CN111729871B - Color difference detection equipment compatible with various products - Google Patents
Color difference detection equipment compatible with various products Download PDFInfo
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- CN111729871B CN111729871B CN202010847570.XA CN202010847570A CN111729871B CN 111729871 B CN111729871 B CN 111729871B CN 202010847570 A CN202010847570 A CN 202010847570A CN 111729871 B CN111729871 B CN 111729871B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
The invention discloses a chromatic aberration detection device compatible with various products, which comprises a first conveying unit, a visual positioning unit, a color detection unit, a second conveying unit, a cache unit, a third conveying unit, a feeding unit, a transfer unit A, a transfer unit B and a discharging unit.
Description
Technical Field
The invention relates to the field of high-tech vision detection, in particular to a color difference detection device compatible with various products.
Background
At present, in the production process of industrial products, in order to realize the diversity of product types to adapt to different use requirements, products are generally made into different colors. In order to ensure the yield of products, namely the color of the products meets the design requirements, after the products are produced, a large amount of manual work is required to detect the color difference of the products under a microscope, in order to better see the products clearly, strong light is arranged below the microscope, in order to prevent the detection requirements of the products from being mixed, different products are required to be detected by different personnel, and the personnel are required to be specially arranged for detection training before the detection, so that the efficiency is low, the misjudgment rate is high, the positive mind of the personnel is worse and worse, a little mistake is caused, the credibility of a company is greatly reduced for a manufacturer, the products are detected under the strong light manually for a long time, and eyes of the people are damaged in different degrees. Are not affordable to the provider.
Disclosure of Invention
The invention aims to provide a chromatic aberration detection device compatible with various products, which replaces manual eye examination, improves the product quality and reduces manual eye injury.
In order to achieve the purpose, the invention adopts the technical scheme that: a multiple product compatible color difference detection apparatus comprising:
the first conveying unit comprises a first conveying device which bears the product and drives the product to sequentially pass through a first feeding station, a visual positioning station, a color detection station and a first discharging station along the horizontal direction;
the visual positioning unit comprises a visual positioning device which is arranged above the visual positioning station and used for calculating the actual position of the product after moving, photographing and image-capturing along the direction vertical to the moving direction of the product;
the color detection unit comprises a color difference detection device which is arranged above the color detection station and obtains the color difference level between the product on the color detection station and the standard sample after moving along the direction vertical to the moving direction of the product according to the actual position of the product;
the second conveying unit comprises a second conveying device which is used for bearing the products and driving the products to move along the horizontal direction and sequentially pass through a second feeding station and a plurality of second discharging stations corresponding to the products with different color difference levels;
the cache unit comprises a plurality of cache platforms used for respectively bearing products with different color difference levels;
the third conveying unit comprises a plurality of third conveying devices which are used for respectively bearing products with different color difference levels and driving the products to move along the horizontal direction;
the feeding unit comprises a feeding manipulator which is used for grabbing a group of products in a tray of the material placing area at one time and placing the products on the first feeding station;
the transfer unit A comprises a transfer manipulator A which is used for sequentially placing a group of products meeting the color difference requirement on a second feeding station after the group of products on the first feeding station are grabbed at one time and placing the defective products not meeting the color difference requirement on a defective product area;
the transfer unit B comprises a plurality of transfer manipulators B which respectively transfer the products with various color difference levels from the second blanking stations corresponding to the color difference levels to the cache platforms corresponding to the color difference levels;
and the blanking unit comprises a blanking manipulator which transfers the product from the cache platform corresponding to the color difference level of the product to the third conveying device corresponding to the color difference level of the product.
Furthermore, the first conveying unit comprises two first conveying devices which are sequentially arranged along the direction perpendicular to the moving direction of the products, and one color difference detection device detects the products on the two first conveying devices in turn.
Furthermore, the vision positioning unit comprises two vision positioning devices which are sequentially arranged along the direction vertical to the moving direction of the products, and the two vision positioning devices respectively detect the products on the two first conveying devices.
Further, the visual positioning device comprises a CCD camera.
Furthermore, in a second blanking station corresponding to a product of the same color difference level, a transfer manipulator B and a cache platform, the transfer manipulator B and the cache platform are respectively arranged on two sides of the second blanking station.
Further, the buffer platform is arranged to rotate around the vertical direction.
Further, the feeding manipulator, the transferring manipulator A, the transferring manipulator B and the discharging manipulator are all vacuum chuck devices.
Further, but material loading manipulator respectively along with the same and with the setting of product moving direction vertically direction linear motion, transfer manipulator A with but the setting of unloading manipulator all around vertical direction rotary motion, but transfer manipulator B is along with the setting of product moving direction vertical direction linear motion.
Furthermore, the buffer storage platform comprises two placing stations, and the buffer storage platform is arranged in a manner of rotating around the vertical direction.
Further, the control system controls the transfer manipulator B to act according to the color difference level of each product and whether the color difference level reaches the corresponding second blanking station.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the chromatic aberration detection equipment compatible with various products disclosed by the invention replaces manual eye inspection, improves the product quality, reduces manual eye damage, detects one product in 0.7s, has no secondary damage to the product, achieves the detection rate of 99.8%, can replace 3-4 workers, realizes automatic classification blanking of the product by arranging a plurality of blanking stations, a plurality of transfer devices and a plurality of cache platforms, ensures the accuracy of product classification, and improves the efficiency of product classification.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that some of the drawings in the following description are embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a top view of a multi-product compatible color difference detection apparatus disclosed herein;
fig. 2 is a perspective view of the color difference detection apparatus compatible with various products disclosed in the present invention.
11, a first conveying device; 12. a visual positioning device; 13. a color difference detection device; 14. a second conveying device; 15. a caching platform; 16. a third conveying device; 21. a feeding manipulator; 22. a transfer manipulator A; 23. a transfer manipulator B; 24. unloading manipulator.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 and 2, as illustrated therein, a multi-product compatible color difference detecting apparatus includes:
the first conveying unit comprises a first conveying device 11 which bears the product and drives the product to sequentially pass through a first feeding station, a visual positioning station, a color detection station and a first discharging station along the horizontal direction;
the visual positioning unit comprises a visual positioning device 12 which is arranged above the visual positioning station and used for calculating the actual position of the product after moving, photographing and image-taking along the direction vertical to the moving direction of the product;
the color detection unit comprises a color difference detection device 13 which is arranged above the color detection station and obtains the color difference level between the product on the color detection station and the standard sample after moving along the direction vertical to the moving direction of the product according to the actual position of the product;
the second conveying unit comprises a second conveying device 14 which is used for bearing the products and driving the products to move along the horizontal direction and sequentially pass through a second feeding station and a plurality of second discharging stations corresponding to the products with different color difference levels;
the buffer unit comprises a plurality of buffer platforms 15 used for respectively bearing products with different color difference levels;
the third conveying unit comprises a plurality of third conveying devices 16 which are used for respectively bearing products with different color difference levels and driving the products to move along the horizontal direction;
the feeding unit comprises a feeding manipulator 21 which is used for grabbing a group of products in a tray of the material placing area at one time and placing the products on a first feeding station;
the transfer unit A comprises a transfer manipulator A22 which is used for sequentially placing a group of products on the first blanking station onto the second feeding station after the group of products are grabbed at one time, and placing defective products which do not meet the color difference requirement onto a defective product area;
the transfer unit B comprises a plurality of transfer manipulators B23 which respectively transfer the products with the multiple color difference levels from the second blanking stations corresponding to the color difference levels to the cache platforms corresponding to the color difference levels;
and the blanking unit comprises a blanking manipulator 24 for transferring the products from the buffer storage platform corresponding to the color difference level of the products to the third conveying device corresponding to the color difference level of the products.
In the preferred embodiment of the present embodiment, the first conveying unit includes two first conveying devices 11 sequentially arranged in a direction perpendicular to the moving direction of the products, and one color difference detecting device 13 alternately detects the products on the two first conveying devices 11.
In the preferred embodiment of the present embodiment, the visual positioning unit includes two visual positioning devices 12 sequentially arranged along a direction perpendicular to the moving direction of the products, and the two visual positioning devices 12 respectively detect the products on the two first conveying devices 11.
In a preferred embodiment of this embodiment, the visual positioning device 12 comprises a CCD camera.
In the preferred embodiment of this embodiment, among the second blanking station, the transfer manipulator B23 and the buffer platform 15 corresponding to the same color difference level product, the transfer manipulator B23 and the buffer platform 15 are respectively disposed on two sides of the second blanking station.
In the preferred embodiment of the present embodiment, the buffer platform 15 is disposed to be rotatable around the vertical direction.
In a preferred embodiment of the present embodiment, the loading robot 21, the transfer robot a22, the transfer robot B23, and the unloading robot 24 are all vacuum chuck devices.
In a preferred embodiment of the present embodiment, the loading robot 21 is linearly movable in the same direction as the product moving direction and in a direction perpendicular to the product moving direction, the transfer robot a22 and the unloading robot 24 are both rotatably movable in the vertical direction, and the transfer robot B23 is linearly movable in a direction perpendicular to the product moving direction.
In the preferred embodiment of the present invention, the buffer platform 15 includes two placing stations, and the buffer platform 15 is disposed to be rotatable around the vertical direction.
In a preferred embodiment of this embodiment, the control system controls the operation of the transfer robot B23 according to the color difference level of each product and whether the color difference level reaches the corresponding second blanking station.
The working process of the invention is described below:
firstly, manually placing products into a material tray, and placing the material tray in a material placing area;
secondly, 16 suction nozzles of the feeding manipulator 21 suck 16 products in the tray at one time and place the products at a first feeding station of the first conveying device 11;
thirdly, the first conveying device 11 drives the product to move to a visual positioning station, and the visual positioning device 12 performs photographing positioning on the product;
fourthly, the first conveying device 11 drives the product to move to a color detection station, and the color difference detection device 13 moves to the position above the actual position of the product to start detection according to the actual position of the product calculated by the visual positioning device 12;
fifthly, the color difference detection device 13 detects the 16 products in sequence, and the detected information is fed back to the transfer manipulator A22;
sixthly, the first conveying device 11 drives the product to move to a first blanking station;
seventhly, the transfer manipulator A22 sequentially puts 16 products to a second feeding station or a defective product area of the second conveying device 14;
eighthly, the second conveying device 14 drives each product to reach a second blanking station corresponding to the color difference level of the product;
ninthly, transferring the product which reaches the second blanking station corresponding to the transfer manipulator B23 and corresponds to the color difference level of the product to a cache platform 15 corresponding to the color difference level of the product;
and ten, transferring the product on each buffer storage platform 15 to the third conveying device 16 corresponding to the color difference level by the blanking manipulator 24.
In this embodiment, the three third conveying devices 16 are class a, class B, and class C bins.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A color difference detecting apparatus compatible with a plurality of products, comprising:
the first conveying unit comprises a first conveying device which bears the product and drives the product to sequentially pass through a first feeding station, a visual positioning station, a color detection station and a first discharging station along the horizontal direction;
the visual positioning unit comprises a visual positioning device which is arranged above the visual positioning station and used for calculating the actual position of the product after moving, photographing and image-capturing along the direction vertical to the moving direction of the product;
the color detection unit comprises a color difference detection device which is arranged above the color detection station and obtains the color difference level between the product on the color detection station and the standard sample after moving along the direction vertical to the moving direction of the product according to the actual position of the product;
the second conveying unit comprises a second conveying device which is used for bearing the products and driving the products to move along the horizontal direction and sequentially pass through a second feeding station and a plurality of second discharging stations corresponding to the products with different color difference levels;
the cache unit comprises a plurality of cache platforms used for respectively bearing products with different color difference levels;
the third conveying unit comprises a plurality of third conveying devices which are used for respectively bearing products with different color difference levels and driving the products to move along the horizontal direction;
the feeding unit comprises a feeding manipulator which is used for grabbing a group of products in a tray of the material placing area at one time and placing the products on the first feeding station;
the transfer unit A comprises a transfer manipulator A which is used for sequentially placing a group of products meeting the color difference requirement on a second feeding station after the group of products on the first feeding station are grabbed at one time and placing the defective products not meeting the color difference requirement on a defective product area;
the transfer unit B comprises a plurality of transfer manipulators B which respectively transfer the products with various color difference levels from the second blanking stations corresponding to the color difference levels to the cache platforms corresponding to the color difference levels;
and the blanking unit comprises a blanking manipulator which transfers the product from the cache platform corresponding to the color difference level of the product to the third conveying device corresponding to the color difference level of the product.
2. The apparatus for detecting color difference compatible with multiple products according to claim 1, wherein said first conveying unit comprises two said first conveying devices arranged in sequence in a direction perpendicular to a moving direction of the products, and one said color difference detecting device detects the products on two said first conveying devices in turn.
3. The apparatus according to claim 2, wherein the vision positioning unit comprises two vision positioning devices sequentially arranged along a direction perpendicular to a moving direction of the product, and the two vision positioning devices respectively detect the products on the two first conveying devices.
4. The multi-product compatible color difference detecting apparatus according to claim 1, wherein the visual positioning device comprises a CCD camera.
5. The color difference detection device compatible with multiple products according to claim 1, wherein in a second blanking station, a transfer manipulator B and a cache platform corresponding to a product of the same color difference level, the transfer manipulator B and the cache platform are respectively arranged at two sides of the second blanking station.
6. The multi-product compatible color difference detecting apparatus according to claim 1, wherein the buffer platform is provided to be rotatable about a vertical direction.
7. The multi-product compatible color difference detecting apparatus according to claim 1, wherein the feeding robot, the transferring robot a, the transferring robot B, and the discharging robot are vacuum chuck devices.
8. The multi-product compatible color difference detecting apparatus according to claim 1, wherein the loading robot is disposed to be linearly movable in the same direction as the moving direction of the product and in a direction perpendicular to the moving direction of the product, the transferring robot a and the unloading robot are disposed to be rotatably movable about a vertical direction, and the transferring robot B is disposed to be linearly movable in a direction perpendicular to the moving direction of the product.
9. The multi-product compatible color difference detection device according to claim 1, wherein the buffer storage platform comprises two placing stations, and the buffer storage platform is arranged to be rotationally movable around a vertical direction.
10. The apparatus for detecting color difference of multiple compatible products according to claim 1, wherein the control system controls the operation of the transfer robot B according to the color difference level of each product and whether the color difference level reaches the corresponding second blanking station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010847570.XA CN111729871B (en) | 2020-08-21 | 2020-08-21 | Color difference detection equipment compatible with various products |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010847570.XA CN111729871B (en) | 2020-08-21 | 2020-08-21 | Color difference detection equipment compatible with various products |
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| CN111729871A CN111729871A (en) | 2020-10-02 |
| CN111729871B true CN111729871B (en) | 2020-11-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113245243B (en) * | 2021-06-23 | 2021-09-14 | 苏州鼎纳自动化技术有限公司 | Color difference detection equipment and use method thereof |
| CN113567360B (en) * | 2021-09-24 | 2021-12-17 | 苏州鼎纳自动化技术有限公司 | Color difference and gloss detection device compatible with multiple products and operation method thereof |
| CN114669511B (en) * | 2022-03-21 | 2024-04-09 | 苏州佳祺仕科技股份有限公司 | Detection equipment |
| CN114671245A (en) * | 2022-04-19 | 2022-06-28 | 征图新视(江苏)科技股份有限公司 | Wireless charging coil detection device |
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| CN207288103U (en) * | 2017-09-06 | 2018-05-01 | 珠海圣诺电子设备有限公司 | Detection machine |
| CN209303238U (en) * | 2018-11-05 | 2019-08-27 | 珠海市华亚机械科技有限公司 | COB optical assembly automatic test machine |
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