CN114377998B - Zipper detection and removal device and detection and separation method - Google Patents

Abstract

The invention discloses a zipper detection and removal device and a detection and separation method, wherein the device comprises a fixed seat body, wherein a zipper material pulling assembly, a cutting device, a zipper finished product conveying mechanism, a vision system, a removal device and a smoothness detection assembly are arranged on the fixed seat body; the system also comprises a control system; the cutting device is arranged between the zipper material pulling assembly and the zipper finished product conveying mechanism; the vision system comprises a plurality of cameras for respectively acquiring images of different parts of the zipper; the smoothness detection component is used for collecting a tension sensor of actual tension generated in the zipper pulling and closing process; the rejecting device is arranged at the tail end of the zipper finished product conveying mechanism and is used for separating qualified products from unqualified products. According to the invention, the plurality of groups of cameras are distributed to polish different parts of the zipper to acquire images, so that the control system can more comprehensively judge defects, and the tension sensor is used for acquiring the tension data of the zipped zipper and judging whether the smoothness of the zipper meets the requirement.

Description

Zipper detection and removal device and detection and separation method

Technical Field

The invention relates to the technical field of product detection, in particular to a zipper detection and removal device and a detection and separation method.

Background

The zipper is widely applied to daily necessities such as clothes, bags, tents and the like, the zipper needs to be detected in the latter half of the production of the zipper, whether the zipper has defects or not is judged, unqualified zippers are removed, due to the fact that the variety of the zipper defects is various, defects such as gaps, damages, dirty belts and glue leakage exist in cloth belt parts of the zipper, defects such as scratches, defects and poor injection molding exist in zipper teeth, upper and lower stops and the zipper, defects such as damage, poor cutting and burrs exist at two ends of the zipper, and in addition, defects such as unsmooth pulling exist between the zipper and a zipper belt of the zipper without apparent defects. In the prior art, patent CN205317233U discloses a visual inspection system for slide fastener, which has at least two inspection devices 112 sequentially arranged along the direction of the guide rail 113, the inspection devices 112 include a support frame 1121, a light source 1123 and a camera 1125, the support frame is installed on the guide rail 115, the position can be adjusted along the guide rail, the visual inspection system can inspect the positions of the slider, the upper stopper, the lower stopper or the square, the bolt, etc. in the slide fastener at the same time, so as to improve the working efficiency, but each inspection device 112 structure contained therein is the same, the inspection device 112 cannot inspect the defect of poor injection molding of the sprocket, and inspect the material which is not cut off, so that the two ends of the slide fastener product cannot be inspected.

CN112189951A, CN106706656A, CN209559773U, etc., which is provided with two opposite cameras, each camera is equipped with a light source, in these schemes, the number of cameras laid out is small, the two cameras respectively acquire images on the upper and lower sides of the slide fastener, and the visual discrimination system only has difficulty in discriminating defects of all parts of the slide fastener based on the images acquired by the two cameras, so that the omission ratio is high.

In addition, the prior patent scheme can not detect the smoothness of the zipper.

Disclosure of Invention

The invention aims to: in order to overcome the defects in the prior art, the invention provides a zipper detection and removal device and a detection and separation method capable of carrying out omnibearing detection on various defects of a zipper.

The technical scheme is as follows: in order to achieve the above purpose, the zipper detection and rejection device comprises a fixed seat body, wherein a zipper material pulling assembly, a cutting device, a zipper finished product conveying mechanism, a vision system, a rejection device and a smoothness detection assembly are arranged on the fixed seat body; the system also comprises a control system;

the cutting device is arranged between the zipper material pulling assembly and the zipper finished product conveying mechanism;

the visual system comprises three groups of cameras, wherein the first group of cameras are used for collecting images of cloth belt parts of the zipper, the second group of cameras are used for collecting images of teeth, upper and lower stops and pull buckles of the zipper, and the third group of cameras are used for collecting images of two ends of a finished zipper product; each of the cameras is provided with a light source;

the smoothness detection assembly comprises a tension sensor, wherein the tension sensor is used for collecting actual tension generated in the zipper pulling and closing process;

the removing device is arranged at the tail end of the zipper finished product conveying mechanism and used for separating qualified products from unqualified products.

Further, the zipper material pulling assembly comprises a roller guide device, a strip-shaped material guide seat and a transplanting assembly;

the roller guide device and the cutting assembly of the cutting device are respectively positioned at two ends of the strip-shaped material guide seat;

the roller guide device comprises a frame body and a plurality of guide wheels arranged on the frame body;

the strip-shaped material guide seat is provided with a guide groove body;

the transplanting assembly comprises an end clamping jaw and a first linear module driving the end clamping jaw to reciprocate and translate.

Further, the first linear module comprises a movable seat; the tension sensor is mounted between the end jaw and the mobile seat;

the smoothness detection assembly further includes a pull-tab stop assembly capable of holding a slider of the zipper in a fixed position.

Further, the vision system comprises a camera which is divided into two parts, wherein the first part of camera is used for acquiring the image of the zipper material conveyed by the zipper material pulling assembly, and the second part of camera is used for acquiring the image of the finished zipper conveyed by the finished zipper conveying mechanism. The first group of cameras and the second group of cameras belong to the first part of cameras, and the third group of cameras belong to the second part of cameras.

Further, the first group of cameras comprises a first camera and a second camera which are arranged above and below the strip-shaped material guide seat; the second group of cameras comprises a third camera arranged between the strip-shaped material guide seat and the zipper finished product conveying mechanism;

the bottom of the guide groove body is provided with a window which is penetrated up and down, and the second camera is arranged right below the window and the lens is arranged upwards.

Further, the third set of cameras includes a fourth camera and a fifth camera mounted above the zipper finish conveying mechanism.

Further, the removing device comprises a guide sliding plate, a driving element, a first receiving part and a second receiving part;

the guide sliding plate can be rotationally switched between a first state and a second state;

in the first state and the second state, the guide sliding plate guides the zipper finished product falling from the tail end of the zipper finished product conveying mechanism to the first receiving part and the second receiving part respectively.

A zipper detection and sorting method implemented by the control system in the zipper detection and removal device, the method comprising:

controlling the zipper material pulling assembly to convey the zipper material;

controlling the tension sensor to collect tension data when the zipper unit to be cut is pulled, and judging whether the tension data exceeds a preset threshold value according to the tension data;

controlling the cutting device to cut the zipper units in the zipper materials to form finished products of zippers;

controlling the zipper finished product conveying mechanism to convey the zipper finished products;

controlling each camera contained in the vision system to collect images in respective fields of view, and judging whether flaws exist in corresponding zipper parts according to the collected images;

summarizing the judging data of each zipper finished product to obtain a judging conclusion of whether the zipper finished product is qualified or not;

and controlling the rejecting device to sort the finished zipper products according to the judging conclusion.

The beneficial effects are that: according to the zipper detection and removal device and the detection and separation method, the plurality of groups of cameras are arranged to respectively polish different parts of the zipper to acquire images, so that a control system can more comprehensively judge defects, and the tension sensor is used for acquiring the tension data of the zipped zipper and judging whether the smoothness of the zipper meets the requirement according to the tension data, so that the omnibearing detection of the zipper from apparent defects to the zipped smoothness can be completed.

Drawings

FIG. 1 is a block diagram of a zipper detection and removal device;

FIG. 2 is a block diagram of a portion of a zipper material pulling assembly;

FIG. 3 is a block diagram of an elongated material guide;

FIG. 4 is a block diagram of a transplanting assembly;

FIG. 5 is a block diagram of the end jaws when the two end clamp units are closed;

FIG. 6 is a layout of a vision system;

FIG. 7 is a block diagram of a tab stop assembly;

FIG. 8 is a combined block diagram of a finished zipper conveying mechanism and a reject device;

FIG. 9 is an enlarged view of the portion A of FIG. 8;

FIG. 10 is an enlarged view of the portion B of FIG. 8;

FIG. 11 is a state diagram of the guide sled in a first state;

FIG. 12 is a state diagram of the guide sled in the second state;

FIG. 13 is a partial block diagram of a zipper material pulling assembly;

FIG. 14 is a block diagram of an in-place detection mechanism;

fig. 15 is a combined structural view of the pull tab stop assembly, the force sensing unit and the reciprocating element in the preferred embodiment.

In the figure: 1-a fixed seat body; 2-a zipper material pulling assembly; 21-a roller guide; 211-a frame body; 212-a guide wheel; 22-a strip-shaped material guide seat; 221-guiding groove body; 222-glass; 23-end jaws; 231-jaw housing; 232-rotating the rod; a-driving end; 233-an end clamping unit; c-sawtooth lines; 234-an open-close control block; b-triangular portions; 235-an opening and closing driving cylinder; 236-an elastic member; 237-roller; 24-a first linear module; 241—a mobile seat; 25-square pushing mechanism; 251-pushing cylinder; 252-sliding blocks; 253—push rod; 254-cross bar; 255-a first lifting cylinder; 26-in-place detection mechanism; 261-lifting seat; 262-a second lifting cylinder; 263-slide bar; 264-plug; 265-adjusting the rod; 266-a return spring; 267-proximity sensor; 268-sensing element; 3-a cutting device; 31-upper cutting unit; 32-a lower cutting unit; 4-a finished zipper conveying mechanism; 41-a conveying part; 411-conveying member; 412-a drive shaft; 42-a drive assembly; 421-cylinder; 422-rack; 423-gear; 424—a unidirectional drive unit; 5-vision system; 51-a first camera; 52-a second camera; 53-a third camera; 54-fourth camera; 55-a fifth camera; 56-a first light source; 57-a second light source; 58-a third light source; 59-a fourth light source; 510-a fifth light source; 520-sixth light source; 530-a second linear module; 6-removing devices; 61-guiding the slide; 62-a driving element; 63-a first receiving portion; 64-a second receiving portion; 7-a smoothness detection component; 71-a tension sensor; 72-a pull-tab stop assembly; 721-an opening and closing element; 722-a block; d-opening; 723-a first blocking piece; 724-a second blocking piece; 73-a force detection element; 74-a reciprocating element; 8, material frame.

Detailed Description

The invention will be further described with reference to the accompanying drawings.

The zipper detection and removal device shown in fig. 1 comprises a fixed seat body 1, wherein a zipper material pulling assembly 2, a cutting device 3, a zipper finished product conveying mechanism 4, a vision system 5, a removal device 6 and a smoothness detection assembly 7 are arranged on the fixed seat body 1; in addition, the zipper detection and removal device further comprises a control system, and each execution unit (such as a motor, an air cylinder and the like) and elements (such as a camera, a sensor and the like) needing data interaction in the zipper material pulling assembly 2, the cutting device 3, the zipper finished product conveying mechanism 4, the vision system 5, the removal device 6 and the smoothness detection assembly 7 are all connected with the control system. The control system is here a generic term which may be a central control system controlling all the components or may be formed by a plurality of sub-control units, in which case each sub-control unit is responsible for a part of the control tasks.

Wherein, the cutting device 3 is arranged between the zipper material pulling assembly 2 and the zipper finished product conveying mechanism 4; the zipper material pulling assembly 2 is used for conveying zipper materials, the zipper materials are continuous and uninterrupted, the zipper materials comprise a plurality of continuously connected zipper units, after the zipper materials are cut off equidistantly by the cutting device 3, the zipper units are sequentially cut off to form finished products of zippers, and the finished products of zippers fall onto the finished product conveying mechanism 4 of zippers and are continuously conveyed by the finished product conveying mechanism 4 of zippers. Each finished zipper or zipper unit comprises two chain belt parts, an upper stopper, a lower stopper, a square block and a zipper fastener, wherein each chain belt part consists of a cloth belt and zipper teeth which are arranged on the cloth belt in a linear array. In the initial form, one ends of the two chain belts are fixed together by the square blocks, and the pull buckle in each zipper unit in the zipper material is arranged at the middle part of the two chain belts, so that one part of the two chain belts is in a clamped state, and the other part of the two chain belts is in a separated state.

Specifically, as shown in fig. 1 and 2, the zipper material pulling assembly 2 includes a roller guide 21, an elongated material guide seat 22, and a transplanting assembly; the cutting components of the roller guide device 21 and the cutting device 3 are respectively positioned at two ends of the strip-shaped material guide seat 22; the roller guide 21 includes a frame 211 and a plurality of guide wheels 212 mounted on the frame 211; as shown in fig. 3, the elongated material guiding seat 22 is provided with a guiding groove 221; as shown in fig. 4, the transplanting assembly comprises an end jaw 23 and a first linear module 24 driving the end jaw 23 to translate reciprocally, the first linear module 24 comprising a mobile seat 241. In operation, zipper material is placed in the material frame 8, one end of the zipper material bypasses all the guide wheels 212, a part of the zipper material is horizontally placed in the guide groove 221, and the end of the zipper material extends out of the end of the strip-shaped material guide seat 22; the end clamping jaw 23 is used for clamping the end of a chain material, the first linear module 24 drives the end clamping jaw 23 to reciprocate within a set distance, and after the first linear module 24 enables the end clamping jaw 23 to move to a maximum distance away from the strip-shaped material guide seat 22, the cutting device 3 is controlled to execute cutting operation, so that one zipper unit can be cut off to form a finished zipper product; then, the end clamping jaw 23 releases the finished zipper product, the first linear module 24 drives the end clamping jaw 23 to be close to the strip-shaped material guide seat 22, the end of the residual zipper material is clamped, and the next round of circulation is performed, so that the continuous cutting of the zipper material can be realized.

The smoothness detection assembly 7 includes a tension sensor 71, and the tension sensor 71 is used for collecting the actual tension generated in the zipper closing process.

The end jaw 23 includes a jaw housing 231, and a tension sensor 71 is installed between the moving seat 241 and the jaw housing 231; two rotating rods 232 are arranged on the clamping jaw seat 231; the middle part of each rotating rod 232 is hinged on the clamping jaw seat 231; one end of the rotating rod 232 is fixed with an end clamping unit 233, the other end is a driving end a, and a roller 237 is rotatably arranged at the driving end a; the clamping jaw seat 231 is also provided with an opening and closing control block 234 in a sliding manner, and the opening and closing control block 234 is provided with a triangular part b which is provided with an equal width part and can enter and exit the two driving ends a; the sliding movement of the open-close control block 234 is driven by an open-close driving cylinder 235.

With the above structure, in the initial state, the two rotating rods 232 are in the relatively opened state, and when the zipper end is required to be clamped, the opening and closing driving cylinder 235 makes the opening and closing control block 234 feed between the two driving ends a, so that the triangular part b rubs the two rollers 237 between the two driving ends a (as shown in fig. 5) until the equal width part of the triangular part b contacts the two rollers 237, thus, the two end clamping units 233 can be kept in the closed state without the action force of the cylinder itself, the two end clamping units 233 can tightly clamp the zipper end, and the clamping force is stable. In addition, the clamping surface of the end clamping unit 233 has a saw tooth pattern c, which can prevent the slide fastener end from sliding relative to the end clamping unit 233.

In addition, an elastic member 236 is provided between the two rotating rods 232, and the elastic member 236 makes the two end holding units 233 have a relatively distant tendency. When the opening and closing driving cylinder 235 draws the equal width portion of the opening and closing control block 234 out between the two driving ends a, the two end holding units 233 are gradually opened to release the slide fastener under the action of the elastic member 236.

The vision system 5 comprises three groups of cameras, wherein the first group of cameras are used for carrying out image acquisition on the cloth belt part of the zipper, the second group of cameras are used for carrying out image acquisition on the zipper teeth, the upper and lower stops and the pull buckles of the zipper, and the third group of cameras are used for carrying out image acquisition on two ends of a finished zipper product; each camera is equipped with a light source; the vision system 5 comprises a camera divided into two parts, a first part of the camera being used for acquiring images of the zipper material conveyed by the zipper material pulling assembly 2 and a second part of the camera being used for acquiring images of the finished zipper conveyed by the finished zipper conveyor 4. The first group of cameras and the second group of cameras belong to the first part of cameras, and the third group of cameras belong to the second part of cameras.

Specifically, as shown in fig. 6, the first group of cameras comprises a first camera 51 and a second camera 52 which are installed above and below the strip-shaped material guide seat 22, a window which is penetrated up and down is formed at the bottom of the guide groove 221, the upper end of the window is covered with glass 222, the second camera 52 is installed right below the window and the lens is arranged upwards, and the first camera 51 and the second camera 52 are respectively used for acquiring images of the front surface and the back surface of the cloth belt part on the zipper unit; the first camera 51 and the second camera 52 are provided with a first light source 56 and a second light source 57, respectively.

The first set of cameras includes a third camera 53 mounted between the elongated material guide 22 and the finished zipper conveyor 4, the third camera 53 being configured to acquire images of the teeth portions of the zipper units. Specifically, a space is provided between the strip-shaped material guide seat 22 and the finished zipper conveying mechanism 4, and when the zipper material is pulled, a part of the zipper material spans the space and is in a suspended state; the third camera 53 is disposed directly above or directly below the spaced position, in this embodiment, the third camera 53 is disposed directly below the spaced position with the lens facing upwards, the third light source 58 and the fourth light source 59 used in cooperation with the third camera 53 are respectively disposed directly above and directly below the spaced position, the third light source 58 and the fourth light source 59 are both flat plate type light sources, and a through hole for giving way to the field of view of the camera is formed in the light source located on the same side as the third camera 53; when the zipper defect detecting device operates, a part of the zipper material which is not cut off (namely the suspended part) passes through the space between the third light source 58 and the fourth light source 59, and the zipper teeth can be fully irradiated through the up-down irradiation action of the third light source 58 and the fourth light source 59, so that the defects of holes, defects, poor injection molding and the like of the zipper teeth are more easily found according to the image acquired by the third camera 53.

The third group of cameras comprises a fourth camera 54 and a fifth camera 55 which are arranged above the finished zipper product conveying mechanism 4 and are respectively used for acquiring images of two ends of the finished zipper product. To facilitate detection of both ends of the zipper of different lengths, the spacing between the fourth camera 54 and the fifth camera 55 can be adjusted. Specifically, the fourth camera 54 is fixed on the fixed base 1, the second linear module 530 is installed on the fixed base 1, and the fifth camera 55 is installed on the moving unit of the second linear module 530. The control system can automatically control the second linear module 530 to operate according to the type of the finished zipper product to adjust the interval between the fourth camera 54 and the fifth camera 55 so as to adapt to different zippers. The fourth camera 54 and the fifth camera 55 are provided with a fifth light source 510 and a sixth light source 520, respectively, for auxiliary illumination.

The moving direction of the zipper material on the strip-shaped material guiding seat 22 is perpendicular to the transporting direction of the finished zipper conveyor 4, and the connection line between the fourth camera 54 and the fifth camera 55 is also perpendicular to the transporting direction of the finished zipper conveyor 4. In this way, after the zipper unit is cut to become a finished zipper and is dropped onto the finished zipper conveyor 4, the length extension direction of the finished zipper is perpendicular to the transport direction of the finished zipper conveyor 4, and the fourth and fifth cameras 34 and 35 more easily capture images of both ends of the finished zipper. Preferably, the finished zipper conveying mechanism 4 is operated step by step, i.e. each time the finished zipper is conveyed a fixed distance, so that two ends of the finished zipper can stay under the fourth camera 34 and the fifth camera 35 for a short period of time for the fourth camera 34 and the fifth camera 35 to photograph.

In the layout of the camera, the camera for detection is divided into two parts, the two parts of the camera are respectively arranged before and after the final cutting of the zipper, the zipper is detected by cloth belts and teeth before the cutting of the zipper, and the two ends of the zipper are detected after the cutting of the zipper. So, compare in directly detecting the zip fastener finished product, when detecting the strap and the sprocket of zip fastener, need not additionally set up the frock, can accomplish the collection to strap and sprocket part image with the help of the process that above-mentioned zip fastener material pulls subassembly 2 was pulled, above-mentioned camera overall arrangement is reasonable compact, and detection efficiency is high.

Specifically, as shown in fig. 8 and 10, the slide fastener product conveying mechanism 4 includes a device housing 43, and a conveying portion 41 and a driving unit 42 mounted on the device housing 43; the conveying section 41 includes a conveying member 411 and a driving shaft 412 in driving relation; the driving assembly 42 includes a cylinder 421, a rack 422, a gear 423, and a one-way driving unit 424; the rack 422 is slidably connected with respect to the device housing 43, and its sliding is driven by the cylinder 421; the gear 423 is connected with the driving shaft 412 through a unidirectional driving unit 424; the rack 422 is engaged with the gear 423.

In this embodiment, the unidirectional driving unit 424 is a unidirectional bearing, and in other embodiments, the unidirectional driving unit 424 may be a unidirectional driving mechanism such as a ratchet mechanism.

Through the above structure, the cylinder 421 drives the rack 422 to do the extending motion and the retracting motion respectively in the pushing stroke and the returning stroke, and the rack 422 can drive the driving shaft 412 to follow through the gear 423 in the two processes of motion (i.e. extending motion and retracting motion) of the rack 422, so as to realize the driving of the conveying member 411; in another course of motion, the rack 422 can only idle the gear 423 while the drive shaft 412 remains stationary. The distance that cylinder 421 stretched out at every turn is fixed with the distance that contracts, therefore, cylinder 421 stretches out, the motion of retracting every time, transport piece 411 can promote the fixed distance with the product, then pause a period of time, advance the fixed distance with the product again, realize the step motion of product, the camera can obtain the image of product and supply detecting system to carry out the analysis in order to judge whether the product is qualified when the product pauses the motion, so, the camera obtains the degree of difficulty of image is little, can use the camera of lower specification, practice thrift the cost, above-mentioned drive assembly 42 just has realized the step propulsion of product through a cylinder 421, the cost is very low.

As shown in fig. 4, the smoothness detection unit 7 includes a fastener stopper unit 72 capable of holding the slider of the slide fastener at a fixed position in addition to the tension sensor. As shown in fig. 7, the tab stop assembly 72 includes an opening and closing element 721, the opening and closing element 721 being a pneumatic or electric jaw having jaw fingers. The two clamping jaw fingers of the opening and closing element 721 are respectively provided with a blocking block 722; each blocking piece 722 is provided with a notch d for letting down the chain belt. When the two blocking blocks 722 are closed, a gap for the cloth belt of the zipper to pass through is formed between the two blocking blocks 722, the notch part d of the two blocking blocks 722 forms a square notch for the zipper teeth of the zipper to pass through, and after the zipper fastener contacts with the blocking blocks 722, the zipper fastener is blocked on one side of the blocking blocks 722, so that the zipper material can be continuously moved to enable the non-blocked chain belt to be closed, and the tension sensor 71 can collect the tensile force in the process.

As shown in fig. 8, the rejecting device 6 is provided at the end of the fastener product conveying mechanism 4, and is configured to separate the acceptable product from the unacceptable product. Specifically, the rejecting device 6 includes a guide slide 61, a driving element 62, a first receiving portion 63, and a second receiving portion 64; as shown in fig. 9, a guide slide 61 is mounted at the end of the fastener product conveying mechanism 4, which can be rotationally switched between a first state and a second state by being driven by a driving element 62; in the first state, as shown in fig. 11, the upper end of the guide slide plate 61 is abutted against the end of the fastener product conveying mechanism 4, and the guide slide plate 61 is provided obliquely, and in the top view direction, the lower end of the guide slide plate 61 is within the receiving range of the first receiving portion 63; in the second state, as shown in fig. 12, a gap is provided between the upper end of the guide slide 61 and the end of the fastener product conveying mechanism 4, and the product dropped from the end of the fastener product conveying mechanism 4 falls into the second receiving portion 64 via the gap. The first receiving part 63 is a conveying belt, the second receiving part 64 is a hopper, the first receiving part 63 and the second receiving part are placed up and down, the first receiving part 63 is used for receiving qualified products and conveying the qualified products away in time, the second receiving part 64 is arranged down, the second receiving part is used for collecting unqualified products, and a user can clean the unqualified products at regular time. The driving element 62 is preferably a cylinder.

Preferably, in the second state, the guiding sliding plate 61 is also inclined, and the inclination direction of the guiding sliding plate 61 is opposite to that of the guiding sliding plate 61 in the first state, and the guiding sliding plate 61 can block the product falling from the finished zipper conveying mechanism 4, prevent the product from falling into the first receiving part 63 and guide the product into the second receiving part 64.

By the above structure, the products falling from the tail end of the finished zipper conveying mechanism 4 can be guided to the first receiving part 63 or the second receiving part 64 only by switching the guide slide plate 61 between the first state and the second state according to whether the products are qualified or not by controlling the driving element 62, so that the qualified products and the unqualified products fall into different receiving units respectively, and the unqualified products are removed.

Preferably, due to the limitation of the characteristics of the zipper materials, the transplanting precision of the transplanting assembly is not high, and the position of the cutting device 3 for cutting is likely to be inaccurate, so, as shown in fig. 13, in order to make the cutting position accurate, the zipper material pulling assembly 2 further comprises a square pushing mechanism 25 and an in-place detecting mechanism 26. The block pushing mechanism 25 is used for pushing the block on the zipper unit, and the in-place detecting mechanism 26 is used for judging whether the block is pushed in place.

Specifically, the square pushing mechanism 25 includes a pushing cylinder 251, a sliding block 252, and a pushing rod 253, and a lifting mechanism; the pushing cylinder 251 is in driving connection with the sliding block 252, the sliding block 252 is in sliding connection with the strip-shaped material guide seat 22, and the sliding direction is parallel to the extending direction of the guide groove body 221; the pushing rod 253 is obliquely arranged, the upper end of the pushing rod is hinged to the sliding block 252, and the lower end of the pushing rod is a pushing end acting on the square block; the lifting mechanism comprises a cross rod 254 and a first lifting cylinder 255, the cross rod 254 is lifted by the first lifting cylinder 255, and when the cross rod 254 is lifted, the push rod 253 can be acted on to enable the push rod 253 to be lifted in a rotating mode.

As shown in fig. 14, the in-place detecting mechanism 26 includes a lift base 261, a second lift cylinder 262, a slide bar 263, a plug 264, an adjusting lever 265, a return elastic member 266, a proximity sensor 267, and a sensing member 268; the lifting seat 261 is driven by the second lifting cylinder 262 to perform lifting movement, the sliding rod 263 can horizontally slide relative to the lifting seat 261, and the sliding direction is parallel to the extending direction of the guide groove 221; the plug 264 and the adjusting rod 265 are respectively installed at both ends of the sliding rod 263, the reset elastic member 266 is disposed between the adjusting rod 265 and the elevating seat 261, the proximity sensor 267 is installed on the elevating seat 261, and the sensing member 268 is installed on the adjusting rod 265 and can adjust the position with respect to the adjusting rod 265.

In the initial state, the cross bar 254 makes the push rod 253 in a lifted state, and the lifting seat 261 is in a low position, and the operation process of the structure is as follows: firstly, the transplanting assembly firstly pulls the zipper materials to move for a set distance, and at the moment, the square block of the second zipper unit on the zipper materials moves to a position between the pushing end of the pushing rod 253 and the end (the end close to the cutting assembly) of the strip-shaped material guide seat 22; then, the second elevating cylinder 262 elevates the elevating seat 261, and the elevating seat 261 is elevated; then, the first lifting cylinder 255 drops the cross rod 254, and the pushing rod 253 drops by rotating, so that the pushing end of the pushing rod contacts with the zipper material; then, the pushing cylinder 251 moves the pushing rod 253 towards the end of the strip material guiding seat 22, the pushing rod 253 contacts with the square block and pushes the square block to advance, in the process, the plug 264 hooks to the square block so that the whole sliding rod 263 moves along with the square block until the square block moves in place, and the sensing piece 268 approaches to the proximity sensor 267 so that the proximity sensor 267 generates a sensing signal; finally, the cutting device 3 performs a cutting operation.

The cutting means of the cutting device 3 includes an upper cutting unit 31 and a lower cutting unit 32 which can be moved up and down, respectively. When the cutting operation is performed, the upper cutting unit 31 acts on the fastener material together with the lower cutting unit 32.

The zipper detection and sorting method is implemented by the control system in the zipper detection and sorting device, and comprises the following steps (step numbers are not used for limiting the execution sequence, and the following steps can be synchronously executed or alternatively executed or cross-executed according to the need):

step 1), controlling a zipper material pulling assembly 2 to convey zipper materials;

step 2), controlling the tension sensor 71 to collect tension data when the zipper unit to be cut is pulled, and judging whether the tension data exceeds a preset threshold value according to the tension data;

step 3), controlling the cutting device 3 to cut the zipper units in the zipper materials to form finished products of zippers;

step 4), controlling a finished zipper product conveying mechanism 4 to convey finished zippers;

step 5), controlling each camera contained in the vision system 5 to collect images in respective fields of view, and judging whether flaws exist in corresponding zipper parts according to the collected images;

step 6), summarizing the judging data of each zipper finished product to obtain a judging conclusion of whether the zipper finished product is qualified or not;

and 7) controlling the removing device 6 to sort the finished zipper products according to the judging conclusion.

Preferably, in another embodiment, as shown in fig. 15, the pull-buckle stop assembly 72 includes an opening and closing element 721, the opening and closing element 721 is mounted on the reciprocating element 74 by a force detecting element 73, the opening and closing element 721 is an electric jaw, the opening and closing element 721 has two jaw fingers, each of which is mounted with a first stop 723 and a second stop 724, the first stop 723 is rotatably mounted on the jaw finger, and the second stop 724 is fixedly mounted on the jaw finger. A torsion spring (not shown) is provided between each first stop 723 and the corresponding jaw finger, such that the angle between the two first stops 723 is smaller than the angle between the two second stops 724 when the two jaw fingers are opened relative to each other.

In the normal detection, the two clamping fingers in the step 2) are in a first closed state, in this state, the two first blocking blocks 723 are closed, and the two second blocking blocks 724 are opened by a certain angle; if the tension data in the step 2) exceeds the threshold value; the method further comprises the following steps between the step 2) and the step 3): the fingers of the clamping jaw are controlled to switch to a second closed state (in the process of switching from the first closed state to the second closed state, the two first blocking blocks 723 do not move continuously, the torsion spring deforms), in this state, the two first blocking blocks 723 and the two second blocking blocks 724 are both closed, the pull buckle is arranged between the first blocking blocks 723 and the second blocking blocks 724, then the reciprocating element 74 is controlled to make the pull buckle stop assembly 72 reciprocate for a plurality of periods (at this time, one end of the detected zipper unit is clamped by the end clamping jaw 23, the square block at the other end is supported by the push rod 253, the detected zipper unit is in a stretched state), and the value of the force detection element 73 is collected to judge whether the moment of exceeding the set threshold value exists, so that the unqualified conclusion of the zipper unit (namely the subsequent finished zipper product) is obtained.

According to the zipper detection and removal device and the detection and separation method, the cloth belt, the teeth and the two ends of a finished zipper product are detected through the vision system, the pulling force data of the zipped zipper is collected through the pulling force sensor, and whether the smoothness of the zipper meets the requirement is judged according to the pulling force data, so that the omnibearing detection of the zipper from apparent defects to the zipped smoothness can be completed.

The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims (5)

1. The zipper detection and removal device is characterized by comprising a fixed seat body (1), wherein a zipper material pulling assembly (2), a cutting device (3), a zipper finished product conveying mechanism (4), a vision system (5), a removal device (6) and a smoothness detection assembly (7) are arranged on the fixed seat body (1); the system also comprises a control system;

the cutting device (3) is arranged between the zipper material pulling assembly (2) and the zipper finished product conveying mechanism (4);

the vision system (5) comprises three groups of cameras, wherein the first group of cameras are used for collecting images of cloth belt parts of the zipper, the second group of cameras are used for collecting images of teeth, upper and lower stops and pull buckles of the zipper, and the third group of cameras are used for collecting images of two ends of a finished zipper product; each of the cameras is provided with a dedicated light source;

the smoothness detection assembly (7) comprises a tension sensor (71), wherein the tension sensor (71) is used for collecting actual tension generated in the zipper pulling and closing process;

the rejecting device (6) is arranged at the tail end of the zipper finished product conveying mechanism (4) and is used for separating qualified products from unqualified products;

the zipper material pulling assembly (2) comprises a roller guide device (21), a strip-shaped material guide seat (22) and a transplanting assembly;

the roller guide device (21) and the cutting assembly of the cutting device (3) are respectively positioned at two ends of the strip-shaped material guide seat (22);

the roller guide device (21) comprises a frame body (211) and a plurality of guide wheels (212) arranged on the frame body (211);

the strip-shaped material guide seat (22) is provided with a guide groove body (221);

the transplanting assembly comprises an end clamping jaw (23) and a first linear module (24) for driving the end clamping jaw (23) to reciprocate and translate;

the end clamping jaw (23) comprises a clamping jaw seat body (231), and a tension sensor (71) is arranged between the movable seat (241) and the clamping jaw seat body (231); two rotating rods (232) are arranged on the clamping jaw seat body (231); the middle part of each rotating rod (232) is hinged on the clamping jaw seat body (231); one end of the rotating rod (232) is fixed with an end clamping unit (233), the other end is a driving end a, and a roller (237) is rotatably arranged at the driving end a; the clamping jaw seat body (231) is also provided with an opening and closing control block (234) in a sliding manner, and the opening and closing control block (234) is provided with a triangle part b which can enter and exit the two driving ends a; the sliding movement of the opening and closing control block (234) is driven by an opening and closing driving cylinder (235);

the removing device (6) comprises a guide sliding plate (61), a driving element (62), a first receiving part (63) and a second receiving part (64);

the guide slide plate (61) can be switched between a first state and a second state in a rotating way;

in the first state and the second state, the guide slide plate (61) guides the zipper finished product falling from the tail end of the zipper finished product conveying mechanism (4) to the first receiving part (63) or the second receiving part (64) respectively;

the first material receiving part (63) and the second material receiving part (64) are arranged up and down, the first material receiving part (63) is arranged up, and the second material receiving part (64) is arranged down; in the first state, the upper end of the guide slide plate (61) is in butt joint with the tail end of the finished zipper conveying mechanism (4), the guide slide plate (61) is obliquely arranged, and in the overlook direction, the lower end of the guide slide plate (61) is in the receiving range of the first receiving part (63); in the second state, the guide slide plate (61) is also in an inclined state, the inclined direction of the guide slide plate (61) is opposite to that of the guide slide plate (61) in the first state, a gap is formed between the upper end of the guide slide plate (61) and the tail end of the finished zipper conveying mechanism (4), and products falling from the tail end of the finished zipper conveying mechanism (4) are guided to fall into the second receiving part (64) through the gap and the guide slide plate (61);

the first linear module (24) comprises a mobile seat (241); -said tension sensor (71) being mounted between said end jaw (23) and said mobile seat (241);

the smoothness detection assembly (7) further comprises a pull buckle stop assembly (72) capable of holding a slider of the zipper in a fixed position.

2. The zipper detection and removal device according to claim 1, wherein the vision system (5) comprises a camera divided into two parts, the first part of camera is used for acquiring images of zipper materials conveyed by the zipper material pulling assembly (2), and the second part of camera is used for acquiring images of finished zippers conveyed by the finished zipper conveying mechanism (4); the first group of cameras and the second group of cameras belong to the first part of cameras, and the third group of cameras belong to the second part of cameras.

3. The zipper detection and removal device of claim 2, wherein a first set of cameras includes a first camera (51) and a second camera (52) mounted above and below the elongated material guide (22); the second group of cameras comprises a third camera (53) arranged between the strip-shaped material guide seat (22) and the zipper finished product conveying mechanism (4);

the bottom of the guide groove body (221) is provided with a window which is penetrated up and down, and the second camera (52) is arranged right below the window and the lens is upwards arranged.

4. A slide fastener inspection and removal device according to claim 3, wherein the third set of cameras includes a fourth camera (54) and a fifth camera (55) mounted above the slide fastener finish conveying mechanism (4).

5. A slide fastener detecting and sorting method implemented by the control system in the slide fastener detecting and removing apparatus according to any one of claims 1 to 4, the method comprising:

controlling the zipper material pulling assembly (2) to convey the zipper material;

controlling the tension sensor (71) to collect tension data when the zipper unit to be cut is pulled, and judging whether the tension data exceeds a preset threshold value according to the tension data;

controlling the cutting device (3) to cut the zipper units in the zipper materials into finished products of zippers;

controlling the zipper finished product conveying mechanism (4) to convey the zipper finished products;

controlling each camera contained in the vision system (5) to collect images in respective fields of view, and judging whether defects exist in corresponding zipper parts according to the collected images;

summarizing the judging data of each zipper finished product to obtain a judging conclusion of whether the zipper finished product is qualified or not;

and controlling the rejecting device (6) to sort the finished zipper products according to the judging conclusion.