multi-axis inspection device for surface defect identification. Background Technology

[0002] In order to overcome the traditional inspection methods that rely mainly on manual visual inspection and improve the inspection quality and effect of complex curved surface parts in industrial production, the applicant of this application has disclosed a defect detection system for a certain complex curved surface part in the specification of Chinese patent application entitled "Calculation method for obtaining defect center coordinates from two-dimensional image and its application" with application number CN2024116137510. This system can realize intelligent identification of defects in such parts. However, the detection system can only pick up one such part for inspection at a time, resulting in low detection efficiency. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a multi-axis inspection device and multi-axis inspection method with high detection efficiency for surface defect identification. The technical solution is as follows:

[0004] A multi-axis inspection device for surface defect identification includes: a tray assembly comprising a raw tray and an abnormal part tray; the raw tray has M×N slots, where M is the number of rows and ≥2, and N is the number of slots in each row and is an even number ≥4, with each slot containing an object to be inspected; the abnormal part tray is used to hold inspected abnormal parts; a clamping assembly comprising N / 2 electric grippers; and an imaging assembly comprising N / 2 first cameras for photographing the object to be inspected held by the electric grippers and for photographing the batch number of the object to be inspected in the raw tray. The second camera; a vision inspection module, which receives and processes images output by the imaging component, and outputs defect identification results and furnace batch number identification results; and a power component, including a first displacement module for driving the original material tray to move along the Y and Z axes, a second displacement module for driving the electric gripper to move along the X and Z axes and rotate along the Rz axis, a third displacement module for driving the first camera to move along the Y axis and rotate along the Rx axis, a fourth displacement module for driving the abnormal part material tray to move along the Y axis, and a fifth displacement module for driving the second camera to move along the X and Y axes.

[0005] A multi-axis inspection method for surface defect identification employs a multi-axis inspection device, comprising: a tray assembly, including an initial tray and an abnormal part tray; the initial tray has M×N slots, where M is the number of rows and ≥2, and N is the number of slots in each row and is an even number ≥4, with each slot containing an object to be inspected; the abnormal part tray is used to hold inspected abnormal parts; a clamping assembly, comprising N / 2 electric grippers; an imaging assembly, comprising N / 2 first cameras for photographing the object to be inspected held by the electric grippers; a vision inspection module, which receives and processes the images output by the first cameras and outputs defect identification results; and a power assembly, comprising a first displacement module for driving the initial tray to move along the Y-axis and a second displacement module for driving the electric grippers to move along the X and Z axes.

[0006] The multi-axis inspection method includes the following steps:

[0007] Step 100: Drive the i-th row of slots of the original material tray to move below the electric claw through the first displacement module, where i is an integer from 1 to M;

[0008] Step 200: Drive the electric gripper through the second displacement module to grab the object to be detected in the odd-numbered position of the i-th row of slots and move it to the imaging area of ​​the first camera;

[0009] Step 300: Take a picture of the object to be tested held by the electric gripper using the first camera;

[0010] Step 400: Receive and process the image output from the first camera through the visual inspection module, and output the defect identification result;

[0011] Step 500: Drive the electric gripper to move above the abnormal part tray through the second displacement module, and control the electric gripper to put the defective object to be inspected into the abnormal part tray.

[0012] Step 600: Drive the electric gripper to move above the original material tray through the second displacement module, and control the electric gripper to place the qualified test object into the original position of the original material tray;

[0013] Step 700: Drive the electric gripper through the second displacement module to grab the even-numbered object to be detected in the i-th row of slots and move it to the imaging area of ​​the first camera; then repeat steps 300-600 to complete the detection of all objects to be detected in the i-th row of slots.

[0014] Then return to step 100, and drive the i+1th row of slots of the original material tray to move under the electric claw through the first displacement module. Repeat steps 200-700 until the items to be tested in each row of slots have been tested.

[0015] The multi-axis inspection device and method for surface defect identification of this utility model have the following advantages:

[0016] (1) Through the cooperation of the first displacement module, the second displacement module and the third displacement module, the five-axis linkage shooting (X, Y, Z, Rz, Rx) of the object to be tested can be realized. The position of the electric gripper, the clamping angle and the shooting distance can be adjusted to accurately grasp the object to be tested, avoid the posture error caused by the gripping deviation, reduce the risk of false detection, ensure that the easily exposed defect area of ​​the object to be tested faces the camera and the different surfaces of the object to be tested are captured, realize the multi-angle full coverage imaging requirements of complex parts such as inclined surfaces and concave surfaces, avoid image deformation and focusing error, effectively avoid detection blind spots, and improve detection efficiency and detection accuracy.

[0017] (2) The number of electric grippers in the clamping assembly matches the number of the first camera, and the number (N / 2) is half the number of slots in each row. This is consistent with the staggered batch orderly gripping logic of "odd position → even position" in the detection method, which effectively reduces the risk of mechanical interference between grippers, avoids false shooting caused by abnormal gripping posture, and makes the gripper movement smoother and more synchronized. This helps to improve the consistency of visual inspection cycle and reduce system lag. At the same time, the gripper path is optimized to avoid jumping across rows, reduce invalid paths, shorten idle travel time, and eliminate the need for frequent large-scale position adjustments. This improves the overall operating efficiency of the equipment, reduces motion energy consumption and time costs, and meets the needs of efficient detection of large batches of complex curved surface parts.

[0018] (3) From the picking and inspection of the objects to be inspected to their classification and storage, the entire process is completed automatically by the power unit and vision inspection module, eliminating the need for manual picking and placing of the objects to be inspected, thus reducing labor costs. At the same time, the multi-axis inspection equipment can be connected to the production line to realize the automatic inflow and outflow of the material trays, ensuring that the inspection process is continuous and uninterrupted, and adapting to the needs of long-term operation.

[0019] (4) Qualified parts are returned to their original positions on the original material tray, and defective parts are placed in the abnormal parts tray. The classification is clear and there is no risk of mixing materials. The one-to-one correspondence between "inspection-classification-storage" is realized. Qualified parts can be quickly traced through the slot number of the original material tray and the identified furnace batch number (preferred scheme). Defective parts can be located through the abnormal parts tray and the identified furnace batch number. This facilitates quality traceability and data analysis (such as statistics on the defect rate of a certain batch, the distribution of defect types, etc.), and also provides convenience for subsequent processes such as the assembly of qualified parts and the rework of defective parts.

[0020] In summary, the multi-axis detection device and multi-axis inspection equipment for surface defect identification of this utility model are designed with "parallel detection + flexible multi-axis movement + automated process + staggered batch orderly grasping logic". The structure is simple and the process is easy to control. It has been verified that the average detection cycle of a defect detection system for a complex curved surface part disclosed in patent application CN2024116137510 is 45 seconds per piece, while this utility model can effectively shorten the detection cycle to an average of 12 seconds per piece for similar parts, significantly improving system efficiency. It is especially suitable for automated detection of surface defects of parts with complex shapes such as bending or torsion.

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Additional aspects and advantages of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. Attached Figure Description

[0022] The accompanying drawings, which form part of this utility model, are used to aid in understanding this utility model. The content provided in the drawings and the related descriptions in this utility model can be used to explain this utility model, but do not constitute an undue limitation of this utility model. In the drawings:

[0023] Figure 1 This is a three-dimensional view of the interior of the multi-axis inspection device for surface defect identification according to this utility model.

[0024] Figure 2 This is a top view of the interior of the multi-axis inspection device for surface defect identification according to this utility model.

[0025] Figure 3 This is a left view of the interior of the multi-axis inspection device for surface defect identification according to this utility model.

[0026] Figure 4 This is a front view of the interior of the multi-axis inspection device for surface defect identification according to this invention.

[0027] Figure 5 This is a schematic diagram of one direction of the first displacement module and the original material tray in the multi-axis inspection device for surface defect identification of this utility model.

[0028] Figure 6 This is a schematic diagram of the first displacement module and the original material tray in another direction of the multi-axis inspection device for surface defect identification according to this utility model.

[0029] Figure 7 This is a schematic diagram of the second displacement module and clamping assembly in one direction of the multi-axis inspection device for surface defect identification according to this utility model.

[0030] Figure 8This is a schematic diagram of the second displacement module and clamping assembly in another direction of the multi-axis inspection device for surface defect identification according to this utility model.

[0031] Figure 9 This is a schematic diagram of the third displacement module and the imaging component in the multi-axis inspection device for surface defect identification of this utility model.

[0032] Figure 10 This is a partial schematic diagram of the third displacement module and the imaging component in the multi-axis inspection device for surface defect identification according to this utility model.

[0033] Figure 11 This is a schematic diagram of the installation of the ring light source in the multi-axis inspection device for surface defect identification according to this utility model.

[0034] Figure 12 This is a schematic diagram of one direction of the fourth displacement module and the abnormal part tray in the multi-axis inspection equipment for surface defect identification of this utility model.

[0035] Figure 13 This is a schematic diagram of the fourth displacement module and the abnormal part tray in another direction of the multi-axis inspection equipment for surface defect identification of this utility model.

[0036] Figure 14 This is a schematic diagram of the fifth displacement module in the multi-axis inspection device for surface defect identification of this utility model.

[0037] Figure 15 This is a schematic diagram of the upper transmission structure in the multi-axis inspection device for surface defect identification of this utility model.

[0038] Figure 16 This is a schematic diagram of the external structure of the multi-axis inspection device for surface defect identification according to this utility model.

[0039] The relevant markings in the above figures are:

[0040] 110 - Original material tray, 120 - Abnormal part tray, 210 - Electric gripper, 310 - First camera, 320 - Second camera, 330 - Ring light source, 410 - First positioning module, 420 - Second positioning module, 430 - Third positioning module, 440 - Fourth positioning module, 450 - Fifth positioning module, 411 - First Y-axis guide rail, 412 - First motor mechanism, 413 - Lifting mechanism, 421 - First gantry bracket, 422 - First X-axis guide rail, 423 - Sub-linear motor mechanism, 424 - Z-axis guide rail, 425 - Lifting motor mechanism, 426 - Rotary motor mechanism, 431- Second portal bracket, 432- Second Y-guide rail, 433- Second motor mechanism, 434- X-axis mounting shaft, 435- Gear motor mechanism, 436- First L-connector, 437- Second L-connector, 441- Third Y-guide rail, 442- Third motor mechanism, 443- Auxiliary guide rail, 451- Second X-guide rail, 452- Fourth motor mechanism, 453- Fourth Y-guide rail, 454- Fifth motor mechanism, 510- First support plate, 520- Second support plate, 610- Upper transmission line, 620- Lower transmission line. Detailed Implementation

[0041] The present invention will now be clearly and completely described in conjunction with the accompanying drawings. Those skilled in the art will be able to implement the present invention based on these descriptions. Before describing the present invention in conjunction with the accompanying drawings, it should be particularly noted that:

[0042] The technical solutions and features provided in the various parts of this utility model, including the following description, can be combined with each other without conflict.

[0043] Furthermore, the embodiments of the present invention described below are generally only a part of the embodiments of the present invention, and not all of the embodiments. Therefore, all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the protection scope of the present invention.

[0044] Regarding the terminology and units used in this utility model: The terms "comprising," "having," and any variations thereof in the specification, claims, and related parts of this utility model are intended to cover non-exclusive inclusion.

[0045] like Figure 1-16 The multi-axis inspection device for surface defect identification shown includes a tray assembly, a clamping assembly, a photographing assembly, a vision inspection module, a power assembly, a first support plate 510, and a second support plate 520.

[0046] The material tray assembly includes a primary material tray 110 and a defective parts tray 120. The primary material tray 110 has 8×8 slots, each slot holding a component to be inspected, which is a complex curved surface part. The defective parts tray 120 is used to hold defective parts after defect inspection and has 12×8 slots.

[0047] The clamping assembly includes four electric grippers 210.

[0048] The imaging component includes four first cameras 310 for taking pictures of the object to be inspected held by the electric gripper 210, a second camera 320 for taking pictures of the batch number of the furnace directly above the object to be inspected in the original material tray 110, and a ring light source 330 located in the imaging area of ​​each camera.

[0049] The visual inspection module includes a target detection neural network model module for processing images acquired by the first camera 310 and an OCR algorithm module for processing images acquired by the second camera 320. Specifically, the target detection neural network model module performs defect detection and outputs defect identification results, while the OCR algorithm module identifies the furnace batch number and outputs the furnace batch number identification result. Thus, the identified furnace batch number (each batch number for an inspected item is unique) is bound to subsequent inspection data (including defect detection results, quantification data, etc.) to ensure that all inspection information can be traced back to a specific production batch.

[0050] The power assembly is mounted on the first support plate 510. The operation of the power assembly is uniformly controlled by the PLC control module. After the visual inspection module outputs the defect detection results, the PLC control module drives the corresponding displacement module to perform corresponding actions in real time according to the detection results. The power assembly includes a first displacement module 410 for driving the original material tray 110 to move along the Y-axis and Z-axis, a second displacement module 420 for driving the electric gripper 210 to move along the X-axis and Z-axis and rotate along the Rz-axis, a third displacement module 430 for driving the first camera 310 and the ring light source 330 to move along the Y-axis and rotate along the Rx-axis, a fourth displacement module 440 for driving the abnormal part tray 120 to move along the Y-axis, and a fifth displacement module 450 for driving the second camera 320 to move along the X-axis and Y-axis.

[0051] The first displacement module 410 includes a first Y-axis guide rail 411, a first motor mechanism 412, and a lifting mechanism 413 arranged along the Y-axis.

[0052] The second displacement module 420 includes a first portal frame 421 arranged along the X-axis, a first X-axis guide rail 422, a four-movement linear motor mechanism 423, a Z-axis guide rail 424, a lifting motor mechanism 425, and a rotary motor mechanism 426 arranged on the first portal frame 421. The rotary motor mechanism 426 is connected to the electric gripper 210.

[0053] The third displacement module 430 includes a second portal frame 431 disposed along the X-axis on the side of the first portal frame 421, and a second Y-guide rail 432, a second motor mechanism 433, an X-axis mounting shaft 434, a gear motor mechanism 435, a first L-connector 436, and a second L-connector 437 disposed on the second portal frame 431. The first camera 310 is mounted on the X-axis mounting shaft 434, and the gear motor mechanism 435 drives the X-axis mounting shaft 434 to rotate around the Rx axis. The upper end of the first L-connector 436 is connected to the X-axis mounting shaft 434, and the lower end is connected to the ring light source 330. The inner end of the second L-connector 437 is connected to the first camera 310, and the outer end is connected to the ring light source 330.

[0054] The fourth displacement module 440 includes a third Y-axis guide rail 441 and a third motor mechanism 442 arranged along the Y-axis. In order to make the original material tray 110 and the abnormal part tray 120 move more stably, auxiliary guide rails 443 are provided on both sides of the original material tray 110 and the abnormal part tray 120.

[0055] The fifth displacement module 450 includes a second X-axis guide rail 451, a fourth motor mechanism 452, a fourth Y-axis guide rail 453, and a fifth motor mechanism 454.

[0056] The upper inspection chamber is formed by the upper door panel on the first support plate 510. The lower inspection chamber (which can be used to place the relevant hardware facilities of the vision inspection module) is formed between the second support plate 520 and the first support plate 510 by the lower door panel.

[0057] The first support plate 510 is provided with an upper transmission line 610, which is used to transmit the original material tray 110 before the detection is completed and is connected to the first displacement module 410; the second support plate 520 is provided with a lower transmission line 620, which is used to transmit the original material tray 110 after the detection is completed.

[0058] The input ends of the upper transmission lines 610 of multiple multi-axis inspection devices are connected in parallel to the main feeding line, and the output ends of the upper transmission lines 610 are connected to the input ends of the lower transmission lines 620. The output ends of the lower transmission lines 620 of multiple multi-axis inspection devices are connected in parallel to the main discharge line. Thus, the raw material trays 110 on the main feeding line can be continuously fed into the multi-axis inspection devices, and the inspected raw material trays 110 are continuously discharged from the fourth Y-guide rail and the main discharge line, thereby improving automation.

[0059] The upper panel has an operation window (which can be used to set the operating parameters of the vision inspection module), an observation window, a first channel adapted to the upper transmission line 610, and a second channel adapted to the third Y-guide rail 441. The lower panel has a third channel adapted to the lower transmission line 620.

[0060] The first embodiment of the multi-axis detection method for surface defect identification of this utility model adopts the above-mentioned multi-axis detection equipment and includes the following steps:

[0061] Step 100: Drive the i-th row of slots of the original material tray 110 to move below the electric claw 210 through the first displacement module 410, where i is an integer from 1 to M;

[0062] Step 200: Drive the electric gripper 210 through the second displacement module 420 to grab the object to be detected in the odd-numbered position of the i-th row of slots and move it to the imaging area of ​​the first camera 310.

[0063] Step 300: Take a picture of the object to be tested held by the electric gripper 210 using the first camera 310;

[0064] Step 400: The visual inspection module receives and processes the image output by the first camera 310 and outputs the defect identification result;

[0065] Step 500: Drive the electric gripper 210 to move above the abnormal part tray 120 through the second displacement module 420, and control the electric gripper 210 to put the defective item to be inspected into the abnormal part tray 120.

[0066] Step 600: Drive the electric gripper 210 to move above the original material tray 110 through the second displacement module 420, and control the electric gripper 210 to place the qualified test material into the original position of the original material tray 110.

[0067] Step 700: Drive the electric gripper 210 through the second displacement module 420 to grab the even-numbered object to be detected in the i-th row of slots and move it to the imaging area of ​​the first camera 310; then repeat steps 300-600 to complete the detection of all objects to be detected in the i-th row of slots.

[0068] Then return to step 100, drive the i+1th row of slots of the original material tray 110 to move below the electric gripper 210 through the first displacement module 410, repeat steps 200-700 until the items to be tested in each row of slots have been tested.

[0069] After the current original material tray 110 is inspected, the upper conveyor line 610 transmits it to the lower conveyor line 620 and then discharges it through the main discharge line. Then the main feed line conveys a new original material tray 110 to the upper conveyor line 610, and then the above steps are repeated for inspection.

[0070] Compared with the first embodiment, the second embodiment of the multi-axis detection method for surface defect identification of this utility model further includes the following operations:

[0071] Before step 100, the first positioning module 410 drives the i-th row of slots in the original material tray 110 to move and engage with the second camera 320; the fifth positioning module 450 controls the second camera 320 to move and take pictures sequentially along the X-axis direction of the i-th row of slots; the vision inspection module receives and processes the images output by the second camera and outputs the furnace batch number identification result. Thus, combining defect detection and furnace batch number identification can improve traceability efficiency.

[0072] The foregoing has described the relevant content of this utility model. Those skilled in the art will be able to implement this utility model based on these descriptions. All other embodiments obtained by those skilled in the art based on the above description of this utility model without inventive effort should fall within the protection scope of this utility model.

Claims

1. A multi-axis inspection device for surface defect identification, characterized in that: include: The material tray assembly includes a raw material tray (110) and a defective parts tray (120); the raw material tray (110) has M×N slots, where M is the number of rows and ≥2, and N is the number of slots in each row and is an even number ≥4, and each slot contains an item to be inspected; the defective parts tray (120) is used to place defective parts after inspection; A clamping assembly comprising N / 2 electric grippers (210); The photographing component includes N / 2 first cameras (310) for taking pictures of the object to be inspected held by the electric gripper (210) and a second camera (320) for taking pictures of the furnace batch number of the object to be inspected in the original material tray (110). The visual inspection module receives and processes the images output by the imaging component, and outputs defect identification results and furnace batch number identification results. The power assembly includes a first positioning module (410) for driving the original material tray (110) to move along the Y-axis and Z-axis, a second positioning module (420) for driving the electric gripper (210) to move along the X-axis and Z-axis and rotate along the Rz-axis, a third positioning module (430) for driving the first camera (310) to move along the Y-axis and rotate along the Rx-axis, a fourth positioning module (440) for driving the abnormal part tray (120) to move along the Y-axis, and a fifth positioning module (450) for driving the second camera (320) to move along the X-axis and Y-axis.

2. The multi-axis inspection device for surface defect identification as described in claim 1, characterized in that: It also includes a first support plate (510), on which the power assembly is mounted; the first support plate (510) is surrounded by an upper door panel to form an upper testing chamber.

3. The multi-axis inspection device for surface defect identification as described in claim 2, characterized in that: The first displacement module (410) includes a first Y-axis guide rail (411), a first motor mechanism (412), and a lifting mechanism (413) arranged along the Y-axis.

4. The multi-axis inspection device for surface defect identification as described in claim 2, characterized in that: The second displacement module (420) includes a first portal frame (421) arranged along the X-axis, and a first X-axis guide rail (422), an N / 2 mover linear motor mechanism (423), a Z-axis guide rail (424), a lifting motor mechanism (425), and a rotary motor mechanism (426) arranged on the first portal frame (421). The rotary motor mechanism (426) is connected to the electric gripper (210).

5. The multi-axis inspection device for surface defect identification as described in claim 2, characterized in that: The third displacement module (430) includes a second portal bracket (431) arranged along the X-axis on the side of the first portal bracket (421), a second Y-guide rail (432), a second motor mechanism (433), an X-axis mounting shaft (434), and a gear motor mechanism (435) that drives the X-axis mounting shaft (434) to rotate around the Rx axis. The first camera (310) is mounted on the X-axis mounting shaft (434).

6. The multi-axis inspection device for surface defect identification as described in claim 5, characterized in that: The imaging component also includes a ring light source (330); the third displacement module (430) also includes a first L connector (436) and a second L connector (437), the upper end of the first L connector (436) is connected to the X-axis mounting shaft (434), and the lower end is connected to the ring light source (330); the inner end of the second L connector (437) is connected to the first camera (310), and the outer end is connected to the ring light source (330).

7. The multi-axis inspection device for surface defect identification as described in claim 2, characterized in that: The fourth displacement module (440) includes a third Y-axis guide rail (441) and a third motor mechanism (442) arranged along the Y-axis.

8. The multi-axis inspection device for surface defect identification as described in claim 1, characterized in that: The fifth displacement module (450) includes a second X-axis guide rail (451), a fourth motor mechanism (452), a fourth Y-axis guide rail (453), and a fifth motor mechanism (454).

9. The multi-axis inspection device for surface defect identification as described in claim 8, characterized in that: It also includes a second support plate (520) located below the first support plate (510), an upper transmission line (610) located on the first support plate (510), and a lower transmission line (620) located on the second support plate (520); the second support plate (520) and the first support plate (510) are surrounded by a lower door panel to form a lower detection chamber; the upper transmission line (610) is used to transmit the original material tray (110) before the detection is completed and is connected to the first displacement module (410); the lower transmission line (620) is used to transmit the original material tray (110) after the detection is completed; the input ends of the upper transmission lines (610) of multiple multi-axis detection devices are connected in parallel and then connected to the feeding main line; the output end of the upper transmission line (610) is connected to the input end of the lower transmission line (620); the output ends of the lower transmission lines (620) of multiple multi-axis detection devices are connected in parallel and then connected to the discharge main line.

10. The multi-axis inspection device for surface defect identification as described in claim 9, characterized in that: The upper door panel is provided with an operation window, an observation window, a first channel adapted to the upper transmission line (610), and a second channel adapted to the third Y guide rail (441); the lower door panel is provided with a third channel adapted to the lower transmission line (620).

Images