CN111024719B - Product appearance detection industrial robot based on visual system - Google Patents
Product appearance detection industrial robot based on visual system Download PDFInfo
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- CN111024719B CN111024719B CN201911202246.6A CN201911202246A CN111024719B CN 111024719 B CN111024719 B CN 111024719B CN 201911202246 A CN201911202246 A CN 201911202246A CN 111024719 B CN111024719 B CN 111024719B
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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
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/8901—Optical details; Scanning details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
The invention discloses a 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
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. in the detection process of the existing industrial robot in the market, detection work of different angles can not be well performed on the appearance of a product according to the size and the shape irregularity of the product, and in the detection process, the appearance detection angle is too fixed, so that the phenomenon of serious detection error 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 product appearance detection based on a vision system comprises a base, support columns, a reciprocating screw rod, a second motor and a camera, wherein support columns are fixedly arranged at two sides of the upper portion of the base, the inner sides of 2 support columns are connected with a rotary sleeve through a limiting rod, the middle of 2 rotary sleeve is in threaded connection with the reciprocating screw rod, the reciprocating screw rod is arranged in a mode of deviating from the inner side of each support column, a rotary disc is fixedly arranged at the bottom of the reciprocating screw rod, the rotary disc is connected with a first driving disc arranged horizontally of the rotary disc through a belt, a first reserved groove and a second reserved groove are respectively arranged in the middle of the upper portion of a conveying belt in a penetrating mode, a rotating shaft connected with the top end of the first motor is arranged in the middle of the first driving disc in a penetrating mode, the bottom of the first motor is fixed at the upper portion of the base, and a second driving disc is further arranged at the lower end of the outer surface of the rotating shaft, the bottom of the second driving disc and the bottom of the first driving disc are connected with a rotating shaft through bearings, the top end of the rotating shaft is connected with a driving gear, the top end of the rotating shaft is arranged on the inner side of the first reserved groove, one side of the driving gear is connected with a driven gear in a meshed mode, the top end of the driven gear is coaxially connected with the bottom of a placing plate, the placing plate is arranged on the upper portion of the conveying belt, 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 conveying 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 conveying belt, fixing rods are connected among 2 rolling wheels, a through groove penetrating through the middle of each fixing rod is provided with a fixing rod, and the outer portion of the moving plate is connected with a moving rod through a moving plate connecting shaft, the top end of the moving rod is also connected with the rotating sleeve through a connecting shaft, a mounting plate is fixedly mounted on the surface of the moving rod, and a camera is arranged on the surface of the mounting plate;
a first ratchet is embedded in the inner side of the first driving disc at equal angles, and the first ratchet and the pawl are clamped with each other;
a second ratchet is embedded in the second driving disc at equal angles, the second ratchet and the pawl are clamped with each other, and the inclination angles of the second ratchet and the first ratchet are opposite;
the top end of the rotating shaft is fixedly connected with the driving gear, the diameter of the rotating shaft is equal to the width of the first reserved groove, the horizontal central axis of the driving gear is overlapped with the horizontal central axis of the conveying belt, and meanwhile, the driving gear is in meshed connection with the driven gear;
the driving gear is arranged on the left side of the conveying belt in a deviation manner, and the vertical central axis of the driven gear meshed with the driving gear is coincided with the vertical central axis of the conveying belt;
the clearance 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 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.
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 sectional front view of the conveyor belt of 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 vision system comprises a base 1, support columns 2, a reciprocating screw rod 3, rotary sleeves 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 reserved groove 18, a second reserved 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 above the base 1, the inner sides of the 2 support columns 2 are connected with the rotary sleeves 4 through limit rods, the reciprocating screw rod 3 is connected with the middle threads of the 2 rotary sleeves 4, and the reciprocating screw rod 3 is arranged in a mode of deviating from the inner sides of the support columns 2, a rotating disc 8 is fixedly arranged at the bottom of the reciprocating screw rod 3, the rotating disc 8 is connected with a first driving disc 12 arranged horizontally by a belt 14, a first reserved groove 18 and a second reserved groove 19 are respectively arranged in the middle of the upper part of the conveying belt 10 in a penetrating manner, a rotating shaft 15 connected with the top end of a first motor 11 is arranged in the middle of the first driving disc 12 in a penetrating manner, the bottom of the first motor 11 is fixed at the upper part of the base 1, a second driving disc 13 is also arranged at the lower end of the outer surface of the rotating shaft 15, the bottom of the second driving disc 13 and the bottom of the first driving disc 12 are connected with the rotating shaft 15 in a bearing manner at equal positions, the top end of the rotating shaft 15 is connected with a driving gear 25, the top end of the rotating shaft 15 is arranged at the inner side of the first reserved groove 18, a driven gear 24 is meshed and connected with one side of the driving gear 25, and the top end of the driven gear 24 is coaxially connected with the bottom of the placing plate 16, place board 16 and set up the top position at conveyer belt 10, and the centre block of second preformed groove 19 is provided with places board 16, the inside rolling wheel 21 that all 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, 2 each other's rolling wheel 21 intermediate junction has dead lever 20, and the centre of the groove 22 that wears 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 surface 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 product appearance detection 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 to move to a middle position, and then the detection work can be carried out;
firstly, before detection, adjustment work needs to be performed on the angle of the camera 26, the first motor 11 is started, the first motor 11 drives the top rotating shaft 15 to perform clockwise rotation work, and in the process that the rotating shaft 15 rotates clockwise, as shown in fig. 7-8, when the clockwise rotating shaft 15 rotates clockwise, 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 counterclockwise rotating shaft 15 rotates clockwise, the pawl 27 is clamped with the second ratchet 1301 to drive the second driving disc 13 to perform rotation work, therefore, as shown in fig. 1, in the process that the first motor 11 rotates counterclockwise, the first driving disc 12 rotates, then the rotating disc 8 rotates under the action of the belt 14, the rotating disc 8 rotates to drive the reciprocating screw rod 3 to perform rotation work, so that the rotating sleeve 4 on the reciprocating screw rod 3 moves up and down, in the process that the rotating sleeve 4 moves up and down, the moving rod 6 is subjected to angle change work by matching with the setting of the connecting shaft 5, in the process that the moving rod 6 performs angle change, thereby, the moving plate 26 on the camera 26 moves in the process that the camera 23, and the moving plate 23 is described in the process that the moving rod 6 slides in the drawing, which the moving plate needs to perform angle change;
after the adjustment is completed, the camera 26 can detect the product, in the detection process, in order to ensure that the detection work is performed on the periphery of the product, according to fig. 1, fig. 4 and fig. 6, the first motor 11 is started, so that the first motor 11 rotates counterclockwise to drive the second driving disk 13 to rotate, in the rotation process of the second driving disk 13, the driving gear 25 rotates under the action of the connecting rod on the second driving disk 13, in the rotation process of the driving gear 25, when the belt 10 moves the placing plate 16 to the middle position, the driven gear 24 at the bottom of the placing plate 16 is meshed with the driving gear 25, so that the driven gear 24 also rotates, in the rotation process of the driven gear 24, the whole placing plate 16 rotates, the detection work on the product can be completed by matching with the setting of the camera 26, and finally, the above works are repeated, so that the belt 10 drives the other placing plate 16 to move to the middle position, the detection work on the product can be continuously completed, and a series of works can be completed.
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 (3)
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 2 supporting columns (2) are connected with a rotating sleeve (4) through a limiting rod, a reciprocating screw rod (3) is connected to the middle of the 2 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 first reserved groove (18) and a second reserved groove (19) are respectively arranged in the middle of the upper portion of a conveying belt (10) in a penetrating manner, a placing plate (16) is arranged in the middle of the second reserved groove (19) in a clamping manner, the placing plate (16) is arranged at the upper portion of the conveying belt (10), a rotating shaft (15) connected with the top end of a first motor (11) is arranged in the middle of the first driving disc (12), the bottom of the first motor (11) is fixed at the upper portion of the base (1), a second driving disc (13) is arranged on the outer surface of the rotating shaft (15), and the second driving disc (13) is connected with a bearing (25), the top end of the rotating shaft (15) is arranged on the inner side of the first reserved groove (18), one side of the driving gear (25) is meshed with and connected with a driven gear (24), the top end of the driven gear (24) is coaxially connected with the bottom of the placing plate (16), rolling wheels (21) are arranged inside the top ends of two sides of the conveying belt (10), the top ends of the rolling wheels (21) are connected with a second motor (17), a supporting rod (9) is fixedly installed at the bottom of the conveying belt (10), a fixing rod (20) is connected to the middles of 2 rolling wheels (21), a moving plate (23) is arranged in the middle of a penetrating groove (22) in the middle of the fixing rod (20), the outer portion 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), a mounting plate (7) is fixedly installed on the surface of the moving rod (6), and a camera (26) is arranged on the surface of the mounting plate (7);
the inner side of the first driving disc (12) is embedded with first ratchets (1201) at equal angles, the first ratchets (1201) are clamped with the pawls (27), and when the first motor (11) rotates along the pointer, the pawls (27) on the rotating shaft (15) are clamped with the first ratchets (1201) to drive the first driving disc (12) to rotate;
a second ratchet (1301) is embedded in the second driving disc (13) at an equal angle, the second ratchet (1301) and the pawl (27) are clamped with each other, and the inclination angles of the second ratchet (1301) and the first ratchet (1201) are opposite;
the top end of the rotating shaft (15) is fixedly connected with the driving gear (25), the diameter of the rotating shaft (15) is equal to the width of the first reserved groove (18), the horizontal central axis of the driving gear (25) is coincident with the horizontal central axis of the conveyor belt (10), and meanwhile the driving gear (25) is in meshed connection with the driven gear (24);
the driving gear (25) is arranged to be deviated to the left side of the conveying belt (10), and the vertical central axis of the driven gear (24) meshed with the driving gear (25) is coincident with the vertical central axis of the conveying belt (10);
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.
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 symmetrically arranged on the 2 groups of reciprocating screw rods (3).
3. The industrial robot for product appearance inspection based on the 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 the left side and the right side of the conveyor belt (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911202246.6A CN111024719B (en) | 2019-11-29 | 2019-11-29 | Product appearance detection industrial robot based on visual system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911202246.6A CN111024719B (en) | 2019-11-29 | 2019-11-29 | Product appearance detection industrial robot based on visual system |
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| CN111024719A CN111024719A (en) | 2020-04-17 |
| CN111024719B true CN111024719B (en) | 2022-11-29 |
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| CN201911202246.6A Active CN111024719B (en) | 2019-11-29 | 2019-11-29 | Product appearance detection industrial robot based on visual system |
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| CN113573049B (en) * | 2021-08-04 | 2023-08-18 | 安徽光阵光电科技有限公司 | Camera production appearance inspection system |
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| CN107413662A (en) * | 2017-09-21 | 2017-12-01 | 苏州柯瑞德物流科技有限公司 | A kind of intelligent automatic logistics sorting device |
| CN208011199U (en) * | 2018-03-19 | 2018-10-26 | 国家电网公司 | A kind of power system automation apparatus safe antitheft monitoring device |
| CN108896575A (en) * | 2018-05-08 | 2018-11-27 | 苏州建益森电子科技有限公司 | A kind of electronic device appearance detection system and detection method |
| CN209051991U (en) * | 2018-11-09 | 2019-07-02 | 南昌默德比科技有限公司 | A kind of belt slippage warning device |
| CN110091194B (en) * | 2019-06-04 | 2020-11-06 | 肇庆市高讯数控设备有限公司 | Triaxial workpiece clamping seat for machining of numerical control lathe |
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