Inline inspection system for stamping part, visual inspection device, and inspection method and apparatus

Abstract

An inline inspection system for a stamping part (100), a visual inspection device (2), and an inspection method and apparatus. The system is used for inspecting the stamping part (100) moving on a conveyor belt (1); and comprises: the visual inspection device (2), a first position detection device (3), and a control device. The visual inspection device (2) comprises: a follow-up mechanism (21), a camera mechanism (22), and a first controller. The first controller is used for controlling the follow-up mechanism (21) when the stamping part (100) enters the photographing range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100); controlling the camera mechanism (22) to acquire an image of the stamping part (100) in the process of moving synchronously with the stamping part (100); and inspecting the stamping part (100) on the basis of the acquired image to obtain an inspection result. The first position detection device (3) is used for detecting the position of the stamping part (100) on the conveyor belt (1). The control device is used for receiving the inspection result sent by the first controller. Inline inspection of the stamping part (100) moving along with the conveyor belt (1) on the production line of the stamping part (100) is implemented.

Description

Stamping parts online inspection system, visual inspection equipment, inspection method and device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 31, 2024, with application number 202410141981.5 and invention name “Online inspection system, visual inspection equipment, inspection method and device for stamping parts”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of stamping part inspection, and in particular to an online stamping part inspection system, visual inspection equipment, inspection method and device. Background Art

[0003] To ensure the quality of stamped parts, surface defects are usually inspected after they are completed. For example, automotive stamping parts are inspected for accurate hole positioning, as well as defects such as unevenness, scratches, cracks, necking, or burrs that may have occurred during the production process.

[0004] At present, there are three main methods for traditional surface defect detection of automobile stamping parts:

[0005] The first method is manual inspection. This method relies on manual observation of the stamped part's surface to determine if there are defects. However, since the results rely entirely on the inspector's experience, the accuracy of the results is difficult to guarantee and the inspection efficiency is low. Furthermore, as labor costs increase, factory production costs also increase.

[0006] The second method uses precision mechanical testing equipment using eddy current, infrared, and magnetic flux leakage technologies. Due to the limitations of the detection principle, this method limits the types of defects that can be detected and the parameters that can quantitatively describe them. It cannot comprehensively assess the surface quality of the product and is therefore only suitable for certain applications with lower requirements.

[0007] The third method is based on machine vision recognition technology. This involves using a camera to capture images of stamped parts, performing image recognition on them, and then determining whether the parts have surface defects based on the recognition results. This approach is an important development direction for stamped parts inspection. However, in current applications, this inspection method mostly uses cameras mounted in a fixed position. This allows for image capture and recognition only of stationary stamped parts to determine surface defects, but is not suitable for in-line inspection of stamped parts moving on conveyor belts on a stamping production line. Summary of the Invention

[0008] The purpose of the embodiments of the present application is to provide an online inspection system, visual inspection equipment, inspection method and device for stamping parts, so as to realize online inspection of stamping parts on the production line. The specific technical solution is as follows:

[0009] The embodiment of the present application provides an online stamping parts inspection system for inspecting stamping parts moving on a conveyor belt; the system includes: at least one visual inspection device, a first position detection device, and a control device;

[0010] Each of the visual inspection devices includes: a follow-up mechanism, a camera mechanism and a first controller;

[0011] The following mechanism includes: a base arranged on the side of the conveyor belt and a following component installed on the base;

[0012] The camera mechanism is mounted on the end of the follower component;

[0013] The first controller is electrically connected to the camera mechanism and the follower component; and is used to control the movement of the follower component when the stamping part enters the shooting range of the camera mechanism, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and control the camera mechanism to capture an image of the stamping part during the process of synchronous movement with the stamping part, and inspect the stamping part based on the captured image to obtain an inspection result;

[0014] The first position detection device is provided at a first fixed position on the side of the conveyor belt and is electrically connected to the first controller, and is used to detect the position of the stamping part on the conveyor belt, and notify the first controller when it is detected that the stamping part enters the shooting range of the camera mechanism;

[0015] The control device is connected to the conveyor belt and the first controller for controlling the movement of the conveyor belt and receiving the detection result sent by the first controller.

[0016] The embodiment of the present application further provides a visual inspection device, which is applied to the above-mentioned stamping parts online inspection system; the visual inspection device includes: a follower mechanism, a camera mechanism and a first controller;

[0017] The following mechanism includes: a base arranged on the side of the conveyor belt and a following component installed on the base;

[0018] The camera mechanism is mounted on the end of the follower component;

[0019] The first controller is electrically connected to the camera mechanism and the follower component; it is used to control the movement of the follower component when the stamping part enters the shooting range of the camera mechanism, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and control the camera mechanism to collect images of the stamping part during the process of synchronous movement with the stamping part, and detect the stamping part based on the collected image to obtain a detection result.

[0020] The embodiment of the present application further provides an online stamping parts inspection system for inspecting stamping parts moving on a conveyor belt; the system comprises: at least one visual inspection device, a first position detection device;

[0021] Each of the visual inspection devices includes: a follow-up mechanism, a camera mechanism and a first controller;

[0022] The camera mechanism is mounted on the follower mechanism;

[0023] The first controller is electrically connected to the camera mechanism and the follower mechanism; and is used to control the movement of the follower mechanism when the stamping part enters the shooting range of the camera mechanism, so that the camera mechanism can be driven by the follower mechanism to move synchronously with the stamping part on the conveyor belt, and control the camera mechanism to capture an image of the stamping part during the process of synchronous movement with the stamping part, and inspect the stamping part based on the captured image to obtain an inspection result;

[0024] The first position detection device is arranged at a first fixed position of the conveyor belt and is electrically connected to the first controller for detecting the position of the stamping part on the conveyor belt. When it is detected that the stamping part enters the shooting range of the camera mechanism, the first controller is notified.

[0025] The embodiment of the present application further provides a visual inspection device, which is applied to the above-mentioned stamping parts online inspection system; the visual inspection device includes: a follower mechanism, a camera mechanism and a first controller;

[0026] The camera mechanism is mounted on the follower mechanism;

[0027] The first controller is electrically connected to the camera mechanism and the follow-up mechanism; it is used to control the movement of the follow-up mechanism when the stamping part enters the shooting range of the camera mechanism, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follow-up mechanism, and control the camera mechanism to collect images of the stamping part during the process of synchronous movement with the stamping part, and detect the stamping part based on the collected image to obtain a detection result.

[0028] The present application also provides an online detection method for stamping parts, which is applied to the first controller in the above-mentioned online detection system for stamping parts. The method includes:

[0029] receiving a first notification message sent by the first position detection device, where the first notification message indicates that the first position detection device has detected that the stamping part has entered a shooting range of the camera mechanism;

[0030] Obtaining the moving speed of the conveyor belt;

[0031] Controlling the following component to move at the speed of the conveyor belt so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the following component, and controlling the camera mechanism to capture an image of the stamping part during the process of synchronous movement with the stamping part;

[0032] Detecting the stamping part based on the collected image to obtain a detection result;

[0033] The obtained detection result is sent to the control device.

[0034] The present application also provides another method for online detection of stamped parts, which is applied to the control device of the above-mentioned online detection system for stamped parts. The method includes:

[0035] controlling the movement of the conveyor belt;

[0036] receiving a detection result sent by a first controller in the visual inspection device;

[0037] The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can be driven by the follow-up component and move synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to collect images of the stamping parts in the process of synchronous movement with the stamping parts, and detects the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts have entered the shooting range of the camera mechanism.

[0038] The present application also provides an on-line detection device for stamping parts, which is applied to the first controller in the above-mentioned on-line detection system for stamping parts; the device includes:

[0039] a first notification message receiving module, configured to receive a first notification message sent by the first position detection device, wherein the first notification message is configured to indicate that the first position detection device has detected that the stamping part has entered the shooting range of the camera mechanism;

[0040] A speed obtaining module, used for obtaining the moving speed of the conveyor belt;

[0041] a first control module, configured to control the following component to move at a speed corresponding to the moving speed of the conveyor belt, so that the camera mechanism can be driven by the following component to move synchronously with the stamping part on the conveyor belt, and to control the camera mechanism to capture an image of the stamping part during the process of synchronous movement with the stamping part;

[0042] A detection module, configured to detect the stamping part based on the collected image and obtain a detection result;

[0043] The result sending module is used to send the obtained detection result to the control device.

[0044] The present application also provides another stamping parts online detection device, which is applied to the control device of the stamping parts online detection system described above; the device includes:

[0045] a second control module, configured to control the movement of the conveyor belt;

[0046] A result receiving module, configured to receive a detection result sent by the first controller in the visual inspection device;

[0047] The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can be driven by the follow-up component and move synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to collect images of the stamping parts in the process of synchronous movement with the stamping parts, and detects the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts have entered the shooting range of the camera mechanism.

[0048] The present application also provides a controller, including:

[0049] Memory for storing computer programs;

[0050] The processor is configured to implement any of the above-mentioned stamping part online detection methods applied to the first controller when executing the program stored in the memory.

[0051] The present application also provides a control device, including:

[0052] Memory for storing computer programs;

[0053] The processor is used to implement any stamping part online detection method applied to the control device when executing the program stored in the memory.

[0054] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements any of the above-mentioned online detection methods for stamping parts applied to the first controller, or implements any online detection method for stamping parts applied to the control device.

[0055] An embodiment of the present application also provides a computer program product containing instructions, which, when run on a computer, enables the computer to execute any of the above-mentioned online detection methods for stamping parts applied to the first controller, or implement any of the online detection methods for stamping parts applied to the control device.

[0056] Beneficial effects of the embodiments of the present application:

[0057] The embodiments of the present application provide an online inspection system for stamped parts, a visual inspection device, an inspection method, and an apparatus. The camera mechanism in the visual inspection device is installed at the end of the follower component of the follower mechanism, so that the first controller of the visual inspection device can control the movement of the follower component when the stamped parts on the conveyor belt enter the shooting range of the camera mechanism, so that the camera mechanism moves synchronously with the stamped parts on the conveyor belt, and controls the camera mechanism to capture images of the stamped parts while moving synchronously with the stamped parts. The stamped parts are inspected based on the captured images to obtain inspection results. Thus, online inspection of stamped parts moving along the conveyor belt on the stamped parts production line is achieved.

[0058] Furthermore, because the camera moves synchronously with the stamping parts on the conveyor, they remain relatively stationary. Compared to dynamic capture, images captured by the camera in a stationary state are sharper. Image recognition and inspection of high-definition images of stamping parts further ensure the accuracy of online inspection.

[0059] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0061] FIG1 is a schematic structural diagram of a first embodiment of an online detection system for stamping parts provided in an embodiment of the present application;

[0062] FIG2 is a schematic structural diagram of the visual inspection device in the embodiment shown in FIG1 ;

[0063] 3a, 3b, and 3c are schematic structural diagrams of the camera mechanism in the embodiment shown in FIG1;

[0064] FIG4 is a schematic structural diagram of a light source frame in the embodiment shown in FIG1 ;

[0065] FIG5 is a schematic structural diagram of a second embodiment of an online detection system for stamping parts provided in an embodiment of the present application;

[0066] FIG6 is a schematic diagram of the arrangement of the detection station, the first positioning station, the gripping station, the second positioning station and the material distribution table in the embodiment shown in FIG5 ;

[0067] FIG7 is a schematic structural diagram of a third embodiment of an online detection system for stamping parts provided in an embodiment of the present application;

[0068] FIG8 is a schematic structural diagram of a fourth embodiment of an online detection system for stamping parts provided in an embodiment of the present application;

[0069] FIG9 is a schematic diagram showing the arrangement of the detection station, the first positioning station, the gripping station, and the second positioning station in the embodiment shown in FIG8 ;

[0070] FIG10 is a schematic structural diagram of a fifth embodiment of an online detection system for stamping parts provided in an embodiment of the present application;

[0071] FIG11a is a flow chart of a first embodiment of a method for online detection of stamped parts applied to a first controller according to an embodiment of the present application;

[0072] FIG11b is a schematic diagram of the principle flow of the first controller detecting the stamping part in the embodiment shown in FIG11a;

[0073] FIG12 is a flow chart of a second embodiment of a method for online detection of stamped parts applied to a first controller according to an embodiment of the present application;

[0074] FIG13 is a flow chart of a third embodiment of the method for online detection of stamped parts applied to a first controller according to an embodiment of the present application;

[0075] FIG14 is a flow chart of a first embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application;

[0076] FIG15 is a flow chart of a second embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application;

[0077] FIG16 is a flow chart of a third embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application;

[0078] FIG17 is a flow chart of a fourth embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application;

[0079] FIG18 is a schematic diagram of the overall concept flow of online testing using the online testing system provided in an embodiment of the present application;

[0080] FIG19 is a schematic structural diagram of a stamping parts online detection device applied to a first controller according to an embodiment of the present application;

[0081] FIG20 is a schematic structural diagram of an online stamping parts detection device applied to a control device according to an embodiment of the present application;

[0082] FIG21 is a schematic diagram of the structure of a controller provided in an embodiment of the present application;

[0083] Figure 22 is a schematic diagram of the structure of the control device provided in an embodiment of the present application.

[0084] 1 to 10 : Conveyor belt 1, conveyor belt tail 11, stamping part 100; Visual inspection device 2, follower mechanism 21, follower mechanism base 210, follower component 211, follower component end 212; Camera mechanism 22, connecting frame 221, connecting frame top 2211a, connecting frame bottom 2211b; Light source frame 222, light source frame top surface 2220, top surface light source 2221, conical surface light source 2222, first through hole 2223, second through hole 2224, inclined surface 2225, LED lamp bead 2226, camera hanging plate 2227, camera hanging structure 2228, hanging rotation axis 2229; Camera 223, lens 2231; First robotic arm 21a, inspection station 213, first robotic arm base 210a, first movable arm 211a, first movable arm end 212a; First position detection device 3, first positioning station 31; second robot arm 4, gripping station 41, second robot arm base 42, second movable arm 43, second movable arm end 40, gripping mechanism 44; second position detection device 5, second positioning station 51; material dividing table 6; waste storage mechanism 7; follow-up slide 21b, support seat 210b, first slide rail 2111, second slide rail 2112, third slide rail 2113, first slider 2114, second slider 2115, third slider 2116, mounting rail 2117, fixing part 2118. DETAILED DESCRIPTION

[0085] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0086] As described in the background art, in traditional methods of surface inspection of stamped parts, manual inspection efficiency is low, and as labor costs increase, factory production costs will also be higher. In addition to the problem that the defects that can be detected and the parameters for quantitative description of defects are very limited due to the limitations of the detection principle, precision mechanical inspection equipment that uses eddy current, infrared and magnetic flux leakage technologies also has cost and detection accuracy issues. This is because precision mechanical inspection equipment is relatively expensive and large in size, with high installation and maintenance costs. As the machinery wears, the detection accuracy will decrease. However, due to the limitations of technical level and detection environment, the clarity and contrast of the images collected by the visual surface defect detection system with a fixed camera installation position are not high enough. Image recognition and detection based on such images will lead to inaccurate detection results. In other words, it is currently impossible to accurately detect stamped parts moving with the conveyor belt on the stamping production line online.

[0087] In order to achieve accurate online inspection of stamping parts on a production line, the present invention provides an online inspection system, visual inspection equipment, inspection method, and apparatus for stamping parts. The following examples provide detailed descriptions.

[0088] First, the stamping parts online detection system provided in the embodiment of the present application is described in detail.

[0089] Refer to Figure 1, which is a structural diagram of Example 1 of an online inspection system for stamping parts provided by an embodiment of the present application. As shown in Figure 1, an embodiment of the present application provides an online inspection system for stamping parts, which is used to inspect stamping parts 100 moving on a conveyor belt 1; the system includes: at least one visual inspection device 2, a first position detection device 3 and a control device (not shown in Figure 1); each visual inspection device 2 includes: a follower mechanism 21, a camera mechanism 22 and a first controller (not shown in Figure 1); the follower mechanism 21 includes: a base 210 arranged on the side of the conveyor belt 1 and a follower component 211 installed on the base 210; the camera mechanism 22 is installed at the end 212 of the follower component 211.

[0090] In this example, base 210 is merely indicated as being located somewhere near the conveyor belt. It may be mounted on the equipment where the conveyor belt is located or independently of the conveyor belt. The location and mounting method of base 210 are not specifically limited herein. End 212 is merely indicated as being located somewhere on follower member 211 and is not limited to being located at either end or in the middle.

[0091] Among them, the first controller is electrically connected to the camera mechanism 22 and the follower component 211; it is used to control the movement of the follower component 211 when the stamping part 100 enters the shooting range of the camera mechanism 22, so that the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1 under the drive of the follower component 211, and control the camera mechanism 22 to collect images of the stamping part 100 in the process of synchronous movement with the stamping part 100, and detect the stamping part 100 based on the collected image to obtain the detection result.

[0092] Among them, the first position detection device 3 is set at a first fixed position on the side of the conveyor belt 1 and is electrically connected to the first controller. It is used to detect the position of the stamping part 100 on the conveyor belt 1, and notify the first controller when it is detected that the stamping part 100 enters the shooting range of the camera mechanism 22.

[0093] The control device is connected to the conveyor belt 1 and the first controller for controlling the movement of the conveyor belt 1 and receiving the detection results sent by the first controller.

[0094] In one example, the control device may be a device that only receives the detection result sent by the first controller, and the movement of the conveyor belt may be controlled by other devices, or by the conveyor belt itself.

[0095] As can be seen from the embodiment shown in FIG1 , the stamping parts online inspection system provided by the embodiment of the present application installs the camera mechanism 22 in the visual inspection device at the end of the follower component 211 of the follower mechanism 21, so that the first controller of the visual inspection device 2 can control the movement of the follower component 21 when the stamping parts 100 on the conveyor belt 1 enter the shooting range of the camera mechanism 22, so that the camera mechanism 22 moves synchronously with the stamping parts 100 on the conveyor belt 1, and controls the camera mechanism 22 to collect images of the stamping parts in the process of synchronous movement with the stamping parts 100, and inspects the stamping parts based on the collected images to obtain inspection results. In this way, online inspection of stamping parts moving with the conveyor belt on the stamping parts production line is achieved.

[0096] At the same time, because the camera mechanism 22 can move synchronously with the stamping parts 100 on the conveyor belt 1, the camera mechanism 22 and the stamping parts 100 on the conveyor belt 1 are relatively stationary. Compared with dynamic shooting, the images captured by the camera mechanism 22 in a stationary state are higher in clarity. Image recognition and detection of high-definition stamping part images further ensure the accuracy of online detection.

[0097] Since the stamping parts online inspection system provided by the embodiment of the present application has high detection accuracy, it can be applied to various stamping parts production lines to achieve automatic online inspection of the entire production line. In particular, it can be widely used in the automotive production field and in the production of stamping workshops of automobile main manufacturers.

[0098] As shown in Figure 1, in the first embodiment of the online inspection system provided herein, the follower mechanism 21 of the visual inspection device 2 can be a first robotic arm 21a. The specific structure of the visual inspection device 2 is shown in Figures 1 and 2, with Figure 2 being a schematic diagram of the structure of the visual inspection device in the embodiment shown in Figure 1. As shown in Figure 1, the first robotic arm 21a can be mounted on an inspection station 213 on the side of the conveyor belt 1.

[0099] As shown in Figures 1 and 2, the first robotic arm 21a includes: a first robotic arm base 210a fixedly mounted on the inspection station 213 and a first movable arm 211a mounted on the first robotic arm base 210a; a camera mechanism 22 is mounted at the end 212a of the first movable arm 211a; the first controller in this embodiment can be mounted in the base 210a of the first robotic arm 21a, and is electrically connected to the camera mechanism 22 and the first movable arm 211a, to control the movement of the first movable arm 211a and the image acquisition by the camera mechanism 22. In this way, the camera mechanism 22 can be driven by the first movable arm 211a to move synchronously with the stamping part 100 on the conveyor belt 1. The first controller can also control the camera mechanism 22 to capture images of the stamping part 100 during the synchronous movement with the stamping part 100, and to detect the stamping part 100 based on the captured image, obtain detection results, and send the detection results to the control device.

[0100] In this embodiment, a first robotic arm 21a is used as the follower mechanism 21 of the visual inspection device 2. This has a large degree of freedom, ensuring that the camera mechanism 22 and the stamped parts 100 on the conveyor belt 1 move synchronously over a sufficiently long distance and capture a sufficient range. This allows the camera mechanism 22 to capture a sufficient number of images or a sufficiently long video of the stamped parts 100, thereby meeting the requirements of image recognition and inspection. For example, the first robotic arm 21a can be a six-axis robotic arm with six degrees of freedom.

[0101] As shown in Figure 1, the first position detection device 3 can be installed on the first positioning station 31 on the side of the conveyor belt 1. Along the conveying direction of the conveyor belt 1, the first positioning station 31 is adjacent to the detection station 213, and the detection station 213 is located on the rear side of the first positioning station 31.

[0102] As previously mentioned, the first position detection device 3 is used to detect the position of the stamping part 100 and notify the first controller when it detects that the stamping part 100 enters the shooting range of the camera mechanism 22. Therefore, in this embodiment, the first position detection device 3 is installed in the first positioning station 31 in front of the detection station 213, so that it can promptly detect that the stamping part 100 enters the shooting range of the camera mechanism 22.

[0103] Specifically, the first position detection device 3 can be a detection device including a first intelligent camera (as shown in Figure 1) or a first photoelectric sensor; wherein the first intelligent camera is used to detect in real time whether there are stamping parts on the conveyor belt moving into the shooting range of the camera mechanism based on image recognition technology; the first photoelectric sensor is used to detect in real time whether there are stamping parts on the conveyor belt moving into the shooting range of the camera mechanism based on the principle of light being reflected by objects.

[0104] In this embodiment, smart cameras or photoelectric sensors are relatively common position detection devices in the field of machine recognition. Therefore, the first position detection device 3 uses a smart camera or photoelectric sensor, so that the online detection system provided in the embodiment of the present application is not complicated to implement and has good compatibility.

[0105] Referring to Figures 1, 3a to 3c, and 4, Figures 3a, 3b, and 3c are schematic diagrams of the structure of the imaging mechanism in the embodiment shown in Figure 1; and Figure 4 is a schematic diagram of the structure of the light source frame in the embodiment shown in Figure 1. As shown in Figures 1, 3a to 3c, and 4, the imaging mechanism 22 in this embodiment may include: a connecting frame 221, a light source frame 222, and a plurality of cameras 223. The top 2211a of the connecting frame 221 is fixedly connected to the end 212a of the follower component 211 (i.e., the first movable arm 211a in Figure 1), and the bottom 2211b of the connecting frame 221 is fixedly connected to the top of the light source frame 222.

[0106] As shown in Figures 3a and 4 , the light source frame 222 can be a conical three-dimensional frame with its opening facing the conveyor belt. The light source frame 222 includes a top surface light source 2221 disposed at the top of the conical three-dimensional frame, i.e., on the inner wall of the top surface 2220 of the light source frame 222, and a conical surface light source 2222 disposed on the inner wall of the conical surface of the conical three-dimensional frame. The top surface light source 2221 is provided with a first through hole 2223. The conical surface light source 2222 has a plurality of second through holes 2224 evenly distributed along the conical surface. The first through hole 2223 and each of the second through holes 2224 are each used to mount a camera 223 facing the conveyor belt 1.

[0107] In this embodiment, the camera mechanism 22 includes a top surface light source 2221, a conical surface light source 2222 and multiple cameras 223, which not only realizes multi-angle shooting of the stamping part 100, but also provides fill light through each surface light source, so that the image of the stamping part 100 taken is more complete, clearer and has higher contrast.

[0108] As shown in Figures 1, 3a-3c, and 4, the conical three-dimensional frame of the light source frame 222 in this embodiment includes a top surface 2220 and four inclined surfaces 2225. A top surface light source 2221 can be disposed on the inner wall of the top surface 2220; and four conical surface light sources 2222 are disposed on the inner walls of the four inclined surfaces 2225. A camera 223 is mounted on each of the second through holes 2224 on the four inclined surfaces 2225. The lenses of these four cameras 223 pass through the four inclined surfaces 2225 and are directed toward the conveyor belt 1. In practical applications, both the top surface light source 2221 and the conical surface light source 2222 can be implemented using evenly arranged multiple LED beads 2226.

[0109] As shown in Figures 1, 3a to 3c, and 4, in this embodiment, the connecting frame 221 can form an installation space with the top surface 2220 of the light source frame 222, and a camera 223 is installed in the installation space, and its lens 2231 passes through the first through hole 2223, facing the conveyor belt 1, so as to vertically shoot the upper surface of the stamping part 100 of the conveyor belt 1. As shown in Figure 3c, the first through hole 2223 can be a long strip hole with a length greater than the base of the camera, and the camera 223 can be installed in the long strip hole. Since the length of the long strip hole is greater than the base of the camera 223, the position of the camera 223 in the length direction of the long strip hole can be further adjusted by the position of the base of the camera 223 in the long strip hole, so that the shooting position is more accurate, thereby improving the clarity of the captured image.

[0110] As shown in Figures 1, 3a to 3c and 4, in this embodiment, the four sides of the top surface 2220 of the light source frame extend outward to form four camera hanging plates 2227, and the four cameras 223 are respectively hung on the four camera hanging plates 2227, and the lenses 2231 of the four cameras 223 respectively pass through a second through hole 2224 and face the conveyor belt 1.

[0111] As shown in Figures 3a to 3c and Figure 4, in this embodiment, the four cameras 223 are respectively hoisted on four camera hoisting plates 2227 through a camera hoisting structure 2228. Each camera hoisting structure 2228 includes a hoisting rotating shaft 2229. The hoisting rotating shaft 2229 can fine-tune the angles of the four cameras 223 toward the conveyor belt 1, making the shooting angle more accurate, thereby improving the clarity of the captured image.

[0112] In this embodiment, the camera mechanism 22 utilizes a multi-camera and multi-faceted light source optical design, employing a five-sided imaging design. All four sides and the top are illuminated, and the light source is a conical three-dimensional frame with a hole in the top and a hole in each of the four conical surfaces. This allows for multi-angle capture with five cameras. In practical applications, this allows for the imaging of features such as holes, cracks, necking, concave and convex scratches, bruises, and other defects.

[0113] In addition, synchronized movement can be achieved in two ways:

[0114] The first type: The moving speed of the conveyor belt 1 is pre-stored in the first controller; when the stamping part 100 enters the shooting range of the camera mechanism 22, the first controller controls the follower component 211 (for example: the first movable arm 211a) to move at the pre-stored moving speed of the conveyor belt 1, so that the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1 under the drive of the follower component 211.

[0115] The second method: when the conveyor belt 1 is turned on, the control device sends the moving speed of the conveyor belt 1 to the first controller; when the stamping part 100 enters the shooting range of the camera mechanism 22, the first controller controls the follower component 211 (for example: the first movable arm 211a) to move at the pre-stored moving speed of the conveyor belt 1, so that the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1 under the drive of the follower component 211.

[0116] In some embodiments, the stamping parts online detection system may further include: a second robotic arm 4, a second position detection device 5 and a material separation table 6, so as to realize online collection and / or separation of incoming materials.

[0117] Refer to Figure 5, which is a structural diagram of Example 2 of the online inspection system for stamping parts provided by the embodiment of the present application. As shown in Figure 5, in this embodiment, the number of visual inspection devices 2 is two, and each visual inspection device 2 includes: a first controller, a camera mechanism 22 and a first robotic arm 21a; wherein, the two first robotic arms 21a are respectively arranged on the inspection stations 213 on both sides of the conveyor belt 1; each camera mechanism 22 is used to capture a complete image of the stamping part 100; or is used to capture half of the complete image of the stamping part 100; each first controller detects the stamping part 100 based on the image captured by the camera mechanism 22 connected to it, obtains the inspection result, and then sends the inspection result to the control device; the number of first position detection devices 3 is two, which are respectively installed on the first positioning stations 31 on both sides of the conveyor belt 1, and each first position detection device 3 is electrically connected to a first controller.

[0118] In this embodiment, the two camera mechanisms 22 in the two visual inspection devices 2 can each capture a complete image of the stamping part 100, and after each inspection, the inspection results are sent to the control device. The control device can combine the two inspection results to obtain a final result. Alternatively, the two camera mechanisms 22 in the two visual inspection devices 2 can each capture a half image of the stamping part 100, and after each inspection, the inspection results are sent to the control device. The control device can combine the two inspection results to obtain a final result, thereby achieving a more accurate inspection result.

[0119] In practical applications, for a relatively large stamping part 100 , half of the stamping part may be photographed for inspection to ensure that all parts of the stamping part 100 are fully photographed and inspected.

[0120] As shown in Figure 5, the system also includes: a second robotic arm 4, a second position detection device 5, and a material distribution table 6. The second robotic arm 4 is set at the gripping station 41 on the side of the conveyor belt 1, and is located behind the first robotic arm 21a of the visual inspection device 2 along the conveying direction of the conveyor belt 1.

[0121] As shown in Figure 5, the second robotic arm 4 includes: a second robotic arm base 42 fixedly set at the grasping station 41 and a second movable arm 43 installed on the second robotic arm base 42; the end 40 of the second movable arm 43 is provided with a grasping mechanism 44; a second controller (not shown in the figure) is provided in the second robotic arm base 42, and the second controller is electrically connected to the second movable arm 43 and the grasping mechanism 44.

[0122] As shown in FIG5 , the material distribution platform 6 is arranged adjacent to the second robotic arm 4 .

[0123] As shown in Figure 5, the second position detection device 5 is arranged on the second positioning station 51 on the side of the conveyor belt 1, and is used to detect the position of the stamping part 100 on the conveyor belt 1. When it is detected that the stamping part 100 enters the grasping area of ​​the second robot arm 4, the second controller is notified; the second controller is used to grab the current stamping part 100 on the conveyor belt 1 and put it into the corresponding material distribution table 6 when the stamping part 100 enters the grasping area of ​​the second robot arm 4.

[0124] Specifically, the second position detection device 5 in this embodiment can adopt the same structure as the first position detection device 3, and may specifically include: a second intelligent camera or a second photoelectric sensor; the second intelligent camera is used to detect in real time whether the stamping part enters the grasping area of ​​the second robotic arm based on image recognition technology; the second photoelectric sensor is used to detect in real time whether the stamping part enters the grasping area of ​​the second robotic arm based on the principle of light reflection by objects.

[0125] In this embodiment, through the second robotic arm 4, the second position detection device 5 and the material distribution table 6, on the basis of completing the online detection, the online incoming materials after the detection can be further collected.

[0126] Refer to Figure 6, which is a schematic diagram of the arrangement of the detection station 213, the first positioning station 31, the gripping station 41, the second positioning station 51 and the material distribution table 6 in the embodiment shown in Figure 5. As shown in Figures 5 and 6, in this embodiment, the number of visual inspection devices 2 is two, and the number of second robotic arms 4, second position detection devices 5 and material distribution tables 6 can also be two; the two second robotic arms 4 are respectively arranged on the two gripping stations 41 on both sides of the conveyor belt 1; the two second position detection devices 5 are respectively arranged on the two second positioning stations 51 on both sides of the conveyor belt 1; the two second position detection devices 5 are located along the conveying direction of the conveyor belt 1, at the rear side of the first robotic arm 21a of the visual inspection device 2 and at the front side of the two second robotic arms 4; the two material distribution tables 6 are respectively arranged at adjacent positions of the two second robotic arms 4.

[0127] In this embodiment, the second controllers (not shown) in the bases 42 of the two second robotic arms 4 are electrically connected to the two second position detection devices 5. The second controllers are configured to grab the current stamped part 100 on the conveyor belt 1 and place it on the corresponding material distribution table 6 when the stamped part 100 enters the grabbing area of ​​the second robotic arm 4.

[0128] In practical applications, the control device can control the two second robotic arms 4 to alternately grab the stamping parts 100 and place them on the corresponding material distribution tables 6, which can disperse the stamping parts 100 that have completed the inspection to different material distribution tables 6. In addition, after receiving the inspection result sent by the first controller of the visual inspection device 2, the control device can control one of the second robotic arms 4 to grab a non-defective stamping part 100 and place it on a corresponding material distribution table 6, and control the other second robotic arm 4 to grab a defective stamping part 100 and place it on another corresponding material distribution table 6.

[0129] In actual applications, the number of the first robotic arm 21a, the first position detection device 3, the second robotic arm 4, the second position detection device 5 and the material distribution table 6 can be flexibly set according to actual needs.

[0130] Figure 7 is a structural schematic diagram of Example 3 of the online detection system for stamping parts provided in an embodiment of the present application; as shown in Figure 7, in this embodiment, the number of first robotic arms 21a can be one group, that is, two first robotic arms 21a respectively located on both sides of the conveyor belt 1; the number of first position detection devices 3 is the same as the number of first robotic arms 21a; the number of second robotic arms 4 can be three groups, that is, six second robotic arms 4 respectively located on both sides of the conveyor belt 1; the number of second position detection devices 5 and the material distribution table 6 is the same as the number of second robotic arms 4.

[0131] Refer to Figures 8 and 9. Figure 8 is a structural schematic diagram of Example 4 of the online inspection system for stamping parts provided in an embodiment of the present application; Figure 9 is a schematic diagram of the arrangement of the inspection station 213, the first positioning station 31, the gripping station 41 and the second positioning station 51 in the embodiment shown in Figure 8.

[0132] As shown in Figures 8 and 9, the online detection system of this embodiment may include: multiple groups of first robotic arms 21a, multiple groups of detection stations 213, multiple groups of first position detection devices 3, multiple groups of first positioning stations 31, as well as multiple groups of second robotic arms 4, multiple groups of gripping stations 41, multiple groups of second position detection devices 5, multiple groups of second positioning stations 51, and multiple material distribution platforms 6. The number of first robotic arms 21a, detection stations 213, first position detection devices 3, and first positioning stations 31 is the same; the number of second robotic arms 4, gripping stations 41, second position detection devices 5, second positioning stations 51, and material distribution platforms 6 is the same.

[0133] Specifically, multiple groups of inspection stations 213 are arranged on both sides of the conveyor belt 1; multiple groups of first positioning stations 31 are also arranged on both sides of the conveyor belt 1, and are staggered one by one with the multiple groups of inspection stations 213 along the conveying direction of the conveyor belt 1, and each first positioning station 31 is located in front of a detection station 213.

[0134] Multiple sets of second positioning stations 51 are arranged on both sides of the conveyor belt 1. The first set of second positioning stations 51 is located behind the last set of first robotic arms 21a along the conveyor belt 1's direction of travel. Multiple sets of gripping stations 41 are arranged on both sides of the conveyor belt 1, staggered and corresponding to the second positioning stations 51. In other words, each second positioning station 51 is located in front of a gripping station 41 along the conveyor belt 1's direction of travel. Each material distribution platform 6 is located adjacent to a corresponding second robotic arm 4.

[0135] As shown in Figures 8 and 9, the visual inspection equipment 2 in this embodiment is divided into multiple groups, with each group having two. The two first robotic arms 21a of each group of visual inspection equipment 2 are respectively set on an inspection station 213; the multiple groups of first position detection equipment 3 in this embodiment are respectively installed on a first positioning station 31, and each first position detection device 3 is electrically connected to the first controller of the adjacent visual inspection equipment 2.

[0136] The first controller (not shown in the figure) of each visual inspection device 2 performs inspection on the stamping part 100 for one or two preset defect items based on the images captured by the respectively connected camera mechanism 22, obtains the inspection results of each preset defect item, and sends the inspection results to the control device (not shown in the figure).

[0137] In this embodiment, two groups of visual inspection devices 2 are used, each of which can detect one or two defects. For example, along the conveyor belt's direction, the first group of two visual inspection devices 2 can detect dents and / or indentations; the second group of visual inspection devices 2 can detect holes, cracks, or burrs. If a large number of defects need to be detected, more visual inspection devices 2 can be deployed. Compared to using a single visual inspection device 2 to detect all defects, this embodiment can distribute different defect detection items to individual visual inspection devices 2 for inspection, thereby increasing the image data processing speed of each visual inspection device.

[0138] As shown in FIG8 and FIG9 , multiple groups of second position detection devices 5 in this embodiment are respectively installed on a second positioning station 51 , and each second position detection device 5 is electrically connected to the second controller in the adjacent second robotic arm 4 .

[0139] In addition, in this embodiment, the second robotic arm 4 cooperates with the second position detection device 5 and the material distribution table 6 to achieve two classification functions:

[0140] The first is to classify based on product type when there are multiple stamping products on the production line.

[0141] In this case, each second controller can be connected to each first controller for communication, and receive the product type information of the current stamping part 100 on the conveyor belt 1 sent by each first controller when the detection result is that the current stamping part is defect-free; and when the product type of the current stamping part 100 is consistent with its own preset product type, control the corresponding second movable arm 43 and the grasping mechanism 44 at its end to grasp the current stamping part 100 into the corresponding material distribution table 6.

[0142] In other embodiments, each second controller can be communicatively connected with the control device, and receive the product type information of the current stamping part 100 on the conveyor belt 1 sent by the control device based on the detection result that the current stamping part is defect-free; and when the product type of the current stamping part 100 is consistent with its own preset product type, control the second movable arm 43 and the grasping mechanism 44 at its end to grasp the current stamping part 100 into the corresponding material distribution table 6.

[0143] Specifically, in addition to performing defect detection on the stamping part 100 based on the image captured by the camera mechanism 22 electrically connected to it, each first controller can also further perform image recognition based on the captured image to obtain the product type of the current stamping part 100, and after obtaining the detection result, send the detection result and the product type information of the current stamping part 100 to the second controller or control device.

[0144] The second method is to classify a product based on the defect type when there is a stamping product on the production line.

[0145] In this case, each second controller is connected to the first controller for communication, and receives the defect type information of the current stamping part 100 on the conveyor belt 1 sent by each first controller when the detection result shows that the current stamping part is defective; and when the defect type of the current stamping part 100 is consistent with the preset defect type of itself, controls the corresponding second movable arm 43 and the grasping mechanism 44 at its end to grasp the current stamping part 100 to the corresponding material distribution table 6; or,

[0146] Each second controller is connected to the device for communication, and receives the defect type information of the current stamping part 100 on the conveyor belt 1 sent by the control device based on the detection result that the current stamping part is defective; and when the defect type of the current stamping part 100 is consistent with its own preset defect type, controls the second movable arm 43 and the grasping mechanism 44 at its end to grasp the current stamping part 100 to the corresponding material distribution table 6.

[0147] This method actually classifies defective stamping parts according to their defect types and removes them by framing (material tables). During subsequent processing, software can be used to further weight and grade different defects to achieve flexible quality control.

[0148] As shown in Figures 8 and 9, the online inspection system of this embodiment may further include: a waste storage mechanism 7 provided at the tail end 11 of the conveyor belt; the control device in this embodiment is further configured to control the conveyor belt 1 to transfer the defective stamping part 100 to the tail end 11 of the conveyor belt at a preset waste transfer speed when the inspection result sent by the first controller indicates that the stamping part 100 is a defective stamping part, so that the defective stamping part 100 is placed in the waste storage mechanism 7. Specifically, the defective stamping part 100 can be moved to the waste storage mechanism 7 manually, or a robotic arm can be provided to grab the defective stamping part 100 into the waste storage mechanism 7. In addition, the waste storage mechanism 7 can also be provided on a loading platform of a mobile transport trolley. After the conveyor belt 1 transfers the defective stamping part 100 to the tail end 11 of the conveyor belt, the mobile transport trolley moves the defective stamping part 100 to the loading platform through a robotic arm provided therein. The mobile transport trolley can then transport the defective stamping part 100 to a rework shop for rework. It can be seen that the application of this embodiment can also achieve timely recycling and repair of waste materials, further improving production efficiency.

[0149] Refer to Figure 10, which is a structural diagram of Example 5 of the online detection system for stamping parts provided in an embodiment of the present application. As shown in Figure 10, the follower mechanism 21 in this embodiment is a follower slide 21b; the follower slide 21b includes: two first slide rails 2111, a second slide rail 2112 and a third slide rail 2113; wherein, the two first slide rails 2111 are respectively mounted on both sides of the conveyor belt 1 through the support seat 210b; the second slide rail 2112 is bridged on the two first slide rails 2111, and is slidably connected with the two first slide rails 2111 along the extension direction of the conveyor belt 1 through two first sliders 2114; the third slide rail 2113 is vertically arranged on the second slide rail 2112 in the up and down directions, and is slidably connected with the second slide rail 2112 in the horizontal direction through the second slider 2115; the third slide rail 2113 is provided with a mounting rail 2117 on the side away from the second slider 2115; the camera mechanism 22 is slidably connected with the mounting rail 2117 in the up and down directions through the third slider 2116. As shown in FIG. 10 , a fixing member 2118 is further provided between the two first slide rails 2111 , for example, it may be a metal connecting rod, for maintaining the distance between the two first slide rails 2111 .

[0150] In this embodiment, the first slider 2114, the second slider 2115 and the third slider 2116 are all provided with drive motors (not shown in the figure); wherein, the first controller of the visual inspection equipment 2 can be set in the support seat 210b or any slide rail, and electrically connected to each drive motor to control each drive motor to drive the first slider 2114, the second slider 2115 and the third slider 2116 to slide on the first slide rail 2111, the second slide rail 2112 and the mounting rail 2117; so that the camera mechanism 22 of the visual inspection equipment 2 can be driven by the follow-up slide 21b and move synchronously with the stamping part 100 on the conveyor belt 1.

[0151] In this embodiment, a follower slide 21b is used as the follower mechanism 21. Although its degree of freedom is slightly lower than that of the first robotic arm 21a, it is simpler in structure and lower in cost than the robotic arm, and can be applied to production scenarios where the degree of freedom is not required to be high.

[0152] It can be seen from the above embodiments that the online inspection system provided in the embodiments of the present application can be successfully applied to the automatic production line of stamping machine automobile stamping parts. Through the follow-up mechanism, the camera mechanism 22 of the visual inspection equipment 2 can be synchronized with the stamping parts on the production line, ensuring the clarity of the image shooting, and realizing real-time full-online inspection of the defects such as holes, bumps, sub-scratches, cracks, necking, burrs, etc. of the stamping parts produced during the production process, and can stably and timely eliminate defective products, thereby improving product yield and protecting brand value.

[0153] Moreover, the camera mechanism 22 of the visual inspection device 2 in this embodiment can be the structure shown in Figures 3a to 4, so that the captured image can achieve full-angle coverage of the stamped parts, and the optical lighting conditions ensure that the defect characteristics are stable.

[0154] First, the visual inspection device 2 is mounted on a robotic arm or a follow-up slide, so that the camera mechanism 22 of the visual inspection device 2 moves synchronously with the stamping parts on the production line. Secondly, after the stamping parts leave the press, they are placed on a conveyor belt for movement. A smart camera or sensor is used as the first inspection device, which can sense the position of the parts and transmit it to the robotic arm or follow-up slide. The robotic arm or follow-up slide drives the camera of the camera mechanism 22 to capture images, thereby achieving follow-up photography of the stamping parts and ensuring production efficiency and rhythm. Thirdly, based on stable images, various algorithmic technologies such as deep learning target detection and image arithmetic operations are used to achieve efficient inspection of stamping parts. Finally, in some embodiments, multiple third robotic arms can be added, which can not only realize the sorting of defect-free stamping parts by product type, but also realize the removal and framing of defective parts, or weighted grading according to different defects, further realizing flexible quality control.

[0155] Secondly, the visual inspection equipment provided in the embodiments of the present application is described in detail.

[0156] The visual inspection equipment provided in the embodiment of the present application is applied to the online inspection system for stamping parts in the above-mentioned embodiment; specifically, please refer to Figure 2, the visual inspection equipment includes: a follower mechanism 21, a camera mechanism 22 and a first controller (not shown in Figure 2); the follower mechanism 21 includes: a base 210 arranged on the side of the conveyor belt 1 and a follower component 211 installed on the base 210; the camera mechanism 22 is installed at the end 212 of the follower component 211.

[0157] Among them, the first controller is electrically connected to the camera mechanism 22 and the follower component 211; it is used to control the movement of the follower component 211 when the stamping part 100 enters the shooting range of the camera mechanism 22, so that the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1 under the drive of the follower component 211, and control the camera mechanism 22 to collect images of the stamping part 100 in the process of synchronous movement with the stamping part 100, and detect the stamping part 100 based on the collected image to obtain the detection result.

[0158] As previously mentioned, the follower mechanism 21 of the visual inspection equipment in FIG2 may be a first robotic arm 21a, the specific structure of which is the same as the first robotic arm 21a in the first embodiment of the aforementioned online stamping part inspection system, and is not repeated here. In other embodiments, the follower mechanism 21 may be a follower slide 21b, the specific structure of which is the same as that of the fifth embodiment of the aforementioned online stamping part inspection system, as shown in FIG10 , and is not repeated here.

[0159] The visual inspection device provided in the embodiment of the present application is configured such that the camera mechanism 22 is disposed at the end of the follower mechanism 21, for example, at the end of the first robotic arm 21a or the end of the follower slide 21b, so that the first controller of the visual inspection device can control the follower component to move synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to capture images of the stamping parts while moving synchronously with the stamping parts, and inspect the stamping parts based on the captured images to obtain inspection results. This enables online inspection of stamping parts moving along the conveyor belt on the stamping parts production line.

[0160] The specific structure of the camera mechanism 22 in the visual inspection equipment provided in the embodiment of the present application may be the same as the camera mechanism 22 in the embodiment 1 of the aforementioned stamping parts online inspection system. Please refer to Figures 1, 3a to 3c and 4, which will not be repeated here.

[0161] In one embodiment of the present application, there is also provided a stamping part online detection system: used for detecting stamping parts (100) moving on a conveyor belt (1); the system comprises: at least one visual detection device (2), a first position detection device (3);

[0162] Each of the visual inspection devices (2) comprises: a follow-up mechanism (21), a camera mechanism (22) and a first controller;

[0163] The camera mechanism (22) is mounted on the follower mechanism (21);

[0164] The first controller is electrically connected to the camera mechanism (22) and the follower mechanism (21); and is used to control the movement of the follower mechanism (21) when the stamping part (100) enters the shooting range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower mechanism (21); and control the camera mechanism (22) to collect an image of the stamping part (100) during the process of synchronous movement with the stamping part (100), and detect the stamping part (100) based on the collected image to obtain a detection result;

[0165] The first position detection device (3) is arranged at a first fixed position of the conveyor belt (1) and is electrically connected to the first controller for detecting the position of the stamping part (100) on the conveyor belt (1). When the stamping part (100) is detected to enter the shooting range of the camera mechanism (22), the first controller is notified.

[0166] The description of the components included in the stamping parts online inspection system of this embodiment can refer to any of the previous embodiments.

[0167] In one embodiment of the present application, a visual inspection device is further provided, which is applied to the above-mentioned stamping parts online inspection system; the visual inspection device includes: a follower mechanism (21), a camera mechanism (22) and a first controller;

[0168] The camera mechanism (22) is mounted on the follower mechanism (21);

[0169] The first controller is electrically connected to the camera mechanism (22) and the follower mechanism (21); and is used to control the movement of the follower mechanism (21) when the stamping part (100) enters the shooting range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower mechanism (21), and control the camera mechanism (22) to collect images of the stamping part (100) during the process of synchronous movement with the stamping part (100), and detect the stamping part (100) based on the collected image to obtain a detection result.

[0170] The description of any component of the visual inspection device of this embodiment can refer to the device of any previous embodiment.

[0171] Again, the online detection method for stamping parts provided in the embodiment of the present application is described in detail.

[0172] The present application provides two stamping parts online inspection methods, which are respectively applied to the first controller and the control device of the visual inspection device in the aforementioned online inspection system.

[0173] Referring to FIG. 11 a , FIG. 11 a is a flow chart of a first embodiment of a method for online detection of stamped parts applied to a first controller according to an embodiment of the present application. As shown in FIG. 11 a , the flow chart includes the following steps:

[0174] Step S110: receiving a first notification message sent by a first position detection device in the system.

[0175] The first notification message is used to indicate that the first position detection device detects that the stamping part enters the shooting range of the camera mechanism.

[0176] Step S111, obtaining the moving speed of the conveyor belt.

[0177] In this embodiment, there are two ways to obtain the moving speed of the conveyor belt:

[0178] The first method: the moving speed of the conveyor belt is pre-stored in the first controller; in this step, the pre-stored moving speed of the conveyor belt can be read.

[0179] The second type: receiving the conveyor belt moving speed sent by the control device when the conveyor belt is turned on.

[0180] Step S112, controlling the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping parts on the conveyor belt under the drive of the follower component, and controlling the camera mechanism to capture images of the stamping parts during the process of synchronous movement with the stamping parts.

[0181] The video recording mechanism in this embodiment may include: a connecting frame, a light source frame and multiple cameras; the light source frame is a conical three-dimensional frame with its opening facing the conveyor belt, including: a top surface light source arranged on the top inner wall of the conical three-dimensional frame and a conical surface light source arranged on the conical inner wall of the conical three-dimensional frame.

[0182] In this step, after receiving the first notification message, the first controller turns on the top surface light source and each conical surface light source, and controls each camera to capture images simultaneously while moving synchronously with the stamping part according to the preset shooting frequency until the stamping part moves out of the shooting range of the camera mechanism.

[0183] For example, the shooting time of each camera can be controlled to be 25ms, that is, patrol shooting can be performed at a frequency of once every 25ms to ensure the integrity of the captured image.

[0184] Step S113: inspect the stamped part based on the collected image to obtain an inspection result;

[0185] Step S114: Send the obtained detection result to the control device.

[0186] This embodiment is applied to the first controller in the aforementioned stamping part online detection system. When the stamping part 100 enters the shooting range of the camera mechanism 22, it can control the movement of the follower component 211, so that the camera mechanism 22 can be driven by the follower component 211 to move synchronously with the stamping part 100 on the conveyor belt 1, and control the camera mechanism 22 to collect images of the stamping part 100 in the process of synchronous movement with the stamping part 100, and detect the stamping part 100 based on the collected image to obtain the detection result; because the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1, the camera mechanism 22 and the stamping part on the conveyor belt 1 are relatively stationary. Compared with dynamic shooting, the image captured by the camera mechanism 22 in a stationary state has higher clarity, and image recognition and detection of high-definition stamping part images are performed, further ensuring the accuracy of online detection.

[0187] Specifically, step S113 in Figure 11a inspects the stamping parts based on the collected images to obtain inspection results, which may include: inspecting one or more defect items including whether the position of the holes on the stamping parts is accurate, whether there are bumps, whether there are dents, whether there are scratches, whether there are cracks, whether there is necking in the cross section, or whether there are burrs based on the collected images to obtain inspection results.

[0188] Referring to FIG. 11 b , the principle flow of the first controller for inspecting a stamped part in this embodiment is shown. The flow is a main step of inspecting the stamped part based on the collected image after the first controller controls the camera mechanism to collect the image, including:

[0189] Step S1130, input image.

[0190] In this embodiment, the first controller is provided with software for detection, and this step is to input the image captured by the camera 22 into the software for detection.

[0191] Step S1131a, perform hole detection.

[0192] In this step, a target detection algorithm may be used to perform image recognition on the collected image and detect the location of the holes in the image.

[0193] Step S1131b, positioning the detection area.

[0194] In this step, the collected image can be divided into regions according to the positions of the holes that should normally exist on the stamping part, and a first region for holes to be detected can be divided, wherein the first region indicates the position of the holes under normal circumstances; at the same time, the collected image can be divided into regions according to the positions of each weld on the stamping part and the positions where cracks may occur determined based on experience, and a second region for cracks to be detected can be divided, wherein the second region indicates the region where cracks may occur; that is, this step locates two types of regions to be detected: holes to be detected and cracks to be detected.

[0195] Step S1131c: perform crack detection.

[0196] In this step, a change detection algorithm may be used to perform image recognition on the collected image to detect locations in the image that have cracks and changes compared to the normal image.

[0197] Step S1131d, dividing the detection area.

[0198] In this step, the captured image can be divided into regions according to preset rules, for example, by evenly dividing the image based on area size or by different regions' functions. Each divided region is used to detect defects such as concave-convex scratches and pressure scratches.

[0199] Step S1132: draw the hole detection area.

[0200] In this step, first regions of the holes to be detected may be drawn in the captured image, for example, by drawing a dotted frame of a certain color at the edge of each first region.

[0201] Step S1133: drawing a crack detection area.

[0202] In this step, each second region to be detected for cracking may be drawn in the acquired image, for example, by drawing a dotted frame of another color at the edge of each second region.

[0203] Step S1134: hole detection and judgment.

[0204] In this step, the positions of the holes detected in step S113a can be compared with the first regions of the holes to be detected in step S1132. If some of the detected holes are not within the first region, that is, holes appear where holes should not exist, the stamped part has a hole defect. If all the detected holes are within the first region, that is, the hole positions are normal, the stamped part does not have a hole defect.

[0205] Step S1135: crack detection and judgment.

[0206] In this step, the position of the image detected in step S113 that has crack changes compared with the normal image can be compared with the second area to be detected for cracks to determine whether the position of the crack change is located in the second area. If so, the stamping part has a cracking defect; if not, it can be further determined manually whether there is a cracking defect.

[0207] Step S1136, defect detection.

[0208] In this step, each inspection area divided in step S1131d can be inspected for other defects such as concave-convex scratches and pressure scratches.

[0209] Step S1137: The detection results are summarized and output.

[0210] In this step, the judgment results obtained in the aforementioned steps S1134 and S1135 and the defect detection result of step S1136 can be summarized and output.

[0211] Additionally, you can weight and grade defects based on their different types and / or number of defects to achieve flexible quality control. For example, you can weight holes higher than scratches, or give defects with multiple defects a higher weight.

[0212] Specifically, hole detection can be achieved by training a model on hole samples using a deep learning algorithm, enabling the model to detect and identify holes. By defining a detection area, the holes to be detected are identified and located. If a hole is not detected at the specified location, an alarm is generated.

[0213] Crack detection can be achieved by training a model on crack samples using a deep learning algorithm, enabling the model to detect cracks. Software can also be used to identify key detection areas, enabling the algorithm to detect cracks in these key areas.

[0214] For other defect detection, deep learning algorithms can also be used to train models on samples of defects such as concave-convex scratches and pressure scratches, enabling the model to detect and identify these defects. Software can be used to divide the area to be inspected for defects, enabling the algorithm to detect defects such as concave-convex scratches and pressure scratches in the area to be inspected.

[0215] It should be noted that the specific defect detection algorithm in the embodiment of the present application can adopt the static image detection algorithm in the related art, which will not be described in detail here.

[0216] As mentioned above, the stamping parts online detection system provided in the embodiment of the present application may further include: a second robotic arm, a second position detection device, and a material distribution table. In this case, the online detection method applied to the first controller can be seen in Figure 12. Figure 12 is a flow chart of Example 2 of the stamping parts online detection method applied to the first controller provided in the embodiment of the present application. As shown in Figure 12, this method, based on the process shown in Figure 11a, also includes:

[0217] Step S115a, when the inspection result shows that the current stamping part has no defects, the inspection result is sent to the second controller arranged at the base of the second robot arm, so that the second controller controls the second movable arm of the second robot arm and the grasping mechanism at its end to grasp the current stamping part into the material distribution table when receiving the second notification message sent by the second position detection device; wherein the second notification message is used to indicate that the second position detection device detects that the stamping part enters the grasping area of ​​the second robot arm.

[0218] In other embodiments, the number of the second robotic arm, the second position detection device, the second controller, and the material distribution table in the stamping part online detection system is multiple. The online detection method in this case can be seen in Figure 13, which is a flow chart of Example 3 of the stamping part online detection method applied to the first controller provided in the embodiment of the present application. As shown in Figure 13, based on the process shown in Figure 11a, this method also includes:

[0219] Step S115b, when the inspection result shows that the current stamping part is free of defects, the inspection result and the product type information of the current stamping part are sent to each second controller, so that each second controller, upon receiving the second notification message sent by the second position detection device electrically connected to it, and when the product type of the current stamping part is consistent with its own preset product type, controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding material distribution table.

[0220] In other embodiments, step S115b may also include: when the detection result shows that the current stamping part is defective, the detection result and the defect type information of the current stamping part are sent to each second controller, so that each second controller, upon receiving the second notification message sent by the second position detection device electrically connected to it, and when the defect type of the current stamping part is consistent with its own preset defect type, controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding material distribution table.

[0221] It can be seen that by applying this embodiment, through the cooperation of the second robotic arm 4, the second position detection device 5, and the material distribution table 6 in the online detection system, two classification functions can be achieved: first, when there are multiple stamping parts on the production line, classification is based on product type; second, when there is only one stamping part on the production line, classification is based on defect type.

[0222] Referring to FIG. 14 , FIG. 14 is a flow chart of a first embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application; the flow chart includes:

[0223] Step S140, controlling the conveyor belt to move;

[0224] Step S141, receiving a detection result sent by a first controller in a visual inspection device;

[0225] The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can be driven by the follow-up component. It moves synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to collect images of the stamping parts in the process of synchronous movement with the stamping parts, and detects the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts have entered the shooting range of the camera mechanism.

[0226] This embodiment is applied to the control device in the aforementioned online inspection system for stamped parts. The control device is capable of controlling the movement of a conveyor belt and receiving inspection results sent by a first controller in the visual inspection device in the online inspection system. Thus, the control device can output, integrate, analyze, and process the received inspection results, thereby enabling full production line inspection and unified control of the online inspection system.

[0227] As previously mentioned, the number of visual inspection devices in the stamping parts online inspection system provided in the embodiments of the present application can be two, one located on either side of the conveyor belt. Each visual inspection device includes: a first controller, a camera mechanism, and a first robotic arm. The online inspection method applied to the control device in this case can be seen in Figure 15.

[0228] FIG15 is a flow chart of a second embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application. As shown in FIG15 , step S141 of the embodiment shown in FIG14 may specifically include the following steps in this embodiment:

[0229] Step S141a, receiving images captured by each first controller based on the images captured by the respective connected camera mechanisms, and performing inspection on the stamped part to obtain inspection results; wherein each camera mechanism is used to capture a complete image of the stamped part; or to capture half of the complete image of the stamped part;

[0230] Based on the embodiment shown in FIG14 , the method of this embodiment further includes:

[0231] Step S142a: When the received detection result is obtained based on half of the image, the detection results sent by the two first controllers are combined to obtain a complete detection result of the stamping part.

[0232] In this embodiment, the two camera mechanisms in the two visual inspection devices can each capture a complete image of the stamping part, and after each inspection, the inspection results are sent to the control device. The control device can combine the two inspection results to obtain a final result, thereby making the inspection result more accurate. In actual applications, for larger stamping parts, the two camera mechanisms in the two visual inspection devices can each capture an image of half of the stamping part, and after each inspection, the inspection results are sent to the control device. The control device can combine the two inspection results to obtain a final result, thereby ensuring that all parts of the stamping part are fully captured and inspected.

[0233] As previously mentioned, the stamping parts online inspection system provided by the present embodiment can include multiple groups of visual inspection devices. In this case, the online inspection method applied to the control device allows each visual inspection device to detect different defects, and the control device finally combines them to obtain the final inspection result. For details, see Figure 16.

[0234] Referring to FIG. 16 , FIG. 16 is a flow chart of a third embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application. As shown in FIG. 16 , step S141 of the embodiment shown in FIG. 14 may specifically include the following steps in this embodiment:

[0235] Step S141b, receiving the detection results of each preset defect item obtained by the first controller of each visual inspection device, performing inspection of one or two preset defect items on the stamping part based on the images captured by the respectively connected camera mechanism;

[0236] Step S142b: combining the detection results of the preset defect items sent by the first controllers to obtain the detection results of all defect items of the stamping part.

[0237] In this embodiment, multiple groups of visual inspection devices are used, each of which can detect one or two defects. For example, along the conveyor belt's travel direction, the first group of two visual inspection devices 2 can detect dents and / or indentations; the second group of visual inspection devices can detect holes, cracks, or burrs. If a large number of defects need to be detected, more visual inspection devices can be deployed. Compared to using a single visual inspection device to detect all defects, this embodiment distributes different defect detection items to individual visual inspection devices, increasing the image data processing speed of each visual inspection device.

[0238] As previously mentioned, the visual inspection device in the stamping parts online inspection system provided in the embodiment of the present application may also include: a second robotic arm, a second position detection device, and a material distribution table to achieve online collection and / or distribution of incoming materials. In this case, the online inspection method applied to the control device can be seen in Figure 17.

[0239] FIG17 is a flow chart of a fourth embodiment of a method for online detection of stamped parts applied to a control device according to an embodiment of the present application. As shown in FIG17 , based on FIG14 , the method further includes:

[0240] Step S143, based on the detection result that the current stamping part is free of defects, sends a grabbing instruction to the second controller arranged at the base of the second robot arm, so that the second controller controls the second movable arm of the second robot arm and the grabbing mechanism at its end to grab the current stamping part into the material distribution table when receiving the second notification message sent by the second position detection device; wherein, the second notification message is used to indicate that the second position detection device detects that the stamping part enters the grabbing area of ​​the second robot arm.

[0241] In this embodiment, the control device can control the second robotic arm to grab the non-defective stamping parts and put them into the material distribution table to gather the non-defective stamping parts together.

[0242] In other embodiments, the control device can also grab the defective stamping parts into the material distribution table to collect the defective stamping parts for rework, which is also possible. This can be set according to the actual needs of the production line and is not limited by this application.

[0243] In addition, in some embodiments, there may be multiple second robotic arms, second position detection devices, second controllers, and material distribution platforms. In this case, the above step S143 may specifically include:

[0244] Obtain the detection result sent by the first controller and the product type information of the current stamping part on the conveyor belt; and when the detection result is that the current stamping part is free of defects, send the product type information of the current stamping part to each second controller set at the base of each second robotic arm, so that each second controller controls the second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding material distribution table when the product type of the current stamping part is consistent with its own preset product type and receives the second notification message sent by the second position detection device electrically connected to the second controller.

[0245] This method is suitable for situations where there are multiple different types of stamping parts on the production line. Each type of stamping part corresponds to a material distribution table, which can realize online sorting of stamping parts of different product types on the production line, further improving production efficiency.

[0246] In other embodiments, the above step S143 may specifically include:

[0247] When the detection result shows that the current stamping part is defective, the detection result and the defect type information of the current stamping part are sent to each second controller, so that each second controller, upon receiving the second notification message sent by the second position detection device electrically connected to it and the defect type of the current stamping part is consistent with its own preset defect type, controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding material distribution table.

[0248] It can be seen that by applying this embodiment, through the cooperation of the second robotic arm 4, the second position detection device 5, and the material distribution table 6 in the online detection system, two classification functions can be achieved: first, when there are multiple stamping parts on the production line, classification is based on product type; second, when there is only one stamping part on the production line, classification is based on defect type.

[0249] As mentioned above, in some embodiments, the stamping parts online inspection system may further include: a scrap temporary storage mechanism provided at the tail of the conveyor belt, the scrap temporary storage mechanism being used to collect defective stamping parts for rework. Referring to FIG. 17 , the method may further include:

[0250] In step S144, when the inspection result sent by the first controller indicates that the stamped part is a defective stamped part, the conveyor belt is controlled to convey the defective stamped part to the tail of the conveyor belt at a preset waste conveying speed so that it is placed in the waste temporary storage mechanism.

[0251] Specifically, the defective stamping parts can be moved to the waste temporary storage mechanism manually, or a robotic arm can be set up to grab them into the waste temporary storage mechanism. In addition, the waste temporary storage mechanism can also be set on a loading platform of a mobile transport trolley. After the conveyor belt transports the defective stamping parts to the tail of the conveyor belt, the mobile transport trolley moves the defective stamping parts to the loading platform through the robotic arm set therein. Then, the mobile transport trolley can transport the defective stamping parts to the repair workshop for repair. It can be seen that the application of this embodiment can also achieve timely recovery and repair of waste materials, further improving production efficiency.

[0252] The following describes the overall concept of online detection by the online detection system provided in the embodiment of the present application. Referring to FIG18 , FIG18 is a schematic flow chart of the overall concept of online detection by the online detection system provided in the embodiment of the present application. As shown in FIG18 , the overall concept of the embodiment of the present application includes:

[0253] First, after the start, the case where there is only one visual inspection device is described, as shown in steps S1801 to S1805 in FIG18 .

[0254] In step S1801, the belt line (i.e., conveyor belt) drives the stamped parts into place, and the smart camera generates a sensing signal.

[0255] Specifically, in this step, the belt line is a type of conveyor belt, and the smart camera is a type of first position detection device. That is, the first position detection device detects that the stamping part on the conveyor belt enters the shooting range of the camera mechanism and issues a first notification message.

[0256] Step S1802: The controller receives a switch signal and divides it into two groups.

[0257] In this step, the controller refers to the first controller in the aforementioned visual inspection device, and the switch signal may refer to the first notification message.

[0258] Step S1803a, triggering the detection camera; Step S1803b, the robotic arm / sliding platform follows the movement of the conveyor belt;

[0259] In this step, two sets of signals are used to trigger the inspection camera and the robotic arm / sliding platform to follow the movement of the conveyor belt. The camera here refers to the imaging mechanism in the aforementioned visual inspection equipment, and the robotic arm / sliding platform refers to the follower mechanism in the aforementioned visual inspection equipment.

[0260] In step S1804a, the cameras collect images respectively; in step S1804b, the robotic arm / sliding platform remains relatively stationary with respect to the conveyor belt.

[0261] In this step, the camera mechanism is driven by the follower component to move synchronously with the stamping part on the conveyor belt, and the camera mechanism is controlled to collect images of the stamping part during the process of synchronous movement with the stamping part.

[0262] Step S1805 , based on the collected images, target detection, image arithmetic processing and analysis are performed to determine the defect features within a single or multiple frames.

[0263] In this step, image processing is performed on the collected image to obtain the defect features in the image.

[0264] Secondly, for the case where there are multiple sets of visual inspection equipment, as shown in steps S1806 to S1812 in FIG18 .

[0265] Step S1806, determine whether there are multiple sets of visual inspection equipment, if yes, execute steps S1807a and S1807b; if not, directly execute step S1810.

[0266] Step S1807a, triggering multiple sets of detection cameras; step S1807b, multiple sets of robotic arms / sliding platforms follow the movement of the conveyor belt.

[0267] The difference between this step and the aforementioned steps S1803a and S1803b is that the number of cameras and the number of robotic arms / sliding platforms are multiple groups.

[0268] In step S1808a, multiple groups of cameras collect images respectively; in step S1808b, multiple groups of robotic arms / sliding platforms remain relatively stationary with respect to the conveyor belt.

[0269] The difference between this step and the aforementioned steps S1804a and S1804b is that the number of cameras and the number of robotic arms / sliding platforms are multiple groups.

[0270] Step S1809: Determine the defect features in a single or multiple frames based on the captured images, target detection, and image arithmetic processing and analysis.

[0271] Step S1810, based on the obtained defect characteristics, determine whether the stamping part has defects; if there are no defects, execute step S1811 to remove the device and end; if there are defects, execute step S1812 to remove the device and end.

[0272] As mentioned above, in the stamping parts online inspection system provided in the embodiment of the present application, the rejection device can be a robotic arm, and a waste storage mechanism can be set at the tail of the conveyor belt. By controlling the conveyor belt to speed up the conveying speed, the defective stamping parts can be conveyed to the tail of the conveyor belt at a preset waste conveying speed, and the robotic arm can grab them and place them in the waste storage mechanism.

[0273] In addition, as described above, in the stamping parts online detection system provided in the embodiment of the present application, a second robotic arm, a second position detection device, and a material separation table can be provided. The second robotic arm can serve as a material separation device to classify stamping parts of different product types on the production line.

[0274] In other embodiments, the second robotic arm can be used as a rejection device to classify stamping parts of a product type based on different defects. For example, different separation tables corresponding to different defects are set on both sides of the conveyor belt. When the second detection device detects a defective stamping part and it enters the grasping range of a second robotic arm, the second robotic arm can determine whether the defective product type of the defective stamping part is the defective product type preset by itself. If so, it will grab the defective stamping part and put it into its corresponding separation table. In this way, defective stamping parts can be effectively classified and rejected from the conveyor belt, further improving production efficiency.

[0275] Then, the stamping parts online detection device provided in the embodiment of the present application is described in detail.

[0276] Corresponding to the stamping parts online detection method provided in the embodiment of the present application, the embodiment of the present application also provides two stamping parts online detection devices. Referring to Figure 19, Figure 19 is a schematic structural diagram of the stamping parts online detection device applied to the first controller provided in the embodiment of the present application; as shown in Figure 19, the device includes:

[0277] A first notification message receiving module 191 is configured to receive a first notification message sent by a first position detection device, wherein the first notification message indicates that the first position detection device has detected that the stamping part has entered the shooting range of the camera mechanism;

[0278] The speed obtaining module 192 is used to obtain the moving speed of the conveyor belt;

[0279] The first control module 193 is used to control the follower component to move at the speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping parts on the conveyor belt under the drive of the follower component, and control the camera mechanism to capture images of the stamping parts during the process of synchronous movement with the stamping parts;

[0280] The detection module 194 is used to detect the stamping part based on the collected image and obtain the detection result;

[0281] The result sending module 195 is used to send the obtained detection results to the control device.

[0282] The online inspection device provided in the embodiments of the present application can control the follower component to move synchronously with the stamping parts on the conveyor belt, and control the camera mechanism to capture images of the stamping parts during the synchronous movement with the stamping parts. The stamping parts are then inspected based on the captured images to obtain inspection results. This enables online inspection of stamping parts moving along the conveyor belt on a stamping production line.

[0283] Referring to FIG. 20 , FIG. 20 is a schematic structural diagram of a stamping part online detection device applied to a control device according to an embodiment of the present application. As shown in FIG. 20 , the device includes:

[0284] The second control module 2001 is used to control the movement of the conveyor belt;

[0285] A result receiving module 2002 is used to receive the detection result sent by the first controller in the visual detection device;

[0286] The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can be driven by the follow-up component. It moves synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to collect images of the stamping parts in the process of synchronous movement with the stamping parts, and detects the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts have entered the shooting range of the camera mechanism.

[0287] The online inspection device provided in the embodiments of the present application can control the follower component to move synchronously with the stamping parts on the conveyor belt, and control the camera mechanism to capture images of the stamping parts during the synchronous movement with the stamping parts. The stamping parts are then inspected based on the captured images to obtain inspection results. This enables online inspection of stamping parts moving along the conveyor belt on a stamping production line.

[0288] In addition, the present embodiment further provides a controller, see FIG21 , which is a schematic diagram of the structure of the controller provided in the present embodiment. The controller includes:

[0289] Memory 2101, used for storing computer programs;

[0290] The processor 2102 is configured to execute the program stored in the memory 2101 by performing the following steps:

[0291] receiving a first notification message sent by a first position detection device, where the first notification message indicates that the first position detection device has detected that the stamping part has entered a shooting range of a camera mechanism;

[0292] Get the moving speed of the conveyor belt;

[0293] Control the follower component to move at the speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping parts on the conveyor belt under the drive of the follower component, and control the camera mechanism to capture images of the stamping parts during the process of synchronous movement with the stamping parts;

[0294] The stamping parts are inspected based on the collected images to obtain inspection results;

[0295] The obtained detection results are sent to the control device.

[0296] In an embodiment of the present application, the above-mentioned controller may further include a communication bus and / or a communication interface, and the processor 2102, the communication interface, and the memory 2101 communicate with each other via the communication bus.

[0297] In addition, the controller may further include a communication module, such as a wired communication module or a wireless communication module, for communicating with the first controller.

[0298] The present application also provides a control device, as shown in FIG22 , which is a schematic diagram of the structure of the control device provided in the present application. The control device includes:

[0299] Memory 2201, used for storing computer programs;

[0300] The processor 2202 is configured to execute the program stored in the memory 2201 and implement the following steps:

[0301] Controlling the movement of the conveyor belt and receiving the detection results sent by the first controller in the visual inspection device;

[0302] The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can be driven by the follow-up component. It moves synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to collect images of the stamping parts in the process of synchronous movement with the stamping parts, and detects the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts have entered the shooting range of the camera mechanism.

[0303] In an embodiment of the present application, the above-mentioned control device may further include a communication bus and / or a communication interface, and the processor 2202, the communication interface, and the memory 2201 communicate with each other through the communication bus.

[0304] In addition, the control device may further include a communication module, such as a wired network card or a wireless network card for communicating with the first controller.

[0305] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0306] The communication interface is used for communication between the above electronic device and other devices.

[0307] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0308] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0309] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned stamping part online detection methods are implemented.

[0310] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the stamping parts online detection methods in the above embodiments.

[0311] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0312] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0313] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application are included in the scope of protection of this application.

Claims

1. A stamping parts online detection system, characterized by: Used for detecting a stamping part (100) moving on a conveyor belt (1); the system comprises: at least one visual detection device (2), a first position detection device (3) and a control device; Each of the visual inspection devices (2) comprises: a follow-up mechanism (21), a camera mechanism (22) and a first controller; The following mechanism (21) comprises: a base (210) arranged on the side of the conveyor belt (1) and a following component (211) installed on the base (210); The camera mechanism (22) is mounted on the end (212) of the follower component (211); The first controller is electrically connected to the camera mechanism (22) and the follower component (211); and is used to control the movement of the follower component (211) when the stamping part (100) enters the shooting range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower component (211); and controls the camera mechanism (22) to collect images of the stamping part (100) during the process of synchronous movement with the stamping part (100), and detect the stamping part (100) based on the collected images to obtain detection results; The first position detection device (3) is arranged at a first fixed position on the side of the conveyor belt (1), is electrically connected to the first controller, and is used to detect the position of the stamping part (100) on the conveyor belt (1), and notify the first controller when it is detected that the stamping part (100) enters the shooting range of the camera mechanism (22); The control device is in communication connection with the conveyor belt (1) and the first controller, and is used for controlling the movement of the conveyor belt (1) and receiving the detection result sent by the first controller.

2. The system according to claim 1, wherein: The camera mechanism (22) comprises: a connecting frame (221), a light source frame (222) and a plurality of cameras (223); The top of the connecting frame (221) is fixedly connected to the end of the follower component (211), and the bottom is fixedly connected to the top of the light source frame (222); The light source frame (222) is a conical three-dimensional frame with an opening facing the conveyor belt (1), comprising: a top surface light source (2221) arranged on the top inner wall of the conical three-dimensional frame and a conical surface light source (2222) arranged on the conical inner wall of the conical three-dimensional frame; The top surface light source (2221) is provided with a first through hole (2223); the conical surface light source (2222) is provided with a plurality of second through holes (2224) evenly arranged along the conical surface; The first through hole (2223) and each of the second through holes (2224) are used for installing a camera (223), respectively.

3. The system according to claim 2, characterized in that: The conical three-dimensional frame comprises a top surface (2220) and four inclined surfaces (2225); the top surface light source (2221) is arranged on the inner wall of the top surface (2220); the number of the conical surface light sources (2222) is four, and they are respectively arranged on the inner walls of the four inclined surfaces (2225); The connecting frame (221) and the top surface of the light source frame (222) form an installation space, and a camera (223) is installed in the installation space, with its lens passing through the first through hole (2223) and facing the conveyor belt (1); The four sides of the top surface of the light source frame (222) extend outward to form four camera hoisting plates (2227), and the four cameras (223) are hoisted on the four camera hoisting plates (2227), respectively, and the lenses (2231) of the four cameras (223) respectively pass through one of the second through holes (2224) and face the conveyor belt (1).

4. The system according to claim 1, wherein: The follower mechanism (21) is a first mechanical arm (21a); the first mechanical arm (21a) is installed on a detection station (213) on the side of the conveyor belt (1), and the first mechanical arm (21a) includes: a first mechanical arm base (210a) fixedly installed on the detection station (213) and a first movable arm (211a) installed on the first mechanical arm base (210a); the camera mechanism (22) is installed at the end of the first movable arm (211a); The first controller is installed in the first mechanical arm base (210a) and is electrically connected to the camera mechanism (22) and the first movable arm (211a), controlling the movement of the first movable arm (211a) and the image acquisition by the camera mechanism (22); The first position detection device (3) is installed on a first positioning station (31) on the side of the conveyor belt (1). Along the conveying direction of the conveyor belt (1), the first positioning station (31) and the detection station (213) are arranged adjacent to each other, and the detection station (213) is located at the rear side of the first positioning station (31).

5. The system according to claim 4, characterized in that: The number of the visual inspection devices (2) is two, and each of the visual inspection devices (2) comprises: the first controller, the camera mechanism (22) and the first mechanical arm (21a); The two first mechanical arms (21a) are respectively arranged on the detection stations (213) on both sides of the conveyor belt (1); Each of the camera mechanisms (22) is used to capture a complete image of the stamping part (100); or is used to capture a half image of the complete image of the stamping part (100); Each of the first controllers detects the stamping part (100) based on images collected by the camera mechanism (22) connected to it, and obtains a detection result; There are two first position detection devices (3), which are respectively installed on the first positioning stations (31) on both sides of the conveyor belt (1), and each first position detection device (3) is electrically connected to one of the first controllers.

6. The system according to claim 1, wherein: The system further comprises: a second mechanical arm (4), a second position detection device (5) and a material distribution platform (6); The second robotic arm (4) is arranged on a grabbing station (41) on the side of the conveyor belt (1), and is located behind the visual inspection device (2) along the conveying direction of the conveyor belt (1); The second robotic arm (4) comprises: a second robotic arm base (42) fixedly arranged at the grabbing station (41) and a second movable arm (43) mounted on the second robotic arm base (42); a grabbing mechanism (44) is provided at the end of the second movable arm (43); a second controller is provided in the base of the second robotic arm (4), and the second controller is electrically connected to the second movable arm (43) and the grabbing mechanism (44); The material distribution platform (6) and the second mechanical arm (4) are arranged adjacent to each other; The second position detection device (5) is provided on a second positioning station (51) on the side of the conveyor belt (1), and is used to detect the position of the stamping part (100) on the conveyor belt (1), and notify the second controller when it is detected that the stamping part (100) enters the grasping area of the second robot arm (4); The second controller is used to grab the current stamping part (100) on the conveyor belt (1) to the corresponding distribution table (6) when the stamping part (100) enters the grabbing area of the second robot arm (4).

7. The system according to claim 6, characterized in that: The first robotic arm (21a), the detection station (213), the first position detection device (3) and the first positioning station (31) are of the same number and are all in multiple groups; the second robotic arm (4), the gripping station (41), the second position detection device (5), the second positioning station (51) and the material distribution table (6) are of the same number and are all in multiple groups; wherein, The plurality of detection stations (213) are respectively arranged on both sides of the conveyor belt (1); the plurality of first positioning stations (31) are respectively arranged on both sides of the conveyor belt (1), and are staggered in a one-to-one correspondence with the plurality of detection stations (213) along the conveying direction of the conveyor belt (1), and each first positioning station (31) is located in front of a detection station (213); The plurality of groups of second positioning stations (51) are respectively arranged on both sides of the conveyor belt (1), wherein the first group of second positioning stations (51) is located on the rear side of the last group of first robotic arms (21a) along the conveying direction of the conveyor belt (1); The plurality of grabbing stations (41) are arranged on both sides of the conveying belt (1) along the conveying direction of the conveying belt (1) and are staggered in a one-to-one correspondence with the second positioning stations (51); each second positioning station (51) is located in front of a grabbing station (41); Each of the material distribution platforms (6) is arranged adjacent to a corresponding second mechanical arm (4).

8. The system according to claim 7, characterized in that: Each second controller is in communication with the first controller, and receives product type information of the current stamping part (100) on the conveyor belt (1) sent by each first controller when the detection result shows that the current stamping part (100) is free of defects; and when the product type of the current stamping part (100) is consistent with its own preset product type, controls the corresponding second movable arm (43) and the grasping mechanism (44) at its end to grasp the current stamping part (100) to the corresponding material distribution table (6); or, Each second controller is communicatively connected to the control device, receives product type information of the current stamping part (100) on the conveyor belt (1) sent by the control device based on the detection result that the current stamping part (100) is free of defects; and when the product type of the current stamping part (100) is consistent with its own preset product type, controls the second movable arm (43) and the grasping mechanism (44) at its end to grasp the current stamping part (100) to the corresponding material distribution table (6).

9. The system according to claim 7, characterized in that: Each second controller is in communication with the first controller and is used to receive defect type information of the current stamping part (100) on the conveyor belt (1) sent by each first controller when the detection result shows that the current stamping part (100) is defective; and when the defect type of the current stamping part (100) is consistent with the preset defect type, control the corresponding second movable arm (43) and the grasping mechanism (44) at its end to grasp the current stamping part (100) to the corresponding material distribution table (6); or, Each second controller is communicatively connected to the control device, and is used to receive the defect type information of the current stamping part (100) on the conveyor belt (1) sent by the control device based on the detection result that the current stamping part (100) is defective; and when the defect type of the current stamping part (100) is consistent with its own preset defect type, control the second movable arm (43) and the grasping mechanism (44) at its end to grasp the current stamping part (100) to the corresponding material distribution table (6).

10. The system according to claim 6, characterized in that: The first position detection device (3) comprises a first smart camera or a first photoelectric sensor; The first intelligent camera is used to detect in real time whether a stamping part (100) on the conveyor belt (1) moves into the shooting range of the camera mechanism (22) based on image recognition technology; the first photoelectric sensor is used to detect in real time whether a stamping part (100) on the conveyor belt (1) moves into the shooting range of the camera mechanism (22) based on the principle of light being reflected by an object; The second position detection device (5) comprises a second smart camera or a second photoelectric sensor; The second intelligent camera is used to detect in real time whether the stamping part (100) enters the grasping area of the second robotic arm (4) based on image recognition technology; the second photoelectric sensor is used to detect in real time whether the stamping part (100) enters the grasping area of the second robotic arm (4) based on the principle of light reflection by an object.

11. The system according to claim 1, wherein: The system further comprises: a waste temporary storage mechanism (7) arranged at the tail of the conveyor belt (1); The control device is further configured to control the conveyor belt (1) to convey the defective stamping part (100) to the tail of the conveyor belt (1) at a preset waste conveying speed when the detection result sent by the first controller indicates that the stamping part (100) is a defective stamping part (100), so that the defective stamping part (100) is placed in the waste temporary storage mechanism (7).

12. The system according to claim 1, wherein: The first controller pre-stores the moving speed of the conveyor belt (1); when the stamping part (100) enters the shooting range of the camera mechanism (22), the first controller controls the following component (211) to move at the pre-stored moving speed of the conveyor belt (1), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the following component (211); or, When the conveyor belt (1) is turned on, the control device sends the moving speed of the conveyor belt (1) to the first controller; when the stamping part (100) enters the shooting range of the camera mechanism (22), the first controller controls the follower component (211) to move at the received moving speed of the conveyor belt (1), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower component (211).

13. The system according to claim 1, wherein: The following mechanism (21) is a following slide (21b); the following slide (21b) comprises: two first slide rails (2111), a second slide rail (2112) and a third slide rail (2113); The two first slide rails (2111) are respectively mounted on both sides of the conveyor belt (1) through a support seat (210b); The second slide rail (2112) is connected across the two first slide rails (2111) and is slidably connected to the two first slide rails (2111) along the extension direction of the conveyor belt (1) via two first sliding blocks (2114); The third slide rail (2113) is vertically arranged on the second slide rail (2112) in the up-down direction, and is slidably connected to the second slide rail (2112) in the horizontal direction via a second slider (2115); The third slide rail (2113) is provided with a mounting track (2117) on a side away from the second slider (2115); the camera mechanism (22) is connected to the mounting track (2117) in a sliding manner in the up and down directions via the third slider (2116).

14. The system according to claim 12, wherein: The first slider (2114), the second slider (2115) and the third slider (2116) are all provided with a driving motor; The first controller is arranged in the support seat (210b) or any slide rail and is electrically connected to each of the drive motors to control each drive motor to drive the first slider (2114), the second slider (2115) and the third slider (2116) to slide on the first slide rail (2111), the second slide rail (2112) and the mounting rail (2117); so that the camera mechanism (22) can be driven by the follower slide (21b) and move synchronously with the stamping part (100) on the conveyor belt (1).

15. A visual inspection device, characterized in that: Applicable to the stamping parts online detection system according to any one of claims 1 to 14; The visual inspection device comprises: a follow-up mechanism (21), a camera mechanism (22) and a first controller; The following mechanism (21) comprises: a base arranged on the side of the conveyor belt (1) and a following component (211) installed on the base; The camera mechanism (22) is mounted on the end of the follower component (211); The first controller is electrically connected to the camera mechanism (22) and the follower component (211); and is used to control the movement of the follower component (211) when the stamping part (100) enters the shooting range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower component (211), and control the camera mechanism (22) to collect images of the stamping part (100) during the process of synchronous movement with the stamping part (100), and detect the stamping part (100) based on the collected image to obtain a detection result.

16. The visual inspection device according to claim 15, characterized in that: The camera mechanism (22) comprises: a connecting frame (221), a light source frame (222) and a plurality of cameras (223); The top of the connecting frame (221) is fixedly connected to the end of the follower component (211), and the bottom is fixedly connected to the top of the light source frame (222); The light source frame (222) is a conical three-dimensional frame with an opening facing the conveyor belt (1), comprising: a top surface light source (2221) arranged on the top inner wall of the conical three-dimensional frame and a conical surface light source (2222) arranged on the conical inner wall of the conical three-dimensional frame; The top surface light source (2221) is provided with a first through hole (2223); the conical surface light source (2222) is provided with a plurality of second through holes (2224) evenly arranged along the conical surface; The first through hole (2223) and each of the second through holes (2224) are respectively used to install a camera (223) facing the conveyor belt (1).

17. The visual inspection device according to claim 16, characterized in that: The conical three-dimensional frame comprises a light source frame top surface (2220) and four inclined surfaces (2225); the top surface light source (2221) is arranged on the inner wall of the light source frame top surface (2220); the number of the conical surface light sources (2222) is four, and they are respectively arranged on the inner walls of the four inclined surfaces (2225); The connecting frame (221) and the top surface of the light source frame (222) form an installation space, and a camera (223) is installed in the installation space, with its lens passing through the first through hole (2223) and facing the conveyor belt (1); The four sides of the top surface of the light source frame (222) extend outward to form four camera hoisting plates (2227), and the four cameras (223) are hoisted on the four camera hoisting plates (2227), respectively, and the lenses (2231) of the four cameras (223) respectively pass through one of the second through holes (2224) and face the conveyor belt (1).

18. The visual inspection device according to claim 15, characterized in that: The follower mechanism (21) is a first mechanical arm (21a); the first mechanical arm (21a) is installed on a detection station (213) on the side of the conveyor belt (1), and the first mechanical arm (21a) includes: a first mechanical arm base (210a) fixedly installed on the detection station (213) and a first movable arm (211a) installed on the first mechanical arm base (210a); the camera mechanism (22) is installed at the end of the first movable arm (211a); The first controller is installed in the base of the first mechanical arm (21a) and is electrically connected to the camera mechanism (22) and the first movable arm (211a) to control the movement of the first movable arm (211a) and the image acquisition by the camera mechanism (22).

19. The visual inspection device according to claim 15, characterized in that: The following mechanism (21) is a following slide (21b); the following slide (21b) comprises: two first slide rails (2111), a second slide rail (2112) and a third slide rail (2113); The two first slide rails (2111) are respectively mounted on both sides of the conveyor belt (1) through a support seat (210b); The second slide rail (2112) is connected across the two first slide rails (2111) and is slidably connected to the two first slide rails (2111) along the extension direction of the conveyor belt (1) via two first sliding blocks (2114); The third slide rail (2113) is vertically arranged on the second slide rail (2112) in the up-down direction, and is slidably connected to the second slide rail (2112) in the horizontal direction via a second slider (2115); The third slide rail (2113) is provided with a mounting track (2117) on a side away from the second slider (2115); the camera mechanism (22) is connected to the mounting track (2117) in a sliding manner in the up and down directions via the third slider (2116).

20. The visual inspection device according to claim 19, characterized in that: The first slider (2114), the second slider (2115) and the third slider (2116) are all provided with a driving motor; The first controller is arranged in the support seat (210b) or any slide rail and is electrically connected to each of the drive motors to control each drive motor to drive the first slider (2114), the second slider (2115) and the third slider (2116) to slide on the first slide rail (2111), the second slide rail (2112) and the mounting rail (2117); so that the camera mechanism (22) can be driven by the follower slide (21b) and move synchronously with the stamping part (100) on the conveyor belt (1).

21. An online detection system for stamping parts, characterized by: Used for detecting a stamping part (100) moving on a conveyor belt (1); the system comprises: at least one visual detection device (2), a first position detection device (3); Each of the visual inspection devices (2) comprises: a follow-up mechanism (21), a camera mechanism (22) and a first controller; The camera mechanism (22) is mounted on the follower mechanism (21); The first controller is electrically connected to the camera mechanism (22) and the follower mechanism (21); and is used to control the movement of the follower mechanism (21) when the stamping part (100) enters the shooting range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower mechanism (21); and control the camera mechanism (22) to collect an image of the stamping part (100) during the process of synchronous movement with the stamping part (100), and detect the stamping part (100) based on the collected image to obtain a detection result; The first position detection device (3) is arranged at a first fixed position of the conveyor belt (1) and is electrically connected to the first controller for detecting the position of the stamping part (100) on the conveyor belt (1). When the stamping part (100) is detected to enter the shooting range of the camera mechanism (22), the first controller is notified.

22. A visual inspection device, characterized in that: Applicable to the stamping parts online inspection system according to claim 21; the visual inspection equipment comprises: a follow-up mechanism (21), a camera mechanism (22) and a first controller; The camera mechanism (22) is mounted on the follower mechanism (21); The first controller is electrically connected to the camera mechanism (22) and the follower mechanism (21); and is used to control the movement of the follower mechanism (21) when the stamping part (100) enters the shooting range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower mechanism (21), and control the camera mechanism (22) to collect images of the stamping part (100) during the process of synchronous movement with the stamping part (100), and detect the stamping part (100) based on the collected image to obtain a detection result.

23. A stamping parts online detection method, characterized in that: A first controller applied to the stamping parts online detection system according to any one of claims 1 to 14; the method comprising: receiving a first notification message sent by the first position detection device, where the first notification message indicates that the first position detection device has detected that the stamping part has entered a shooting range of the camera mechanism; Obtaining the moving speed of the conveyor belt; Controlling the following component to move at the speed of the conveyor belt so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the following component, and controlling the camera mechanism to capture an image of the stamping part during the process of synchronous movement with the stamping part; Detecting the stamping part based on the collected image to obtain a detection result; The obtained detection result is sent to the control device.

24. The method according to claim 23, wherein: The step of inspecting the stamping part based on the collected image to obtain an inspection result includes: Based on the collected images, one or more defect items including whether the position of the hole on the stamping part is accurate, whether there are bumps, whether there are bruises, whether there are scratches, whether there are cracks, whether there is necking in the cross section or whether there are burrs are detected are detected to obtain the detection results.

25. The method according to claim 23, wherein: The first controller pre-stores the moving speed of the conveyor belt; The obtaining of the moving speed of the conveyor belt includes: reading a pre-stored moving speed of the conveyor belt; or receiving the moving speed of the conveyor belt sent by the control device when the conveyor belt is turned on.

26. The method according to claim 23, wherein: The camera mechanism includes: a connecting frame, a light source frame and a plurality of cameras; the light source frame is a conical three-dimensional frame with an opening facing the conveyor belt, including: a top surface light source arranged on the top inner wall of the conical three-dimensional frame and a conical surface light source arranged on the inner wall of the conical surface of the conical three-dimensional frame; The controlling the camera mechanism to capture an image of the stamping part during the process of synchronous movement with the stamping part includes: After receiving the first notification message, the top surface light source and each conical surface light source are turned on, and each camera is controlled to capture images simultaneously while moving synchronously with the stamping part according to the preset shooting frequency until the stamping part moves out of the shooting range of the camera mechanism.

27. The method according to claim 23, wherein: The system further comprises: a second robotic arm, a second position detection device and a material distribution table; The method also includes: sending the detection result to a second controller arranged at the base of the second robotic arm, so that the second controller controls the second movable arm of the second robotic arm and the grasping mechanism at its end to grasp the current stamping part into the material distribution table when receiving the second notification message sent by the second position detection device; wherein, the second notification message is used to indicate that the second position detection device detects that the stamping part enters the grasping area of the second robotic arm.

28. The method according to claim 27, wherein: There are multiple second robotic arms, multiple second position detection devices, multiple second controllers, and multiple material distribution platforms; The method of sending the detection result to a second controller provided at a second robotic arm base, so that the second controller controls the second movable arm of the second robotic arm and the grasping mechanism at its end to grasp the current stamping part into the material distribution table when receiving the second notification message sent by the second position detection device, includes: When the inspection result shows that the current stamping part has no defects, the inspection result and the product type information of the current stamping part are sent to each second controller, so that each second controller, upon receiving the second notification message sent by the second position detection device electrically connected thereto and the product type of the current stamping part is consistent with its own preset product type, controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding material distribution table; or, When the detection result shows that the current stamping part is defective, the detection result and the defect type information of the current stamping part are sent to each second controller, so that each second controller, upon receiving the second notification message sent by the second position detection device electrically connected to it and the defect type of the current stamping part is consistent with its own preset defect type, controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding material distribution table.

29. A stamping parts online detection method, characterized in that: A control device applied to an online stamping parts detection system according to any one of claims 1 to 14; the method comprising: controlling the movement of the conveyor belt; receiving a detection result sent by a first controller in the visual inspection device; The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can be driven by the follow-up component and move synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to collect images of the stamping parts in the process of synchronous movement with the stamping parts, and detects the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts have entered the shooting range of the camera mechanism.

30. The method according to claim 29, wherein: There are two visual inspection devices, each of which includes: the first controller, the camera mechanism, and a first robotic arm; The receiving the detection result sent by the first controller in the visual inspection device includes: receiving, from each of the first controllers, images captured by the respective connected camera mechanisms, and inspecting the stamped part to obtain inspection results; wherein each of the camera mechanisms is configured to capture a complete image of the stamped part; or to capture half of the complete image of the stamped part; The method further includes: when the received detection result is obtained based on half of the image, combining the detection results sent by the two first controllers to obtain a complete detection result of the stamping part.

31. The method according to claim 30, wherein: The visual inspection equipment is provided in multiple groups, with each group having two devices; The receiving of the inspection results sent by the first controller in the visual inspection device includes: receiving the inspection results of each preset defect item obtained by the first controller of each visual inspection device performing an inspection of one or two preset defect items on the stamping part based on images captured by the respectively connected camera mechanism; The method further comprises: The detection results of the preset defect items sent by each of the first controllers are combined to obtain the detection results of all defect items of the stamping part.

32. The method according to claim 29, wherein: The system further comprises: a second robotic arm, a second position detection device and a material distribution table; The method also includes: after receiving the detection result, sending a grabbing instruction to a second controller arranged at the base of the second robotic arm, so that the second controller controls the second movable arm of the second robotic arm and the grabbing mechanism at its end when receiving a second notification message sent by the second position detection device, to grab the current stamping part into the material distribution table; wherein, the second notification message is used to indicate that the second position detection device detects that the stamping part enters the grabbing area of the second robotic arm.

33. The method according to claim 32, wherein: There are multiple second robotic arms, multiple second position detection devices, multiple second controllers, and multiple material distribution platforms; The sending of a grabbing instruction to a second controller provided at a base of the second robotic arm includes: Obtain the detection result sent by the first controller and the product type information of the current stamping part on the conveyor belt; and when the detection result shows that the current stamping part is defect-free, send the product type information of the current stamping part to each second controller set at each second robot arm base, so that each second controller controls the second movable arm and the grasping mechanism at its end to grasp the current stamping part to the corresponding material distribution table when the product type of the current stamping part is consistent with its own preset product type and receives the second notification message sent by the second position detection device electrically connected to the second controller; or, Obtain the detection result sent by the first controller and the defect type information of the current stamping part on the conveyor belt; and when the detection result shows that the current stamping part is defective, send the defect type information of the current stamping part to each second controller set at the base of each second robotic arm, so that each second controller controls the second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding material distribution table when the defect type of the current stamping part is consistent with its own preset defect type and receives the second notification message sent by the second position detection device electrically connected to the second controller.

34. The method according to claim 29, wherein: The system further comprises: a waste temporary storage mechanism provided at the tail of the conveyor belt; The method also includes: when the detection result sent by the first controller indicates that the stamped part is a defective stamped part, controlling the conveyor belt to convey the defective stamped part to the tail of the conveyor belt at a preset waste conveying speed so that it is placed in a waste temporary storage mechanism.

35. An online detection device for stamping parts, characterized by: A first controller applied to the stamping parts online detection system according to any one of claims 1 to 14; the device comprises: a first notification message receiving module, configured to receive a first notification message sent by the first position detection device, wherein the first notification message is configured to indicate that the first position detection device has detected that the stamping part has entered the shooting range of the camera mechanism; A speed obtaining module, used for obtaining the moving speed of the conveyor belt; a first control module, configured to control the following component to move at a speed corresponding to the moving speed of the conveyor belt, so that the camera mechanism can be driven by the following component to move synchronously with the stamping part on the conveyor belt, and to control the camera mechanism to capture an image of the stamping part during the process of synchronous movement with the stamping part; A detection module, configured to detect the stamping part based on the collected image and obtain a detection result; The result sending module is used to send the obtained detection result to the control device.

36. An online detection device for stamping parts, characterized by: A control device for use in an online stamping parts inspection system according to any one of claims 1 to 14; the device comprising: a second control module, configured to control the movement of the conveyor belt; A result receiving module, configured to receive a detection result sent by the first controller in the visual inspection device; The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can be driven by the follow-up component and move synchronously with the stamping parts on the conveyor belt, and controls the camera mechanism to collect images of the stamping parts in the process of synchronous movement with the stamping parts, and detects the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts have entered the shooting range of the camera mechanism.

37. A controller, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method described in any one of claims 23 to 28 when executing a program stored in a memory.

38. A control device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method described in any one of claims 29 to 34 when executing a program stored in a memory.

39. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 23 to 28 or any one of claims 29 to 34 is implemented.

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