阅读说明：本技术 一种机器视觉分析的汽车功率器件检测系统 (Machine vision analysis's car power device detecting system ) 是由 唐辉 陈威 邱少君 郭佩盛 于 2020-07-15 设计创作，主要内容包括：本发明公开了一种机器视觉分析的汽车功率器件检测系统,涉及品质检测技术领域,用于对汽车功率器件进行品质检测,皮带输送机构将装有待检测器件的载盘输送到送盘机构,送盘机构与上表面检查机构相互配合逐一对整个载盘上的所有器件进行上表面拍照,拍照结果上传至视觉处理系统进行处理,判定合格品或者瑕疵品,瑕疵品通过吸嘴取出,合格品随送盘机构到达机械手机构位置,机械手机构在送盘机构上取料后,运行到其他面检查机构,先对器件的两个侧面及底面拍照,然后机械手旋转,对器件的另外两个侧面拍照,拍照结果上传至视觉处理系统进行处理,判定合格品或者瑕疵品,合格品放回载具原位置,瑕疵品分类投放至瑕疵品分类机构。(The invention discloses an automobile power device detection system based on machine vision analysis, which relates to the technical field of quality detection and is used for detecting the quality of automobile power devices, wherein a belt conveying mechanism conveys a carrying disc provided with devices to be detected to a disc conveying mechanism, the disc conveying mechanism and an upper surface detection mechanism are mutually matched to carry out upper surface photographing on all devices on the whole carrying disc one by one, photographing results are uploaded to a vision processing system for processing, qualified products or defective products are judged, the defective products are taken out through a suction nozzle, the qualified products reach the position of a manipulator mechanism along with the disc conveying mechanism, the manipulator mechanism takes materials from the disc conveying mechanism and then runs to other surface detection mechanisms, two side surfaces and bottom surfaces of the devices are photographed firstly, then the manipulator rotates to photograph the other two side surfaces of the devices, the photographing results are uploaded to the vision processing system for processing, and the qualified products or the defective products are judged, and (4) putting the qualified products back to the original position of the carrier, and putting the defective products into a defective product classification mechanism in a classified manner.)

1. A machine vision analysis automobile power device detection system comprises a base, a belt conveying mechanism, an upper surface inspection mechanism, other surface inspection mechanisms and a defective product classification mechanism, wherein the belt conveying mechanism, the upper surface inspection mechanism, the other surface inspection mechanisms and the defective product classification mechanism are arranged on the base;

the tray feeding mechanism comprises a first servo module, a fixed plate, a cylinder mounting plate, a jacking cylinder, a floating joint, a guide shaft, a guide rod, a jacking plate and a proximity sensor, wherein the fixed plate is mounted on the first servo module and moves left and right; the fixed plate is provided with a cylinder mounting plate, the jacking cylinder is mounted on the cylinder mounting plate, the floating joint is mounted at the shaft outlet end of the jacking cylinder, the cylinder mounting plate is also provided with a guide shaft and a guide rod which play a role in guiding the movement of the jacking cylinder, the jacking plate is arranged at the top ends of the floating joint and the guide rod, and the jacking plate is also provided with a proximity sensor;

the manipulator mechanism comprises a second servo module, a third servo module, a fourth servo module, a first servo motor and a coupler, wherein the second servo module moves back and forth, the third servo module is installed on the second servo module and moves left and right, the fourth servo module is installed on the third servo module and moves up and down, the first servo motor and the coupler are installed on the fourth servo module and rotate, the manipulator mechanism further comprises a first vacuum generation system and a first suction nozzle, and the first suction nozzle is fixedly connected with the first servo motor; the first vacuum generating system comprises a first vacuum generator, a first filter and a first pressure gauge and provides negative pressure for the first suction nozzle.

2. The machine-vision-analysis automotive power device detection system of claim 1 wherein said upper-surface inspection mechanism comprises a fifth servo module, an upper-surface inspection camera assembly and a bracket, said fifth servo module moving forward and backward, said upper-surface inspection camera assembly being fixedly connected to said fifth servo module through said bracket.

3. The machine-vision-analysis automotive power device detection system as claimed in claim 2, wherein said upper surface inspection mechanism further comprises a defective product bracket, a defective product cylinder, a linear bearing, a second suction nozzle, a defective product pushing cylinder and a defective product slideway, said defective product bracket is mounted on the panel of the upper surface inspection camera assembly, said defective product cylinder is mounted on the defective product bracket, the suction nozzle rod of said defective product cylinder is moved up and down by the linear bearing, said suction nozzle rod is provided with the second suction nozzle at its lower end; the defective product pushing cylinder is fixedly connected with the defective product slideway and arranged below the defective product bracket; the upper surface inspection mechanism further comprises a second vacuum generation system, the second vacuum generation system is arranged on the support and provides negative pressure for the second suction nozzle, and the second vacuum generation system comprises a second vacuum generator, a second filter and a second pressure gauge.

4. The machine-vision analyzed automotive power device inspection system of claim 3, wherein said other side inspection mechanism comprises two sets of side inspection camera combinations and one set of bottom inspection camera combinations for taking images of the four sides and bottom of the device, said two sets of side inspection camera combinations being symmetrically disposed, said bottom inspection camera combinations being disposed on the symmetry plane of the two sets of side inspection camera combinations, below the two sets of side inspection camera combinations.

5. The machine-vision-analysis automotive power device detection system as claimed in claim 4, wherein said defective product classification mechanism comprises a sixth servo module, a defective product carrying disk, a special defective product slot and a second servo motor, said defective product carrying disk and special defective product slot are arranged at one end of the sixth servo module, said second servo motor is arranged at the other end of the sixth servo module, and said defective product carrying disk and special defective product slot are controlled to move left and right.

6. The machine-vision-analysis automotive power device detection system according to claim 5, further comprising a vision processing system for processing the photographed image of the device to be detected to determine a good or a defective product, and further controlling the actions of the upper surface inspection mechanism and the defective product classification mechanism according to the determination result to classify the defective product.

7. The machine-vision-analysis automotive power device detection system of claim 6, wherein the vision processing system comprises a camera, a lens, a light source, a computer and a network card, the computer is provided with vision processing software and an equipment information acquisition system, the computer is connected with the camera through the network card, and the camera acquires images through the lens; the computer is connected with a light source through a network card, the light source provides illumination for a camera to collect images, and the visual processing software is connected with the equipment information collection system through a virtual serial port.

8. The machine vision analysis automobile power device detection system as claimed in claim 7, wherein the belt conveying mechanism comprises two vertical plates, two driving wheels, two pairs of driven wheels, a rotating shaft, a motor, a bearing seat, a belt and a tensioning seat, the two vertical plates are oppositely arranged, each vertical plate is provided with one driving wheel and four driven wheels, the two driving wheels are connected into a whole through the rotating shaft, one driving wheel is connected with the motor, the other driving wheel is fixed on the vertical plate through the bearing seat, the four driven wheels on each vertical plate are respectively arranged at two ends of the vertical plate and two sides above the driving wheel, the belt is arranged around the driving wheel and the four driven wheels, one driven wheel is connected with the tensioning seat, and the tensioning force of the tensioning seat for adjusting the belt is adjusted.

9. The machine-vision analyzed automotive power device detection system of claim 8, wherein said tray feeding mechanism is disposed below the belt conveying mechanism, said top surface inspection mechanism is disposed above the belt conveying mechanism, and said two robot mechanisms are disposed opposite to the right of the top surface inspection mechanism, and said other surface inspection mechanism and the defective product sorting mechanism are disposed between the two robot mechanisms, and said defective product sorting mechanism is disposed behind the other surface inspection mechanism.

10. The machine-vision analyzed automotive power device inspection system of claim 1, wherein four protrusions are provided at four corners of said lifting plate, and each protrusion is provided with a positioning pin.

Technical Field

The invention relates to the field of quality detection, in particular to an automobile power device detection system based on machine vision analysis.

Background

The rapid development period of the Chinese automobile electronic market drives the demand of magnetic elements. Because the power device has severe operating environment, large vibration and high temperature in the automobile, the quality requirements of automobile manufacturers on magnetic elements, especially the automobile power device, are very strict.

With the rapid development of semiconductor technology and electronic industry, the defect detection technology of inductor plays an increasingly important role in the whole inductor production process. Compared with the traditional manual detection technology, the defect detection technology based on machine vision is a flexible, real-time and high-precision detection technology, and the application of the defect detection technology is increasingly wide. However, it is difficult to comprehensively photograph and detect the whole inductor in the defect detection process of the inductor.

For example, chinese utility model patent that the grant bulletin number is CN210449927U discloses an AI wire winding inductance outward appearance inspection equipment, including the foundation and the module of shooing, the frame is installed to the top of foundation, and the aircraft bonnet is installed to the top of frame, and the outer wall of aircraft bonnet is provided with the shutter, and the inside of aircraft bonnet is provided with the material loading module, and installs ejection of compact module in one side of material loading module, and the module of shooing is located the top of ejection of compact module rear end, and the material module is received in one side of ejection of compact module installation, and the inside of receiving the material module is provided with receives the magazine. This AI wire winding inductance visual inspection equipment this equipment has used the mode that AI technique and vision system combined together, and is high to all kinds of product defect discernment degree, and the testing capability is strong and stable, has more professional, more reliable testing capability to detecting the wire winding inductance, and in addition, this equipment adopts the vision to divide the face, and detection efficiency and detection speed are very promoted, can reach 1500PCS Min's speed, have greatly improved production efficiency. However, the inductor appearance inspection equipment is simple to photograph the inductor, only one side of the inductor is photographed, and all defects of the inductor cannot be completely inspected.

The invention discloses a detection system capable of comprehensively detecting automobile power devices, which is expected to comprehensively photograph and inspect six surfaces of the power devices and classify defective products according to photographing results.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the problem that a traditional inductance appearance inspection system is incomplete in inspection is solved, a novel detection system is provided, six surfaces of a power device are comprehensively photographed and inspected, and defective products are classified and put in according to photographing results.

The technical scheme adopted by the invention for solving the technical problems is as follows: the system comprises a base, a belt conveying mechanism, an upper surface inspection mechanism, other surface inspection mechanisms and a defective product classification mechanism, wherein the belt conveying mechanism, the upper surface inspection mechanism, the other surface inspection mechanisms and the defective product classification mechanism are arranged on the base;

the tray feeding mechanism comprises a first servo module, a fixed plate, a cylinder mounting plate, a jacking cylinder, a floating joint, a guide shaft, a guide rod, a jacking plate and a proximity sensor, wherein the fixed plate is mounted on the first servo module and moves left and right; the fixed plate is provided with an air cylinder mounting plate, the jacking air cylinder is mounted on the air cylinder mounting plate, the floating joint is mounted at the shaft outlet end of the jacking air cylinder, the air cylinder mounting plate is also provided with a guide shaft and a guide rod, the guide shaft and the guide rod play a role in guiding the movement of the jacking air cylinder, the jacking plate is arranged at the top ends of the floating joint and the guide rod, four corners of the jacking plate are provided with four bulges, and each bulge is provided with a positioning pin; a proximity sensor is also arranged on the jacking plate;

when the proximity sensor detects that the carrying disc is arranged above the jacking plate, the jacking cylinder stretches out, the carrying disc conveyed by the belt conveying mechanism is jacked up, the four positioning pins are inserted into the positioning holes of the carrying disc to jack up the carrying disc, and the first servo module drives the carrying disc to move left and right.

The manipulator mechanism comprises a second servo module, a third servo module, a fourth servo module, a first servo motor and a coupler, the second servo module moves back and forth, the third servo module is installed on the second servo module and moves left and right, the fourth servo module is installed on the third servo module and moves up and down, the first servo motor and the coupler are installed on the fourth servo module and rotate, the manipulator mechanism further comprises a first vacuum generating system and a first suction nozzle, and the first suction nozzle is fixedly connected with the first servo motor; the first vacuum generating system comprises a first vacuum generator, a first filter and a first pressure gauge and provides negative pressure for the first suction nozzle;

the disc feeding mechanism is tightly matched with the mechanical hand mechanism, the disc feeding mechanism moves left and right, the mechanical hand mechanism is guaranteed to move on a straight line at each taking position and photographing inspection position, the straight line movement path is shortest, and the corresponding movement time is also shortest, so that the detection system can achieve the optimal beat and the optimal capacity;

all actions required by photographing the four side surfaces and the lower surface of the device are realized under the matching of the two bilaterally symmetrical mechanical arms, and the two groups of mechanical arms alternately suck the device from the carrying disc in tandem without mutual interference; and the material taking position and the photographing position are on the same straight line, the space size of the equipment is reduced to the maximum degree, and the photographing utilization rate of the camera is maximized.

Preferably, in the system for detecting an automotive power device through machine vision analysis, the upper surface inspection mechanism includes a fifth servo module, an upper surface inspection camera assembly and a bracket, the fifth servo module performs front-back movement, and the upper surface inspection camera assembly is fixedly connected with the fifth servo module through the bracket.

Preferably, in the system for detecting an automotive power device through machine vision analysis, the upper surface inspection mechanism further comprises a defective product bracket, a defective product cylinder, a linear bearing, a second suction nozzle, a defective product pushing cylinder and a defective product slideway, the defective product bracket is mounted on a panel combined with the upper surface inspection camera, the defective product cylinder is mounted on the defective product bracket, a suction nozzle rod of the defective product cylinder moves up and down through the linear bearing, and the second suction nozzle is arranged at the lower end of the suction nozzle rod; the defective product pushing cylinder is fixedly connected with the defective product slideway and arranged below the defective product bracket; the upper surface inspection mechanism further comprises a second vacuum generation system, the second vacuum generation system is arranged on the support and provides negative pressure for the second suction nozzle, and the second vacuum generation system comprises a second vacuum generator, a second filter and a second pressure gauge.

The tray conveying mechanism moves left and right, the fifth servo module moves back and forth, the upper surface inspection camera combination is fixed, the tray conveying mechanism moves to finish the inspection of one row of devices on the carrying tray, then the upper surface inspection camera combination moves the distance between one row of points on the carrying tray, the tray conveying mechanism moves to finish the inspection of the other row of devices, the tray conveying mechanism and the upper surface inspection mechanism are matched with each other to photograph the upper surfaces of all the devices on the whole carrying tray one by one, the photographing result is uploaded to the visual processing system to be processed, qualified products or defective products are judged, the defective products are taken out through the first suction nozzle and are placed on a defective product slide way, and the defective products are pushed out through the defective product pushing cylinder.

Preferably, in the system for detecting a power device of an automobile based on machine vision analysis, the other surface inspection mechanism includes two sets of side surface inspection camera combinations and one set of bottom surface inspection camera combination, and performs image capturing on four side surfaces and a bottom surface of the device, the two sets of side surface inspection camera combinations are symmetrically arranged, and the bottom surface inspection camera combination is arranged on a symmetrical surface of the two sets of side surface inspection camera combinations and is located below the two sets of side surface inspection camera combinations;

feeding back a position signal of a device sucked on the manipulator mechanism through a servo encoder, visually photographing four side surfaces and the bottom surface of the device passing through the middle of the side surface inspection camera combination and the bottom surface inspection camera combination, uploading a photographing result to a visual processing system, judging a qualified product or a defective product, controlling the action of the system according to the judging result, and classifying the defective product;

the direct current motor and the displacement sensor are adopted to replace the traditional stepping motor and photoelectric switch control mode to adjust the focal length of the lens, so that the cost is saved to the greatest extent, and the functional requirement of automatic focusing is met.

Preferably, in the system for detecting a power device of an automobile based on machine vision analysis, the defective product classification mechanism comprises a sixth servo module, a defective product carrying disk, a special defective product groove and a second servo motor, the defective product carrying disk and the special defective product groove are arranged at one end of the sixth servo module, and the second servo motor is arranged at the other end of the sixth servo module and controls the defective product carrying disk and the special defective product groove to move left and right;

the defective product classification mechanism moves left and right, and is matched with the manipulator mechanism to finish classification of defective products of different types, so that the manipulator is ensured to be on the same straight line from the photographing position to the defective product placing position, the action path and time of the manipulator are reduced to the greatest extent, and the productivity is improved.

Preferably, the system for detecting a power device of an automobile based on machine vision analysis further includes a vision processing system, which processes the captured image of the device to be detected to determine a good or a defective product, and then controls the operation of the upper surface inspection mechanism and the defective product classification mechanism according to the determination result to classify the defective product.

Preferably, in the system for detecting an automotive power device through machine vision analysis, the vision processing system comprises a camera, a lens, a light source, a computer and a network card, the computer is provided with vision processing software and an equipment information acquisition system, the computer is connected with the camera through the network card, and the camera acquires images through the lens; the computer is connected with the light source through the network card, the light source provides illumination for images collected by the camera, and the visual processing software is connected with the equipment information collection system through the virtual serial port.

Firstly, shooting a standard image by using a high-definition and high-speed camera lens, and setting a certain standard and tolerance on the basis; then shooting an image of a device to be detected, converting the shot appearance characteristics and size into an image signal, transmitting the image signal to visual processing software, and converting the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the vision processing software carries out various operations on the signals to extract the characteristics of the target, compares the detected variables set by adopting proper tolerance in the vision processing system, judges the qualified products or the defective products, further controls the on-site equipment action according to the judgment result, and classifies the defective products.

Preferably, foretell machine vision analysis's automobile power device detecting system, belt conveyor includes the riser, the action wheel, from the pair wheel, the axis of rotation, including a motor, an end cap, a controller, and a cover plate, bearing frame, belt and tensioning seat, two risers set up relatively, every riser sets up an action wheel and four from the driving wheel, two action wheels are connected as a whole through the axis of rotation, an action wheel links to each other with the motor, another action wheel passes through the bearing frame to be fixed on the riser, four on every riser set up respectively in riser both ends and action wheel top both sides from the driving wheel, the belt is around action wheel and four from the driving wheel setting, one of them is connected with the tensioning seat from.

The motor is electrified to rotate to drive the driving wheel to rotate, so that the belt is driven to run left and right, and the carrying disc provided with the device to be detected is conveyed to the disc conveying mechanism.

Preferably, in the above-mentioned automobile power device detection system based on machine vision analysis, the tray feeding mechanism is arranged below the belt conveying mechanism, the upper surface inspection mechanism is arranged above the belt conveying mechanism, the two manipulator mechanisms are arranged right-hand of the upper surface inspection mechanism, the other surface inspection mechanisms and the defective product classification mechanism are arranged between the two manipulator mechanisms, and the defective product classification mechanism is arranged behind the other surface inspection mechanisms.

When the device picking and placing machine works, a carrying disc provided with a device to be detected is conveyed to the disc conveying mechanism by the belt conveying mechanism, the disc conveying mechanism and the upper surface inspection mechanism are matched with each other to carry out upper surface photographing on all devices on the whole carrying disc one by one, photographing results are uploaded to the visual processing system to be processed, qualified products or defective products are judged, the defective products are taken out through the suction nozzle, the qualified products reach the position of the manipulator mechanism along with the disc conveying mechanism, the manipulator mechanism operates to other surface inspection mechanisms after taking materials from the disc conveying mechanism, two side surfaces and the bottom surface of the device are photographed firstly, then the manipulator rotates to photograph the other two side surfaces of the device, the photographing results are uploaded to the visual processing system to be processed, the qualified products or the defective products are judged, the qualified products are placed back to the original positions of the carriers, and the defective products are placed to.

The invention has the advantages that through the working mode, the upper surface inspection mechanism photographs the upper surface of the device, and other surface inspection mechanisms photograph the four side surfaces and the bottom surface of the device, so that the camera resources are fully utilized, the cost is saved, and the equipment space is reduced; the two manipulators operate alternately, so that time is saved, efficiency is high, and capacity is improved; novel structure and simple action.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic diagram of an overall automotive power device detection system for machine vision analysis;

FIG. 2 is a schematic structural view of a belt conveying mechanism;

FIG. 3 is a schematic structural view of a disc feeding mechanism;

FIG. 4 is a schematic view of the upper surface inspection mechanism;

FIG. 5 is a schematic structural view of a robot mechanism;

FIG. 6 is a schematic view of the other side inspection mechanism;

figure 7 is a schematic structural view of a defective product sorting mechanism;

FIG. 8 is a schematic view of a vision processing system;

in the figure, 1 is a belt conveying mechanism, 2 is a disc conveying mechanism, 3 is an upper surface inspection mechanism, 4 is a manipulator mechanism, 5 is other surface inspection mechanisms, 6 is a defective product classification mechanism, 7 is a carrying disc, 8 is an industrial computer, 9 is a gigabit network card, 10 is visual processing software, and 11 is an equipment information acquisition system;

101, a vertical plate, 102, a driving wheel, 103, a driven wheel, 104, a rotating shaft, 105, 106, a bearing seat, 107, a belt and 108 tensioning seats;

201 a first servo module, 202 a fixed plate, 203 a drag chain mounting plate, 204 a first drag chain, 205 a stand column, 206 an air cylinder mounting plate, 207 a jacking air cylinder, 208 a floating joint, 209 a guide shaft, 210 a guide rod, 211 a jacking plate, 212 a protrusion, 213 a positioning pin and 214 a proximity sensor;

301 a fifth servo module, 302 a support frame, 303 a surface inspection camera combination, 304 a support frame, 305 a defective product support, 306 a defective product cylinder, 307 a suction rod, 308 a linear bearing, 309 a second suction nozzle, 310 a defective product pushing cylinder, 311 a defective product slide, 312 a second vacuum generating system, 313 a second vacuum generator, 314 a second filter, 315 a second pressure gauge;

401 a second servo module, 402 a long plate, 403 a third drag chain, 404 a third servo module, 405 a fourth drag chain, 406 a fourth servo module, 407 a fifth drag chain, 408 a first servo motor, 409 a coupler, 410 a first vacuum generating system, 411 a first suction nozzle, 412 a first vacuum generator, 413 a first filter, 414 a first pressure gauge;

501 camera, 502 lens, 503 light source, 504 linear guide rail, 505 DC motor, 506 displacement sensor, 507 block;

601 a sixth servo module, 602 a mounting plate, 603 a support column, a defective product carrying disc 604, a special defective product groove 605 and a second servo motor 606.

Detailed Description

It is first stated that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," "one," "another," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to any number of technical features indicated.

[ example 1 ]

As shown in fig. 1, the system for detecting the power device of the automobile through machine vision analysis comprises a belt conveying mechanism 1, a disc feeding mechanism 2, an upper surface inspection mechanism 3, a manipulator mechanism 4, other surface inspection mechanisms 5, a defective product sorting mechanism 6 and a vision processing system.

As shown in fig. 2, the belt conveying mechanism 1 conveys the carrier tray 7 containing the devices to be detected to the tray conveying mechanism 2, the tray conveying mechanism 2 and the upper surface inspection mechanism 3 are mutually matched to photograph the upper surfaces of all the devices on the whole carrier tray 7 one by one, the photographed result is uploaded to the visual processing system to be processed, the qualified products or the defective products are judged, the defective products are taken out through the suction nozzle, the qualified products reach the position of the manipulator mechanism 4 along with the tray conveying mechanism 2, the manipulator mechanism 4 operates to the other surface inspection mechanism 5 after the tray conveying mechanism 2 takes the materials, photographs the two side surfaces and the bottom surface of the devices, then the manipulator rotates to photograph the other two side surfaces of the devices, the photographed result is uploaded to the visual processing system to be processed, the qualified products or the defective products are judged, the qualified products are put back to the carrier, and the defective products are classified and put in the defective product classification mechanism 6.

By the mode, the upper surface inspection mechanism 3 photographs the upper surface of the device, and the other surface inspection mechanisms 5 photograph the four side surfaces and the bottom surface of the device, so that camera resources are fully utilized, the cost is saved, and the equipment space is reduced; the two manipulators operate alternately, so that time is saved, efficiency is high, and capacity is improved; novel structure and simple action.

The belt conveying mechanism 1 comprises two vertical plates 101 which are oppositely arranged, each vertical plate 101 is provided with a driving wheel 102 and four driven wheels 103, the two driving wheels 102 are connected into a whole through a rotating shaft 104, one driving wheel 102 is connected with a motor 105, the other driving wheel 102 is fixed on the vertical plate 101 through a bearing seat 106, the four driven wheels 103 on each vertical plate 101 are respectively arranged at two ends of the vertical plate 101 and two sides above the driving wheel 102, a belt 107 is arranged around the driving wheel 102 and the four driven wheels 103, one driven wheel 103 is connected with a tensioning seat 108, and the tensioning seat 108 can adjust the tensioning force of the belt 107;

the motor 105 is energized to rotate to drive the driving wheel 102 to rotate, so as to drive the belt 107 to move left and right, and convey the carrier disc loaded with the device to be detected to the disc conveying mechanism 2.

As shown in fig. 3, the disc feeding mechanism 2 includes a first servo module 201, a fixing plate 202 is mounted on the first servo module 201, a drag chain mounting plate 203 is disposed below the fixing plate 202, and a first drag chain 204 is connected to the drag chain mounting plate 203 to realize the left and right movement of the disc feeding mechanism 2; the fixed plate 202 is provided with a cylinder mounting plate 206 through four upright posts 205, a jacking cylinder 207 is mounted on the cylinder mounting plate 206, a floating joint 208 is mounted at the shaft outlet end of the jacking cylinder 207, the cylinder mounting plate 206 is also provided with a guide shaft 209 and a guide rod 210 which play a role in guiding the movement of the jacking cylinder 207, a jacking plate 211 is arranged at the top ends of the floating joint 208 and the guide rod 210, four corners of the jacking plate 211 are provided with four protrusions 212, each protrusion 212 is provided with a positioning pin 213, and the jacking plate 211 is also provided with a proximity sensor 214;

when the proximity sensor 214 detects that the carrier tray 7 is located above the lifting plate 211, the lifting cylinder 207 extends out to lift the carrier tray 7 conveyed by the belt conveying mechanism 1, the four positioning pins 213 are inserted into the positioning holes of the carrier tray 7 to lift the carrier tray 7, and the first servo module 201 drives the carrier tray 7 to move left and right.

As shown in fig. 4, the upper surface inspection mechanism 3 includes a fifth servo module 301, the fifth servo module 301 is installed on a support frame 302, one end of a second drag chain is fixedly connected with the fifth servo module, the other end of the second drag chain is fixedly connected with the support frame to move back and forth, an upper surface inspection camera assembly 303 is fixedly connected with the fifth servo module 301 through a support frame 304, a defective product support frame 305 is installed on a panel of the upper surface inspection camera assembly 303, a defective product cylinder 306 is installed on the defective product support frame 305, a suction nozzle rod 307 of the defective product cylinder 306 moves up and down through a linear bearing 308, a second suction nozzle 309 is arranged at the lower end of the suction nozzle rod 307, and a defective product pushing cylinder 310 is fixedly connected with a defective product slideway 311 and arranged below the defective product support frame 305; the second vacuum generating system 312 is arranged on the bracket 304 and provides negative pressure for the second suction nozzle 309, and the second vacuum generating system 312 comprises a second vacuum generator 313, a second filter 314 and a second pressure gauge 315;

the disc feeding mechanism 2 moves left and right, and the fifth servo module 301 moves back and forth; during inspection, the upper surface inspection camera assembly 303 is fixed, the tray conveying mechanism 2 moves to complete inspection of one row of devices on the carrying tray 7, then the upper surface inspection camera assembly 303 moves one distance between the points of the carrying tray, the tray conveying mechanism 2 moves to complete inspection of another row of devices, in this way, the tray conveying mechanism 2 and the upper surface inspection mechanism 3 are matched with each other to photograph the upper surfaces of all the devices on the whole carrying tray 7 one by one, the photographing result is uploaded to the vision processing system to be processed, qualified products or defective products are judged, the defective products are taken out through the first suction nozzle 309 and are placed on the defective product slide way 311, and the defective products are pushed out through the defective product pushing cylinder 310.

As shown in fig. 5, the robot mechanism 4 includes a second servo module 401, the second servo module 401 is mounted on a long plate 402, one end of a third drag chain 403 is fixedly connected to the second servo module 401, and the other end is fixedly connected to the long plate 402 for forward and backward movement, the third servo module 404 is mounted on the second servo module 401, one end of a fourth drag chain 405 is fixedly connected to the third servo module 404, and the other end is fixedly connected to the second servo module 401 for left and right movement, the fourth servo module 406 is mounted on the third servo module 404, one end of a fifth drag chain 407 is fixedly connected to the fourth servo module 406, and the other end is fixedly connected to the third servo module 404 for up and down movement, a first servo motor 408 and a coupling 409 are mounted on the fourth servo module 406 for rotation movement, and a first vacuum generating system 410 and a first suction nozzle 411 are further included, and the first suction nozzle 411 is fixedly connected to the first servo motor 408; the first vacuum generating system 410 includes a first vacuum generator 412, a first filter 413, and a first pressure gauge 414 to provide a negative pressure to the first suction nozzle 411;

the disc feeding mechanism 2 is tightly matched with the mechanical arm mechanism 4, the disc feeding mechanism 2 moves left and right, the mechanical arm mechanism 4 is guaranteed to move on a straight line at each taking position and photographing inspection position, the straight line movement path is shortest, and the corresponding movement time is also shortest, so that the detection system can achieve the optimal beat and the optimal productivity;

all actions required by photographing the four side surfaces and the lower surface of the device are realized under the matching of the two bilaterally symmetrical mechanical arms, and the two groups of mechanical arms alternately suck the device from the carrying disc 7 in tandem without mutual interference; and the material taking position and the photographing position are on the same straight line, the space size of the equipment is reduced to the maximum degree, and the photographing utilization rate of the camera is maximized.

As shown in fig. 6, the other surface inspection mechanism 5 includes two sets of side surface inspection camera combinations and one set of bottom surface inspection camera combinations, and performs image capturing on four side surfaces and a bottom surface of the device, the two sets of side surface inspection camera combinations are symmetrically arranged, and the bottom surface inspection camera combination is arranged on the symmetrical surfaces of the two sets of side surface inspection cameras and below the two sets of side surface inspection cameras; each camera combination comprises a camera 501, a lens 502 and a light source 503, wherein the light source 503 is arranged in front of the lens 502, the camera 501 is arranged on a linear guide rail 504, and the focal length of the lens 502 is finely adjusted by a direct current motor 505 with large reduction ratio, so that the requirements of photographing of devices with different sizes and models are met; a displacement sensor 506 and a stop 507 are further arranged on the linear guide rail 504, so that the inspection camera 501 is prevented from being damaged due to exceeding the position;

feeding back a position signal of the device sucked by the manipulator mechanism 4 through a servo encoder, visually photographing four side surfaces and the bottom surface of the device passing through the middle of the side surface inspection camera combination and the bottom surface inspection camera combination, uploading a photographing result to a visual processing system, judging a qualified product or a defective product, and controlling the action of the system according to the judged result;

the direct current motor 505 and the displacement sensor 506 are adopted to replace the traditional stepping motor and photoelectric switch control mode to adjust the focal length of the lens, so that the cost is saved to the maximum degree, and the functional requirement of automatic focusing is met.

As shown in fig. 7, the defective product sorting mechanism 6 includes a sixth servo module 601, the sixth servo module 601 is fixed on the supporting column 603 through a mounting plate 602, a defective product carrying disc 604 and a special defective product groove 605 are disposed at one end of the sixth servo module 601, and a second servo motor 606 is disposed at the other end of the sixth servo module 601;

the defective product classification mechanism 6 moves left and right to complete classification of defective products of different types by matching with the manipulator mechanism 4, so that the manipulator is ensured to be on a straight line from a photographing position to a defective product placing position, the action path and time of the manipulator are reduced to the greatest extent, and the productivity is improved.

As shown in fig. 8, the vision processing system includes: an industrial computer 8, a kilomega network card 9, visual processing software 10 and an equipment information acquisition system 11, firstly, a high-definition and high-speed camera lens is used for shooting a standard image, and a certain standard and a certain tolerance are set on the basis; then, shooting an image of a device to be detected, converting the shot appearance characteristics and size into an image signal, transmitting the image signal to the visual processing software 10, and converting the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the vision processing software 10 performs various operations on these signals to extract the characteristics of the target, compares the detected variables set by adopting a proper tolerance in the vision processing system, judges the qualified product or the defective product, and controls the on-site equipment action according to the judgment result.

The automobile power device detection system based on machine vision analysis is novel in structure and simple in action. The two groups of cameras take pictures of four side surfaces of the device, camera resources are fully utilized, cost is saved, and equipment space is reduced. The two manipulators operate alternately, so that the time is saved, the efficiency is high, and the productivity is improved.