CN111024719A

CN111024719A - Product appearance detection industrial robot based on visual system

Info

Publication number: CN111024719A
Application number: CN201911202246.6A
Authority: CN
Inventors: 张晴晴; 甘泉; 马运强; 万志强
Original assignee: Anhui Technical College of Mechanical and Electrical Engineering
Current assignee: Anhui Technical College of Mechanical and Electrical Engineering
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2020-04-17
Anticipated expiration: 2039-11-29
Also published as: CN111024719B

Abstract

The invention discloses a visual system-based industrial robot for product appearance detection, which comprises a base, supporting rods, a reciprocating screw rod, a second motor and a camera, wherein the supporting rods are fixedly arranged at two sides above the base, the inner sides of the supporting rods are connected with a rotating sleeve through limiting rods, the reciprocating screw rod is arranged in a manner of deviating to the inner side of the supporting rods, a rotating disc is fixedly arranged at the bottom of the reciprocating screw rod, the rotating disc is connected with a first driving disc arranged at the horizontal position of the rotating disc through a belt, and the top end of a moving rod is also connected with the rotating sleeve through a connecting shaft. This industrial robot for product appearance inspection based on visual system carries out the detection achievement of multi-angle in the in-process that uses can be fine to certain position on the product, also can be continuous the detection achievement who carries out a plurality of products simultaneously at the in-process that detects for whole robot is carrying out the in-process efficiency that detects higher.

Description

Product appearance detection industrial robot based on visual system

Technical Field

The invention relates to the technical field of visual systems, in particular to an industrial robot for product appearance detection based on a visual system.

Background

In the existing market, in the production and manufacturing process of products, in order to ensure the integrity and quality of the appearance of the products, the appearance of the products generally needs to be detected, and in the detection process, an industrial robot for detection based on a vision system needs to be used, so that the industrial robot in the existing market has the following problems in the product detection process;

1. industrial robots in the existing market cannot well detect the appearance of a product at different angles according to the size and the shape irregularity of the product in the detection process, and the appearance detection angle is too fixed in the detection process, so that the phenomenon of serious detection errors often occurs in the detection process;

2. traditional detection device is carrying out the in-process that detects, and whole device uses the consumer more to and the step of whole operation is too loaded down with trivial details, the in-process that carries out the operation appears the error easily.

We propose an industrial robot for product appearance inspection based on a vision system in order to solve the problems set forth above.

Disclosure of Invention

The invention aims to provide an industrial robot for detecting product appearance based on a vision system, which aims to solve the problems that the detection robot for detecting product appearance in the market in the background technology cannot detect the same position of a product from multiple angles in the detection process, and the use of electric equipment is too much, so that the energy-saving and environment-friendly effects cannot be achieved, meanwhile, the operation steps are increased, and the use is troublesome.

In order to achieve the purpose, the invention provides the following technical scheme: an industrial robot for detecting product appearance based on a vision system comprises a base, supporting rods, a reciprocating screw rod, a second motor and a camera, wherein the supporting rods are fixedly installed at two sides of the upper portion of the base, the inner sides of the supporting rods are connected with a rotating sleeve through limiting rods, the reciprocating screw rod is in threaded connection with the middle of the rotating sleeve, the reciprocating screw rod is arranged in a mode of deviating from the inner side of the supporting rods, a rotating disc is fixedly installed at the bottom of the reciprocating screw rod, the rotating disc is connected with a first driving disc arranged in the horizontal position of the rotating disc through a belt, a rotating shaft connected with the top end of the first motor penetrates through the middle of the first driving disc, the bottom of the first motor is fixed at the upper portion of the base, a second driving disc is further arranged outside the rotating shaft, and the bottoms of the second driving disc and the first driving disc, the top end of the rotating shaft penetrates through the first reserved groove to be connected with the driving gear, one side of the driving gear is connected with the driven gear in a meshed mode, the top end of the driven gear is coaxially and fixedly connected with the bottom of the placing plate, the placing plate is arranged at the position above the conveyor belt, the first reserved groove and the second reserved groove are respectively arranged in the middle of the upper portion of the conveyor belt in a penetrating mode, the placing plate is clamped in the middle of the second reserved groove, rolling wheels are arranged inside the top ends of the two sides of the conveyor belt, the top ends of the rolling wheels are connected with a second motor, a supporting rod is fixedly installed at the bottom of the conveyor belt, a fixed rod is connected between the rolling wheels and the rolling wheels, a moving plate is arranged in the middle of a penetrating groove in the middle of the fixed rod, the outer portion of the moving plate is, and the surface of the movable rod is fixedly provided with a mounting plate, and a camera is arranged on the surface of the mounting plate.

Preferably, the reciprocating screw rod is provided with 2 groups, and 2 groups of thread structures are arranged on the 2 groups of reciprocating screw rods.

Preferably, the movable rod is arranged in a V-shaped structure, the length of the mounting plate mounted on the movable rod is larger than the diameter of the placing plate, and the movable rod is arranged on two sides of the conveyor belt.

Preferably, the gap between the conveyor belt and the placing plate is larger than zero, and the placing plate is arranged above the conveyor belt at equal intervals.

Preferably, the inner side of the first driving disk is embedded with first ratchet teeth at equal angles, and the first ratchet teeth are mutually clamped with the pawls.

Preferably, the second driving disk is also embedded with second ratchet teeth at equal angles, the second ratchet teeth are mutually clamped with the pawls, and the inclination angles of the second ratchet teeth and the first ratchet teeth are opposite.

Preferably, be fixed connection between the top of rotation axis and the driving gear, and the diameter of rotation axis equals with the width in first reservation groove to the horizontal axis of driving gear coincides mutually with the horizontal axis of conveyer belt, is the meshing connection between driving gear and the driven gear simultaneously.

Preferably, the driving gear is arranged on the left side of the deviation conveying belt, and the vertical central axis of the driven gear meshed with the driving gear coincides with the vertical central axis of the conveying belt.

Compared with the prior art, the invention has the beneficial effects that: the industrial robot for product appearance detection based on the visual system can well perform multi-angle detection work on a certain position on a product in the using process, and can also continuously perform detection work on a plurality of products in the detection process, so that the efficiency of the whole robot in the detection process is higher, and in the detection process, the multi-angle high-efficiency detection work can be well completed only by starting and stopping 2 motors, the whole robot is very convenient to operate, more electric appliances are not needed, and the industrial robot is more energy-saving and environment-friendly;

1. the whole movable rod can well adjust the angle under the action of the rotary sleeve and the connecting shaft, the camera above the movable rod can be driven to automatically change the angle during the angle adjustment of the movable rod, the detection of different angles at the same position can be achieved, and the placing plate can be driven by the driven gear to rotate in the whole detection process, so that the effect of detecting the periphery of a product can be conveniently finished;

2. the angle adjustment work of the whole detection work on the moving rod is realized by driving the first driving disc to rotate clockwise through the second motor, the rotation work of the placing plate is realized by driving the second driving disc to rotate anticlockwise through the second motor, only the second motor needs to be controlled in the using process, and the operation is very convenient;

3. the placing plate is arranged on the conveying belt, the whole conveying belt can conveniently move under the action of the rolling wheels, and the efficiency of detection can be continuously improved in the whole detection work.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic top view of the present invention;

FIG. 3 is a schematic side view of the conveyor belt of the present invention;

FIG. 4 is a schematic cross-sectional front view of a conveyor belt according to the present invention;

FIG. 5 is an enlarged view of the structure at A in FIG. 2 according to the present invention;

FIG. 6 is a schematic top cross-sectional view of a conveyor belt according to the present invention;

FIG. 7 is a side view of the mounting plate of the present invention;

FIG. 8 is a schematic top view of the connection between the first driving plate and the rotating shaft according to the present invention;

FIG. 9 is a schematic top view of the second driving disk and the rotating shaft according to the present invention.

In the figure: 1. a base; 2. a support pillar; 3. a reciprocating screw rod; 4. rotating the sleeve; 5. a connecting shaft; 6. a travel bar; 7. mounting a plate; 8. rotating the disc; 9. a support bar; 10. a conveyor belt; 11. a first motor; 12. a first driving disk; 1201. a first ratchet; 13. a second driving disk; 1301. a second ratchet; 14. a belt; 15. a rotating shaft; 16. placing the plate; 17. a second motor; 18. a first preformed groove; 19. a second preformed groove; 20. fixing the rod; 21. a rolling wheel; 22. penetrating a groove; 23. moving the plate; 24. a driven gear; 25. a driving gear; 26. a camera; 27. a pawl.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-9, the present invention provides a technical solution: an industrial robot for product appearance detection based on a visual system comprises a base 1, support columns 2, a reciprocating screw rod 3, a rotating sleeve 4, a connecting shaft 5, a moving rod 6, a mounting plate 7, a rotating disk 8, a support rod 9, a conveying belt 10, a first motor 11, a first driving disk 12, a first ratchet 1201, a second driving disk 13, a second ratchet 1301, a belt 14, a rotating shaft 15, a placing plate 16, a second motor 17, a first preformed groove 18, a second preformed groove 19, a fixed rod 20, a rolling wheel 21, a penetrating groove 22, a moving plate 23, a driven gear 24, a driving gear 25, a camera 26 and a pawl 27, wherein the support columns 2 are fixedly mounted at two sides of the upper part of the base 1, the inner sides of the support columns 2 are connected with the rotating sleeve 4 through limit rods, the reciprocating screw rod 3 is connected with the middle threads of the rotating sleeve 4, and the reciprocating screw rod 3 is arranged towards the inner, a rotating disk 8 is fixedly arranged at the bottom of the reciprocating screw rod 3, the rotating disk 8 is connected with a first driving disk 12 horizontally arranged on the rotating disk 8 through a belt 14, a rotating shaft 15 connected with the top end of a first motor 11 penetrates through the middle of the first driving disk 12, the bottom of the first motor 11 is fixed at the upper position of the base 1, a second driving disk 13 is further arranged outside the rotating shaft 15, the bottoms of the second driving disk 13 and the first driving disk 12 are connected with the rotating shaft 15 through position bearings, the top end of the rotating shaft 15 penetrates through a first reserved groove 18 to be connected with a driving gear 25, one side of the driving gear 25 is meshed and connected with a driven gear 24, the top end of the driven gear 24 is coaxially and fixedly connected with the bottom of a placing plate 16, the placing plate 16 is arranged at the upper position of the conveying belt 10, and a first reserved groove 18 and a second reserved groove 19 respectively penetrate through the middle of the upper, and the centre block of second preformed groove 19 is provided with places board 16, the inside rolling wheel 21 that is provided with in both sides top of conveyer belt 10, and the top of rolling wheel 21 is connected with second motor 17, and the bottom fixed mounting of conveyer belt 10 has bracing piece 9, the intermediate junction of rolling wheel 21 and rolling wheel 21 has dead lever 20, and the centre of wearing groove 22 that runs through in the middle of the dead lever 20 is provided with movable plate 23, and movable plate 23 outside is connected with carriage release lever 6 through connecting axle 5, the top of carriage release lever 6 also is connected with rotatory sleeve 4 through connecting axle 5, and the fixed surface of carriage release lever 6 installs mounting panel 7, and the table of mounting panel 7 is provided with camera 26.

Reciprocating screw rod 3 is provided with 2 groups, and all be provided with 2 groups screw thread column structures to this on 2 groups reciprocating screw rod 3, conveniently makes the symmetry set up can work from top to bottom at rotating sleeve 4, drives movable rod 6 at the in-process that rotating sleeve 4 reciprocated and carries out the effect of angle change.

The carriage release lever 6 is the setting of "V" shape structure, and the length of the mounting panel 7 of installation on the carriage release lever 6 is greater than the diameter of placing board 16 to carriage release lever 6 all has the setting in the both sides of conveyer belt 10, conveniently makes the camera 26 that sets up on mounting panel 7 can carry out the angle along with carriage release lever 6 and change, reaches the effect that detects the outward appearance of product at the angle of difference.

The clearance between the conveyor belt 10 and the placing plate 16 is larger than zero, and the placing plate 16 is arranged above the conveyor belt 10 at equal intervals, so that the placing plate 16 can rotate on the conveyor belt 10 conveniently and cannot influence the conveyor belt 10.

The first ratchet teeth 1201 are embedded in the inner side of the first driving disk 12 at equal angles, and the first ratchet teeth 1201 and the pawls 27 are engaged with each other.

The inside of the second driving disk 13 is also embedded with second ratchets 1301 at equal angles, the second ratchets 1301 are mutually clamped with the pawls 27, and the inclination angles of the second ratchets 1301 and the first ratchets 1201 are opposite, so that the rotating shaft 15 can respectively drive the first driving disk 12 and the second driving disk 13 to rotate, and the rotation operations of the first driving disk 12 and the second driving disk 13 are not influenced by each other.

Be fixed connection between the top of rotation axis 15 and the driving gear 25, and the diameter of rotation axis 15 equals with the width of first preformed groove 18, and coincide mutually with the horizontal axis of conveyer belt 10 in the horizontal axis of driving gear 25, be connected for the meshing between driving gear 25 and the driven gear 24 simultaneously, driving gear 25 can drive driven gear 24 rotatory at rotatory in-process, and then makes driven gear 24 drive place the effect that board 16 carries out the rotation.

The driving gear 25 is disposed on the left side of the conveyor belt 10, and the vertical central axis of the driven gear 24 engaged with the driving gear 25 coincides with the vertical central axis of the conveyor belt 10.

The working principle of the embodiment is as follows: when the industrial robot for detecting the product appearance based on the visual system is used, firstly, the whole robot is placed at a proper position under the action of the bottom base 1, then the whole device is connected with an external power supply, then the whole device can be used, firstly, a product to be detected is placed above the placing plate 16 above the conveyor belt 10 according to the illustration in fig. 2, then the second motor 17 is started, the second motor 17 drives the rolling wheel roller 21 at the top end of the rolling wheel roller to rotate, the whole conveyor belt 10 is driven to move when the rolling wheel roller 21 rotates, the conveyor belt 10 drives the placing plate 16 above the conveyor belt 10 to move to the middle position, and then the detection work can be carried out;

firstly, before detection, the angle of the image shot by the camera 26 needs to be adjusted, the first motor 11 is started, so that the first motor 11 drives the rotating shaft 15 at the top end to rotate along the pointer, in the process that the rotating shaft 15 rotates along the pointer, as shown in fig. 7-8, when the rotating shaft 15 rotates along the pointer, the pawl 27 on the rotating shaft 15 is clamped with the first ratchet 1201 to drive the first driving disc 12 to rotate, when the rotating shaft 15 rotates along the pointer, the pawl 27 is clamped with the second ratchet 1301 to drive the second driving disc 13 to rotate, therefore, as shown in fig. 1, in the process that the first motor 11 rotates counterclockwise, the first driving disc 12 is rotated, then the rotating disc 8 is rotated under the action of the belt 14, the rotating disc 8 rotates to drive the reciprocating screw rod 3 to rotate, so that the rotating sleeve 4 on the reciprocating screw rod 3 moves up and down, in the process of moving the rotary sleeve 4 up and down, the arrangement of the connecting shaft 5 is matched to enable the moving rod 6 to perform angle change work, and in the process of angle change of the moving rod 6, the mounting plate 7 above the moving rod 6 is driven to perform angle change, so that the angle of the camera 26 on the mounting plate 7 is changed, and the adjustment work of the camera 26 is completed, it should be noted that according to fig. 3, in the process of moving the moving rod 6, the moving plate 23 at the top end of the moving rod is driven to perform sliding work inside the through groove 22;

after the adjustment is completed, the camera 26 can perform the detection work on the product, in the detection process, in order to ensure that the detection work is performed on the periphery of the product, as shown in fig. 1, 4 and 6, the first motor 11 is started, so that the first motor 11 is a true UAN to rotate and drive the second driving disk 13 to perform the rotation work, in the rotation process of the second driving disk 13, the driving gear 25 is caused to perform the rotation work under the action of the connecting rod on the second driving disk 13, in the rotation process of the driving gear 25, when the placing plate 16 is moved to the middle position by the conveyor belt 10, the driven gear 24 at the bottom of the placing plate 16 is engaged with the driving gear 25, so that the driven gear 24 also performs the rotation work, in the rotation process of the driven gear 24, the whole placing plate 16 is rotated, and the detection work on the product can be completed by matching with the setting of the camera 26, finally, the above operations are repeated, so that the conveyor belt 10 drives another placing plate 16 to move to the middle position, and the product detection operation can be continuously completed, thereby completing a series of operations.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a product appearance detects industrial robot based on vision system, includes base (1), support column (2), reciprocal lead screw (3), second motor (17) and camera (26), its characterized in that: the device is characterized in that supporting columns (2) are fixedly installed at two sides of the upper portion of a base (1), the inner sides of the supporting columns (2) are connected with a rotating sleeve (4) through limiting rods, a reciprocating screw rod (3) is connected to the middle of the rotating sleeve (4) in a threaded manner, the reciprocating screw rod (3) is arranged in a mode of deviating from the inner side of the supporting column (2), a rotating disc (8) is fixedly installed at the bottom of the reciprocating screw rod (3), the rotating disc (8) is connected with a first driving disc (12) arranged in a horizontal position through a belt (14), a rotating shaft (15) connected with the top end of a first motor (11) penetrates through the middle of the first driving disc (12), the bottom of the first motor (11) is fixed at the position above the base (1), a second driving disc (13) is further arranged outside the rotating shaft (15), and bearings are arranged between the bottoms of the second driving disc (13) and the first driving disc (12) and the rotating, the top end of the rotating shaft (15) penetrates through the first reserved groove (18) to be connected with the driving gear (25), one side of the driving gear (25) is connected with the driven gear (24) in a meshed mode, the top end of the driven gear (24) is coaxially and fixedly connected with the bottom of the placing plate (16), the placing plate (16) is arranged at the position above the conveyor belt (10), the first reserved groove (18) and the second reserved groove (19) are respectively arranged in the middle of the upper portion of the conveyor belt (10) in a penetrating mode, the placing plate (16) is arranged in the middle of the second reserved groove (19) in a clamping mode, rolling wheels (21) are arranged inside the top ends of the two sides of the conveyor belt (10), the top ends of the rolling wheels (21) are connected with second motors (17), the supporting rod (9) is fixedly installed at the bottom of the conveyor belt (10), and fixing rods (20) are connected between the rolling wheels, and a moving plate (23) is arranged in the middle of a through groove (22) penetrating through the middle of the fixed rod (20), the outside of the moving plate (23) is connected with the moving rod (6) through a connecting shaft (5), the top end of the moving rod (6) is also connected with the rotating sleeve (4) through the connecting shaft (5), an installation plate (7) is fixedly installed on the surface of the moving rod (6), and a camera (26) is arranged on the surface of the installation plate (7).

2. The industrial robot for detecting the appearance of a product based on a vision system as claimed in claim 1, wherein: the reciprocating screw rods (3) are provided with 2 groups, and 2 groups of thread structures are arranged on the 2 groups of reciprocating screw rods (3) correspondingly.

3. The industrial robot for detecting the appearance of a product based on a vision system as claimed in claim 1, wherein: the movable rod (6) is arranged in a V-shaped structure, the length of the mounting plate (7) mounted on the movable rod (6) is larger than the diameter of the placing plate (16), and the movable rod (6) is arranged on two sides of the conveyor belt (10).

4. The industrial robot for detecting the appearance of a product based on a vision system as claimed in claim 1, wherein: the gap between the conveyor belt (10) and the placing plate (16) is larger than zero, and the placing plate (16) is arranged above the conveyor belt (10) at equal intervals.

5. The industrial robot for detecting the appearance of a product based on a vision system as claimed in claim 1, wherein: the inner side of the first driving disc (12) is embedded with first ratchets (1201) at equal angles, and the first ratchets (1201) are mutually clamped with pawls (27).

6. The industrial robot for detecting the appearance of a product based on a vision system as claimed in claim 5, wherein: the second ratchet (1301) is embedded in the second driving disc (13) at equal angles, the second ratchet (1301) and the pawl (27) are mutually clamped, and the inclination angles of the second ratchet (1301) and the first ratchet (1201) are opposite.

7. The industrial robot for detecting the appearance of a product based on a vision system as claimed in claim 1, wherein: be fixed connection between the top of rotation axis (15) and driving gear (25), and the diameter of rotation axis (15) equals with the width of first preformed groove (18) to the horizontal axis of driving gear (25) coincides mutually with the horizontal axis of conveyer belt (10), is meshing connection between driving gear (25) and driven gear (24) simultaneously.

8. The industrial robot for detecting the appearance of a product based on a vision system as claimed in claim 1, wherein: the driving gear (25) is arranged on the left side of the deviation conveyor belt (10), and the vertical central axis of the driven gear (24) meshed with the driving gear (25) coincides with the vertical central axis of the conveyor belt (10).