CN109975302A - A kind of soldering screen work appearance automatic detection device - Google Patents
A kind of soldering screen work appearance automatic detection device Download PDFInfo
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- CN109975302A CN109975302A CN201711457773.2A CN201711457773A CN109975302A CN 109975302 A CN109975302 A CN 109975302A CN 201711457773 A CN201711457773 A CN 201711457773A CN 109975302 A CN109975302 A CN 109975302A
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- screen work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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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
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
The invention belongs to nuclear fuel assembly design fields, specially a kind of soldering screen work appearance automatic detection device, including automatic charging device, the weld seam detection mechanism being located at beside automatic charging device below mechanical grip arm and mechanical grip arm for clamping detected screen work；Automatic feed mechanism is used to take to screen work automatic access and for detection, mechanical grip arm is used to clamp the screen work of automatic feed mechanism storage and can freely convert the orientation and angle of clamped screen work, weld seam detection mechanism is used to carry out weld seam detection to the screen work after the detection of putty testing agency, in weld seam detection, can fast and accurately grid spacer each grid,, detection more quick compared with the mode of artificial detection covers comprehensively, thus, exempt the work of artificial detection screen work weld seam.
Description
Technical field
The invention belongs to nuclear fuel assembly design fields, and in particular to the screen work appearance in a kind of component detects dress
It sets.
Background technique
Metal works of the screen work as a kind of specific use in component, in order to meet weld strength, surface smoothness etc.
It is required that screen work uses soldering processes, need to carry out weld seam detection to each grid of screen work.Due to the space of the grid of screen work
Smaller, by the way of manually visualizing detection screen work solder joint quality, detection efficiency is extremely low, and detection workload is heavy, increases
Production cost, phenomena such as being easy to appear false retrieval, missing inspection.
Always by the way of manually visualizing inspection, detection efficiency is not high, and easily causes inspection for screen work visual examination
Personnel's visual fatigue and there is missing inspection, erroneous detection.
It needs to study a kind of new visual inspection system progress screen work appearance test, has not only largely saved people
Power improves checkability, and what vision inspection system can be stable work, and avoids the hair of missing inspection, erroneous detection to greatest extent
It is raw.
Summary of the invention
The object of the present invention is to provide a kind of soldering screen work appearance automatic detection devices, can avoid leaking to greatest extent
Inspection, the generation of erroneous detection.
Technical scheme is as follows:
A kind of soldering screen work appearance automatic detection device, including automatic charging device, be located at beside automatic charging device
The weld seam detection mechanism below mechanical grip arm and mechanical grip arm for clamping detected screen work；
The automatic charging device include transfer bogie, set on transfer bogie side for storing the temporary of screen work
Library is placed with the transmission belt of the pallet of screen work set on being used for transmission for the transfer bogie other side, and sets close on a moving belt
Transfer bogie one end, for placing screen work to be detected and having detected the clamping platform of screen work；
The transfer station that the transfer bogie includes vertically arranged guide rail, can be moved up and down along it on guide rail,
And the driving mechanism that driving transfer station moves along the rail, the transfer station are equipped with the stretching plate that can be horizontally slipped；It is described
Guide rail lower end disposed thereon fixed frame be fixedly mounted；
Transfer station connection in one end and transfer bogie of the conveyer belt, conveyer belt and transfer station are simultaneously along track
It slides up and down, clamping platform is fixedly mounted in this one end of conveyer belt；
The mechanical grip arm includes the support rod of fixed setting, base fixed on support rod, is mounted on base
Control arm, the controller that is mounted on the self-adapting detecting fixture of control arm end and is mounted on base；
The control arm includes connector, middle arm and forearm, and the connector is rotatablely connected with base and by controlling
Spinning motion is made in device control in X-axis, and middle arm and connector are rotatablely connected and are swung in Y-axis by controller control, forearm and
Middle arm rotation connection is simultaneously swung in Y-axis by controller control, and self-adapting detecting fixture is mounted on forearm by fixture link block
End, self-adapting detecting fixture is controlled by controller on fixture link block makees spinning motion；
The weld seam detection mechanism includes worktable panel, the two-dimensional stage on worktable panel, is set to two dimension
Piece-holder portion on platform, the screw rod mould group connecting with support frame, is fixed on the support frame for being fixed on worktable panel side
Endoscope assembly, setting in screw rod mould group is in worktable panel bottom and matched endoscope guidance opposite with endoscope assembly
Photomoduel, and the displacement drive being arranged on worktable panel, the displacement drive can drive two-dimensional stage
Transversely and vertically move.
The displacement drive includes being fixed on worktable panel and consolidating with the chain of two-dimensional stage parallel arrangement
Fixed board, the first chain in chain fixed plate, it is perpendicular to the first chain and the second chain being connect with two-dimensional stage, solid
Surely it is set on worktable panel for driving the second servo motor of the first chain, the third servo being fixed on worktable panel
Motor, one end and the connection of third servo motor bearing and the screw rod with the first chain parallel arrangement, and cover outside screw rod
Edge, the feed screw nut moved for rotating sliding two-dimensional stage along screw rod direction.
The piece-holder portion includes the first dust cover for being fitted in two-dimensional stage upper surface, is fixed on the first dust cover
On gripping and fixed plate, the fixation push plate that is vertical in gripping and fixed plate, the sliding push plate being fitted in gripping and fixed plate, with
And be fixed in gripping and fixed plate, the 4th motor for pushing sliding push plate to advance, the gripping and fixed plate and first is prevented
It is offered on dust hood and guides matched first rectangular opening of photomoduel with endoscope, the two-dimensional stage lower surface setting is used for
The second dust cover of fixed feed screw nut；It is opened up on second dust cover and matched second rectangular opening of the first rectangular opening.
The endoscope guidance photomoduel includes the guidance camera fixed plate being fixed on worktable panel, is located at and draws
Lead camera fixed plate in camera fixed plate side edge, through camera fixed plate the first camera lens, be arranged in the first camera lens one
The first camera of end, the coaxial light source that first camera lens the other end is set, and setting is in guidance camera fixed plate and phase
Adjusting pitch axis between machine fixed plate.
The endoscope assembly includes the first servo motor being fixed in screw rod mould group, connect with first servo motor
Rotary shaft, setting U-shaped board on the rotary shaft, the endoscopy joints being fixed in U-shaped board, respectively and above and below endoscopy joints
Hold connection second camera and the second camera lens, perpendicular to the second camera lens light-guiding pillar, connect with the second camera lens lower end light source company
Column is connect, and two capillary seamless pipes connecting with light source connecting column.
Driving mechanism in the transfer bogie includes driving motor, gear set and driving belt, the transmission skin
Band is connect with transfer station, and feed belt is wound on the outside of gear set, and is engaged on the inside of feed belt with gear set, the gear
Group includes upper and lower two groups of teeth wheel, is separately fixed on the fixed frame of upper and lower side, and driving motor drives the gear of upper end or lower end
Group rotation.
The clamping platform includes the mounting plate for being set to the supporting leg of conveyor belt two sides and being fixed on supporting leg, the installation
Plate is equipped with rotating mechanism, and the rotating mechanism is equipped with pallet placing frame, and pallet is placed on pallet placing frame.
The rotating mechanism includes set on the rotary cylinder clamped on platform mounting plate and the rotation connecting with rotary cylinder
The upper end of column, the column spinner is connect with pallet placing frame, and the pallet placing frame is two and backwards to being arranged, and two pallets are put
It sets frame to be respectively used to place screen work to be detected and detected screen work, the column spinner can be carried on the back under the driving of rotary cylinder
To swinging at least °.
Self-adapting detecting fixture in the mechanical grip arm includes gripper cylinder, and is connect with gripper cylinder and phase
To the fixed clamping arm and adaptive clamping limb of setting；Screen work is between fixed clamping arm and adaptive clamping limb, driving folder
Cylinder is held, so that screen work is clamped.
The adaptive clamping limb includes clamping plate link block, intermediate adaptation bar, upper clip and lower clamping piece, the clamping plate
Link block is L shape, and end panels are fixedly mounted on gripper cylinder slide head, is adapted among installation in the panel of the other end
Bar, upper clip and lower clamping piece are separately mounted to intermediate adaptation bar both ends, and the intermediate bar middle part that adapts to is hinged with clamping plate link block,
It is hinged that upper clip and lower clamping piece adapt to boom end with centre respectively.
Remarkable result of the invention is as follows:
For automatic feed mechanism by setting temporary library, pallet, transmission belt, transfer bogie and clamping platform, clamping platform can be in water
Screen work need to only be placed in pallet when detecting and be put into transmission belt by 180 ° of rotations in plane, screen work, and transmission belt is passed automatically
Defeated to arrive transfer bogie, transfer bogie, which is provided with to stretch out plate and stretch out plate, can control stretching for pallet together with being placed on lattice therein
Temporary library is taken out in frame deposit, the pallet for being placed with screen work that transfer bogie is stored into temporary library by stretching out plate when needing to detect
Take out be transmitted to clamping platform pallet placing frame it is to be detected take, due to pallet placing frame be two, the screen work for detecting completion is put
Enter pallet placing frame, pallet placing frame does 180 ° of rotations under rotary cylinder drive, and so that the screen work for having detected completion is gone to transmission small
Vehicle side, the stretching plate stretching of transfer bogie are drawn off transmission deposit temporary library, and whole process is automatically performed, without artificial ginseng
With loading efficiency height.
Control arm in mechanical grip arm can be realized along X-axis and Y-axis rotation, and self-adapting detecting fixture can make rotation
Movement, thus the accurate movement of manipulator and freely converting for locality may be implemented, to not only increase manipulator
Angle and working range are rotated, and realizes the multi-faceted detection to workpiece.It is of the invention by the way that adaptive clamping limb is arranged,
Be arranged on adaptive clamping limb upper clip, lower clamping piece and it is intermediate adapt to bar, wherein upper clip and lower clamping piece and intermediate adaptation bar are
Rotation connection can all adapt to bar rotation around centre；It is rotation connection that centre, which adapts to bar and clamping plate link block, can also be connected around clamping plate
Block rotation；Therefore when it is not right angle that screen work side surface of workpiece, which is not straight line or angle, adaptive clamping limb energy of the invention
Adjust automatically angle is consistent with side surface of workpiece.The present invention adapts to the foozle of screen work, the detection and localization suitable for screen work.
Weld seam detection mechanism designs two-dimensional stage, rotates drive control two-dimensional stage edge using third servo motor and screw rod
Screw rod direction (i.e. laterally) is flexible, and drives the piece-holder portion for being disposed thereon surface, and in turn, realization is clamped in piece-holder
Screen work transverse shifting in portion.At the same time, pass through the cooperation of the second servo motor, the first chain and the second chain, control two
It is mobile along the second chain (i.e. longitudinal) direction to tie up platform, realizes screen work detection position positioning.In addition, the present invention utilizes coaxial light source
Tested region is lighted, under the cooperation of displacement drive, is overlapped the grid center of screen work with the center of endoscope, using phase
The picture of machine shooting screen work weld seam.In this way, which screen work just can realize covering ground weld seam detection comprehensively in two-dimensional stage, solve
The problem of false retrieval, missing inspection present in artificial mobile screen work detection.The present invention passes through setting endoscope assembly and endoscope guidance
Photomoduel, and carry out endoscope assembly lifting using screw rod mould group can fast and accurately grid spacer in weld seam detection
Each grid, detection more quick compared with the mode of artificial detection cover comprehensively, thus, exempt artificial detection screen work weld seam
Work.
Detailed description of the invention
Fig. 1 is soldering screen work appearance automatic detection device schematic diagram；
Fig. 2 is automatic charging device schematic diagram；
Fig. 3 is transfer bogie schematic diagram；
Fig. 4 is conveyer belt and clamping platform scheme of installation；
Fig. 5 is rotating mechanism schematic diagram；
Fig. 6 is mechanical grip arm schematic diagram；
Fig. 7 is mechanical grip arm side view；
Fig. 8 is self-adapting detecting fixture schematic diagram；
Fig. 9 is adaptive clamping limb schematic diagram；
Figure 10 is schematic diagram on rear side of adaptive clamping limb；
Figure 11 is weld seam detection structural scheme of mechanism；
Figure 12 be weld seam detection mechanism in remove endoscope assembly, support frame, screw rod mould group and motor schematic diagram；
Figure 13 is the two-dimensional stage scheme of installation for removing workbench；
Figure 14 is that endoscope guides photomoduel schematic diagram；
Figure 15 is endoscope assembly schematic diagram；
Figure 16 is endoscope assembly partial structural diagram；
In figure: 1. screen works；2. automatic feed mechanism；3. mechanical grip arm；4. weld seam detection mechanism；5. positioning mechanism；6.
Putty testing agency；
201. fixed frame；202. temporary library；203. pallet；204. transmission belt；205. transfer bogie；206. clamping platforms；
207. guide rail；208. transfer station；209. driving motor；210. gear set；211. feed belt；212. supporting leg；213. clamping platforms
Mounting plate；214. pallet placing frames；215. rotary cylinder；216. column spinner；
301. support rod；302. base；303. control arm；304. fixture；305. controller；306. connector；In 307.
Arm；308. forearm；309. link block；3041. gripper cylinder；3042. fixed clamping arm；3043. adaptive clamping limb；3044.
Clamping plate link block；Bar is adapted among 3045.；3046. upper clip；3047. lower clamping piece；
401. worktable panel；402. two-dimensional stage；403. piece-holder portions；404. support frame；405. screw rod mould groups；
406. first servo motor；407. endoscope assembly；408. second servo motors；409. first chains；410. second chains；
411. first dust covers；412. sliding push plates；413. firm banking；414. endoscopes guide photomoduel；415. third servos
Motor；416. screw rod；417. feed screw nut；418. mounting bracket；419. chain fixed plate；420. guidance camera fixed plates；
421. first camera；422. first camera lenses；423. camera fixed plates；424. coaxial light source；425. adjust pitch axis；426. rotation
Axis；427.U template；428. second camera；429. endoscopy joints；430. second camera lenses；431. light-guiding pillar；432. capillarys are seamless
Pipe；433. light source connecting columns；434. gripping and fixed plate；435. the 4th motors；436. second dust covers；437. first rectangular openings；
438. second rectangular openings；439. fixed push plates.
Specific embodiment
Below by the drawings and the specific embodiments, the invention will be further described.
As shown in Figure 1, the detection device includes automatic charging device 2, is mounted on beside automatic charging device 2 for clamping
It is detected the mechanical grip arm 3 of screen work 1, the positioning mechanism 5 for being sequentially arranged at the discharging of automatic charging device 2 one end and putty detection
The weld seam detection mechanism 4 of 3 lower section of mechanism 6 and mechanical grip arm.
Automatic feed mechanism 2 is used to take to screen work automatic access and for detection；
Mechanical grip arm 3 is used to clamp the screen work of automatic feed mechanism storage and can freely convert the orientation of clamped screen work
And angle；
The screen work that positioning mechanism 5 is used to clamp mechanical grip arm from automatic feed mechanism has the face carved characters and identifies
And direction determining is carried out to screen work；
Whether putty testing agency 6 is used to have putty to examine the screen work after the identification of located mechanism and direction determining
It surveys；
Weld seam detection mechanism 4 is used to carry out weld seam detection to the screen work after the detection of putty testing agency.
As shown in Fig. 2, automatic charging device 2 includes for transfer bogie 205, is mounted on the use of 205 side of transfer bogie
In storage screen work temporary library 202, be mounted on being used for transmission for transfer bogie 205 other side and be placed with the pallet 203 of screen work 1
Transmission belt 204, and be mounted on conveyer belt 204 close to 205 one end of transfer bogie, for placing screen work to be detected and having examined
Survey the clamping platform 206 of screen work.
As shown in figure 3, transfer bogie 205 includes that vertically arranged guide rail 207 (consolidate by the fixed frame 201 by being located at upper and lower side
Dingan County's dress), be mounted on guide rail 207 can be along the transfer station 208 that it is moved up and down, and driving transfer station 208 is along guide rail 207
The driving mechanism of movement.Screen work 1 to be sent is placed in transfer station 208 by stretching out plate, which can horizontally slip, and stretch
Board size matches with pallet 203 out.
Above-mentioned driving mechanism includes driving motor 209, (including upper and lower two groups of teeth wheel is separately fixed at gear set 210
Lower fixed frame), driving belt 211, driving belt 211 is connect with transfer station 208, and feed belt 211 is wound on outside gear set 210
Side (is engaged 211 inside of feed belt) with gear set 210, and when 209 drive gear set 201 of driving motor rotates, drive is driven skin
Band 211 is driven, so that transfer station 208 moves up and down.When installation, gear set 210 can be mounted on fixed frame 201, be driven
Motor 209 drives the rotation of the gear set of upper end or lower end.
Stretching out plate can be mounted in transfer station 208 by sliding rail, can also be installed by mobile guide structure, as long as protecting
Left and right smooth sliding is demonstrate,proved, belongs to machinery field common technology, repeats no more.
As shown in figure 4, one end of conveyer belt 204 is connect with the transfer station 208 in transfer bogie 205, therefore conveyer belt 204
It is slided up and down simultaneously along track 207 with transfer station 208.Clamping platform 206 is fixedly mounted in this one end of conveyer belt 204.Conveyer belt
204 size is matched with pallet 203.
Supporting leg 212 of the clamping platform 206 including being mounted on 204 two sides of conveyer belt, the mounting plate 213 being fixed on supporting leg 212,
Rotating mechanism is installed on mounting plate 213, pallet placing frame 214 is installed on rotating mechanism, pallet 203 is placed on pallet placing frame
On 214.
As shown in figure 5, the rotating mechanism includes the rotary cylinder 215 being mounted on clamping platform mounting plate 213 and rotation
The column spinner 216 that cylinder 215 connects, the upper end of the column spinner 216 are connect with pallet placing frame 214, the pallet placing frame
214 for two and backwards to being arranged, and two pallet placing frames 214 are respectively used to place screen work to be detected and have detected screen work.Rotation
Column 216 is under the driving of rotary cylinder 215, and at least 180 ° of backswing, therefore the pallet placing frame 214 of upper end connection is driven to put
It is at least 180 ° dynamic.
As shown in Figure 6 and Figure 7, mechanical grip arm 3 includes the support rod 301 of fixed setting, machine fixed on support rod 301
Seat 302, the control arm 303 being mounted on base 302, the self-adapting detecting fixture 304 for being mounted on 303 end of control arm and installation
Controller 305 on base 302.
Above-mentioned control arm 303 includes connector 306, middle arm 307 and forearm 308.Connector 306 and base 302 rotate
It connects and makees spinning motion in X-axis by the control of controller 305, middle arm 307 is rotatablely connected and by controller with connector 306
305 controls are swung in Y-axis, and forearm 308 is rotatablely connected with middle arm 307 and is swung in Y-axis by the control of controller 305.It is adaptive
The end that fixture 304 is mounted on above-mentioned forearm 308 by fixture link block 308 should be detected, is controlled by controller 305 in fixture
Make spinning motion on link block 309.
As shown in figure 8, self-adapting detecting fixture 304, including gripper cylinder 3041, and connect with gripper cylinder 3041 and
The fixed clamping arm 3042 and adaptive clamping limb 3043 being oppositely arranged；Screen work 1 is located at fixed clamping arm 3042 and adaptive folder
Gripping arm 3043 drives gripper cylinder 3041, so that screen work 1 is clamped.
As shown in Figure 9 and Figure 10, adaptive clamping limb 3043 include clamping plate link block 3044, it is intermediate adapt to bar 3045, on
Intermediate plate 3046 and lower clamping piece 3047, the clamping plate link block 3044 are L shape, and end panels are fixedly mounted on gripper cylinder 3041
On slide head, bar 3045 is adapted among installation in the panel of the other end.Upper clip 3046 and lower clamping piece 3047 are separately mounted to
Centre adapts to 3045 both ends of bar, intermediate adaptation bar 3045 middle part, upper clip 3046 and the lower clamping piece hinged with clamping plate link block
3047 is hinged with centre adaptation 3045 end of bar respectively.
Intermediate adaptation bar 3045, upper clip 3046 and the lower clamping piece 3047 of adaptive clamping limb 3043 can be at certain angles
Horizontally rotate in degree, when clamping irregular screen work, the intermediate of adaptive clamping limb 304 adapts to bar 3045, upper clip 3046
It can be relatively rotated according to the shape of screen work with lower clamping piece 3047 to adapt to the shape of screen work, to adapt to the system of different screen works
Make error.
As shown in Figure 11~Figure 13, weld seam detection mechanism 4 include worktable panel 401, bottom by mounting bracket 418 with
The two-dimensional stage 402 that worktable panel 401 connects, is fitted in the piece-holder portion 403 in two-dimensional stage 402, passes through fixed bottom
Seat 413 is fixed on the support frame 404 on worktable panel 401, connect with support frame 404 and along the lifting of 404 direction of support frame
Screw rod mould group 405, the endoscope assembly 407 being fixed in screw rod mould group 405, setting 401 bottom of worktable panel and with it is interior
The relatively matched endoscope of sight glass component 407 guides photomoduel 414, and is arranged on worktable panel 401, for controlling
Two-dimensional stage 402 transversely realizes lattice with longitudinal movement and with endoscope assembly 407 and the endoscope guidance cooperation of photomoduel 414
Frame detects the displacement drive of position positioning.
The displacement drive includes being fixed on worktable panel 401 and the chain with 402 parallel arrangement of two-dimensional stage
Fixed plate 419, is built in the first chain 409 of chain fixed plate 419, perpendicular to the first chain 409 and and two-dimensional stage
Second chain 410 of 402 connections is fixed on worktable panel 401 and cooperates control two-dimensional stage 402 with the first chain 409
The second servo motor 408 moved along 410 direction of the second chain, the third servo motor being fixed on worktable panel 401
415, one end is connect with 415 bearing of third servo motor and the screw rod 416 with 409 parallel arrangement of the first chain, and covers
416 outer edge of screw rod, the feed screw nut 417 moved for rotating sliding two-dimensional stage 402 along 416 direction of screw rod.
As shown in Figure 11, Figure 12 and Figure 13, piece-holder portion 403 includes being fitted in the first of 401 upper surface of two-dimensional stage
Dust cover 411, the gripping and fixed plate 434 being fixed on the first dust cover 411, the fixation being vertically mounted in gripping and fixed plate push away
Plate 439, be fitted in gripping and fixed plate 434 and with the fixed relatively matched sliding push plate 412 of push plate 439, and be fixed on folder
The 4th motor 435 in fixed plate 434, for pushing sliding push plate 412 to advance is held, the gripping and fixed plate 434 and first is anti-
It is offered on dust hood 411 and guides matched first rectangular opening 437 of photomoduel 414 with endoscope, under the two-dimensional stage 402
The second dust cover 436 for fixing feed screw nut is arranged in surface；It is opened up on second dust cover 436 and the first rectangular opening
437 matched second rectangular openings 438.
Endoscope guidance photomoduel 414 as described in Figure 14 includes that the guidance camera being fixed on worktable panel 401 is consolidated
Fixed board 420, the camera fixed plate 423 being fitted in guidance 420 side edge of camera fixed plate, through the first of camera fixed plate
The first camera 421 of 422 one end of the first camera lens is arranged in camera lens 422, and the coaxial of 422 the other end of the first camera lens is arranged in
Light source 424, and the adjusting pitch axis 425 being arranged between guidance camera fixed plate 420 and camera fixed plate 423.
As shown in Figure 15 and Figure 16, the endoscope assembly 407 includes the first servo electricity being fixed in screw rod mould group 405
Machine 406, the rotary shaft 426 connecting with first servo motor 406 are arranged in the U-shaped board 427 in rotary shaft 426, are fixed on U-shaped
Endoscopy joints 429 on plate 427, the second camera 428 being connect respectively with 429 upper and lower side of endoscopy joints and the second camera lens
430, perpendicular to the light-guiding pillar 431 of the second camera lens 430, the light source connecting column 433, Yi Jiyu being connect with 430 lower end of the second camera lens
Two capillary seamless pipes 432 that light source connecting column 433 connects.
Positioning mechanism 5 and putty testing agency 6 are all routine techniques.
Electrical system, control system and frame structure are all the prior arts in the present apparatus, therefore to show.
Mechanical grip arm takes out screen work → being placed into from positioning component (screen work is horizontal positioned at this time) → from clamping platform to be determined
Mechanical grip arm removes clamping screen work → from Z-direction and then screen work is rotated to vertical direction → 56 by horizontal direction after position is good
Visual component detects the first face of screen work → along Z-direction mechanical grip arm and rotates the of 180 ° → 56 visual components detection screen work
Screen work is placed at positioning component (screen work is horizontal positioned at this time) → mechanical grip by two faces → detection completion → mechanical grip arm
Arm is rotated by 90 ° clamping screen work → in horizontal plane direction and then screen work is rotated to vertical direction → 56 visual components by horizontal direction
The third face of detection screen work → in fourth face → knowledge of Z-direction mechanical grip arm rotation 180 ° → 56 visual components detection screen work
Not Dai You the number of carving characters face, carry out judgement direction；
The course of work is as follows:
The screen work for completing the identification of the number of carving characters face is clipped on change clamp assemblies and is positioned (screen work at this time by mechanical grip arm
It is horizontal positioned) → mechanical grip arm picks up screen work → 36 visual components detect → from horizontal direction and completes 1/2 region of screen work
Top half detection → mechanical grip arm by screen work take out → along Z-direction mechanical grip arm rotate 180 ° → 36 vision groups
Screen work clamping is placed on monitor station by detection → mechanical grip arm that part detect → complete the lower half portion in 1/2 region of screen work
On face → mechanical grip arm unclamped after being rotated by 90 ° screen work along horizontal plane (at this time screen work horizontal positioned) → mechanical grip arm from
Horizontal direction picks up top half detection → mechanical grip that screen work → 36 visual components detect → completes remaining 1/2 screen work
Arm takes out screen work → and 180 ° → 36 visual components detect → are rotated along Z-direction mechanical grip arm completes 1/2nd area of screen work
Lower half portion detection → mechanical grip the arm in domain, which clips to this station inspection complete screen work at weld seam detection, to be detected (if passed
Sensor, which provides this station, material, then screen work is placed at positioning component etc. to be detected by mechanical grip arm)；
Mechanical grip arm screen work clamping is placed into two-dimensional stage (while grid quantity in software preliminary judgement screen work,
Screen work type, which position need to detect) → sensor detected that material → two-dimensional stage moves to fixed position → interior and peeps
Mirror guidance photomoduel work → algorithm calculates X-axis and offset → two-dimensional stage movement adjustment screen work position of Y-axis is inclined
Shifting amount → work of endoscope guidance photomoduel → carries out the position of screen work to correct → displacement drive drive endoscope again
Component, which moves downward, to start to carry out detection weld seam → displacement drive and moves upwards → two-dimensional stage while moving to next
Position → displacement drive need to be detected endoscope assembly is driven to move downward and start to carry out detection weld seam → same until completing
The weld seam in direction all detect → and displacement drive moves upwards → and rotary shaft is rotated by 90 ° with endoscope assembly → and it is two-dimentional
Platform move to the weld seam that first detection position starts detect → the second direction all detect after → displacement drive
Dynamic component moves upwards → and rotary shaft is rotated by 90 ° (i.e. 180 ° of positions) → two-dimensional stage again with endoscope assembly and moves to first
A detection position starts detect → weld seam in third direction is whole detected after → rotary shaft is with endoscope assembly
It it is rotated by 90 ° (i.e. 270 ° of positions) → two-dimensional stage again moves to first detection position and start to carry out detecting the → the four direction
Weld seam all detected after → mechanical grip arm clamps out screen work to be rotated by 90 ° along the horizontal plane → be placed into two-dimensional stage →
Before detection after the completion of the clamped all weld seam detection → weld seam detections of weld seam → completion for blocking place, mechanical grip arm is by screen work
Clamping is placed on clamping platform → mechanical grip arm completion everything.
Above-described embodiment is only one of the preferred embodiment of the present invention, should not be taken to limit protection model of the invention
Enclose, it is all in body design thought of the invention and mentally make have no the change of essential meaning or polishing, solved
Technical problem is still consistent with the present invention, should all be included within protection scope of the present invention.
Claims (10)
1. a kind of soldering screen work appearance automatic detection device, including automatic charging device (2), it is located at automatic charging device (2)
Side is used to clamp the weld seam detection mechanism (4) below the mechanical grip arm (3) and mechanical grip arm (3) of detected screen work (1),
It is characterized by:
The automatic charging device (2) include transfer bogie (205), be set to transfer bogie (205) side for compartment
The temporary library (202) of frame is used for transmission the biography for being placed with the pallet (203) of screen work (1) set on transfer bogie (205) other side
Defeated band (204), and be located on conveyer belt (204) close to transfer bogie (205) one end, for placing screen work to be detected and
Detect the clamping platform (206) of screen work；
The transfer bogie (205) includes vertically arranged guide rail (207), be set on guide rail (207) can be along moving down thereon
Dynamic transfer station (208), and the driving mechanism that driving transfer station (208) is moved along guide rail (207), the transfer station
(208) it is equipped with the stretching plate that can be horizontally slipped；The fixed peace of the fixed frame (201) of described guide rail (207) lower end disposed thereon
Dress；
One end of the conveyer belt (204) is connect with the transfer station (208) in transfer bogie (205), conveyer belt (204) and biography
It send platform (208) to slide up and down simultaneously along track (207), clamping platform (206) is fixedly mounted in conveyer belt (204) this one end；
The mechanical grip arm (3) includes the support rod (301) of fixed setting, base fixed on support rod (301)
(302), the control arm (303) that is mounted on base (302), the self-adapting detecting fixture for being mounted on control arm (303) end
(304) and the controller (305) that is mounted on base (302)；
The control arm (303) includes connector (306), middle arm (307) and forearm (308), the connector (306) with
Base (302) is rotatablely connected and is controlled by controller (305) makees spinning motion in X-axis, middle arm (307) and connector (306)
It is rotatablely connected and is swung in Y-axis by controller (305) control, forearm (308) and middle arm (307) are rotatablely connected and by controller
(305) control is swung in Y-axis, and self-adapting detecting fixture (304) is mounted on forearm (308) by fixture link block (308)
End, self-adapting detecting fixture (304) is controlled by controller (305) makees spinning motion on fixture link block (309)；
The weld seam detection mechanism (4) include worktable panel (401), the two-dimensional stage (402) on worktable panel,
Piece-holder portion (403) on two-dimensional stage (402), be fixed on worktable panel (401) side support frame (404, with
The screw rod mould group (405) of support frame (404) connection, the endoscope assembly (407) being fixed in screw rod mould group (405), setting exist
Worktable panel (401) bottom and with endoscope assembly (407) matched endoscope guidance photomoduel (414) relatively, and
Displacement drive on worktable panel (401) is set, which can drive two-dimensional stage (402) along cross
To and longitudinal movement.
2. a kind of soldering screen work appearance automatic detection device as described in claim 1, it is characterised in that: the displacement is driven
Dynamic component include be fixed on worktable panel (401) and with the chain fixed plate (419) of two-dimensional stage (402) parallel arrangement,
The first chain (409) in chain fixed plate (419), even perpendicular to the first chain (409) and with two-dimensional stage (402)
The second chain (410) for connecing is fixed on worktable panel (401) for drive the second servo of the first chain (409) electric
Machine (408), the third servo motor (415) being fixed on worktable panel (401), one end and third servo motor (415) axis
Connection and the screw rod (416) with the first chain (409) parallel arrangement are held, and is covered in screw rod (416) outer edge, for rotating
Push and pull two-dimensional stage (402) feed screw nut (417) mobile along screw rod (416) direction.
3. a kind of soldering screen work appearance automatic detection device as described in claim 1, it is characterised in that: the workpiece clamp
Portion (403) are held to include the first dust cover (411) for being fitted in two-dimensional stage (401) upper surface, be fixed on the first dust cover (411)
On gripping and fixed plate (434), the fixation push plate (439) that is vertical on gripping and fixed plate (434), be fitted in gripping and fixed plate
(434) the sliding push plate (412) on, and be fixed on gripping and fixed plate (434), for pushing sliding push plate (412) to advance
The 4th motor (435), offer in the gripping and fixed plate (434) and the first dust cover (411) and endoscope guide
Matched first rectangular opening (437) of photomoduel (414), two-dimensional stage (402) lower surface are arranged for fixing screw rod spiral shell
Female the second dust cover (436)；It is opened up on second dust cover (436) and matched second rectangle of the first rectangular opening (437)
Hole (438).
4. a kind of soldering screen work appearance automatic detection device as described in claim 1, it is characterised in that: the endoscope
Guidance photomoduel (414) includes the guidance camera fixed plate (420) being fixed on worktable panel (401), is located at guidance phase
Camera fixed plate (423) in machine fixed plate (420) side edge exists through the first camera lens (422) of camera fixed plate, setting
The first camera (421) of the first camera lens (422) one end, setting the first camera lens (422) the other end coaxial light source
(424), and setting is guiding the adjusting pitch axis (425) between camera fixed plate (420) and camera fixed plate (423).
5. a kind of soldering screen work appearance automatic detection device as described in claim 1, it is characterised in that: the endoscope
Component (407) includes being fixed on screw rod mould group 405) on first servo motor (406), connect with first servo motor (406)
Rotary shaft (426), setting is in the U-shaped board (427) on rotary shaft (426), the endoscopy joints that are fixed on U-shaped board (427)
(429), the second camera (428) and the second camera lens (430) that are connect respectively with endoscopy joints (429) upper and lower side, perpendicular to
The light-guiding pillar (431) of two camera lenses (430), the light source connecting column (433) being connect with the second camera lens (430) lower end, and and light source
Two capillary seamless pipes (432) of connecting column (433) connection.
6. a kind of soldering screen work appearance automatic detection device as described in claim 1, it is characterised in that: the transmission is small
Driving mechanism in vehicle (205) includes driving motor (209), gear set (210) and driving belt (211), the transmission skin
Band (211) is connect with transfer station (208), and feed belt (211) is wound on the outside of gear set (210), and in feed belt (211)
Side is engaged with gear set (210), and the gear set (210) includes upper and lower two groups of teeth wheel, is separately fixed at the fixation of upper and lower side
On frame (201), driving motor (209) drives the rotation of the gear set of upper end or lower end.
7. a kind of soldering screen work appearance automatic detection device as described in claim 1, it is characterised in that: the clamping platform
It (206) include the mounting plate (213) for being set to the supporting leg (212) of conveyer belt (204) two sides and being fixed on supporting leg (212), it is described
Mounting plate (213) be equipped with rotating mechanism, the rotating mechanism be equipped with pallet placing frame (214), pallet (203) place
On pallet placing frame (214).
8. a kind of soldering screen work appearance automatic detection device as claimed in claim 7, it is characterised in that: the whirler
Structure includes set on the rotary cylinder (215) clamped on platform mounting plate (213) and the column spinner connecting with rotary cylinder (215)
(216), the upper end of the column spinner (216) is connect with pallet placing frame (214), the pallet placing frame (214) be two and
Backwards to setting, two pallet placing frames (214) are respectively used to place screen work to be detected and have detected screen work, the column spinner
It (216), can be at least 180 ° of backswing under the driving of rotary cylinder (215).
9. a kind of soldering screen work appearance automatic detection device as described in claim 1, it is characterised in that: the mechanical folder
Self-adapting detecting fixture (304) in gripping arm (3) includes gripper cylinder (3041), and is connect with gripper cylinder (3041) and phase
To the fixed clamping arm (3042) and adaptive clamping limb (3043) of setting；Screen work (1) is located at fixed clamping arm (3042) and oneself
It adapts between clamping limb (3043), drives gripper cylinder (3041), so that screen work (1) is clamped.
10. a kind of soldering screen work appearance automatic detection device as claimed in claim 9, it is characterised in that: described is adaptive
Answering clamping limb (3043) includes clamping plate link block (3044), intermediate adaptation bar (3045), upper clip (3046) and lower clamping piece
(3047), the clamping plate link block (3044) is L shape, and end panels are fixedly mounted on gripper cylinder (3041) slide head,
Bar (3045) are adapted among installation in the panel of the other end, upper clip (3046) and lower clamping piece (3047) are separately mounted to centre
Adapt to bar (3045) both ends, upper clip (3046) and lower folder hinged with clamping plate link block in the middle part of intermediate adaptation bar (3045)
It is hinged that piece (3047) adapts to bar (3045) end with centre respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457773.2A CN109975302B (en) | 2017-12-28 | 2017-12-28 | Automatic detection device of grillwork outward appearance of brazing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457773.2A CN109975302B (en) | 2017-12-28 | 2017-12-28 | Automatic detection device of grillwork outward appearance of brazing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109975302A true CN109975302A (en) | 2019-07-05 |
| CN109975302B CN109975302B (en) | 2021-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711457773.2A Active CN109975302B (en) | 2017-12-28 | 2017-12-28 | Automatic detection device of grillwork outward appearance of brazing |
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| Country | Link |
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| CN (1) | CN109975302B (en) |
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| CN110672811A (en) * | 2019-10-21 | 2020-01-10 | 远大可建科技有限公司 | Core plate inner cavity detection device and method |
| CN111077081A (en) * | 2020-01-21 | 2020-04-28 | 重庆长安汽车股份有限公司 | Endoscope uses protection device |
| CN111551550A (en) * | 2020-06-13 | 2020-08-18 | 深圳市宏毅泰科技有限公司 | Full-automatic test equipment |
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| CN109975302B (en) | 2021-06-18 |
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