CN113084820A - 3D vision robot and grabbing flaw detection method - Google Patents
3D vision robot and grabbing flaw detection method Download PDFInfo
- Publication number
- CN113084820A CN113084820A CN202110435843.4A CN202110435843A CN113084820A CN 113084820 A CN113084820 A CN 113084820A CN 202110435843 A CN202110435843 A CN 202110435843A CN 113084820 A CN113084820 A CN 113084820A
- Authority
- CN
- China
- Prior art keywords
- camera
- fixedly connected
- robot
- mechanical arm
- mounting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 238000005406 washing Methods 0.000 claims abstract description 17
- 210000000078 claw Anatomy 0.000 claims description 31
- 230000002950 deficient Effects 0.000 claims description 27
- 239000002184 metal Substances 0.000 claims description 22
- 238000007789 sealing Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 239000003599 detergent Substances 0.000 abstract description 24
- 239000000428 dust Substances 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005507 spraying Methods 0.000 abstract description 4
- 238000007605 air drying Methods 0.000 abstract description 3
- 238000004026 adhesive bonding Methods 0.000 abstract description 2
- 230000003014 reinforcing effect Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a 3D vision robot and a grabbing flaw detection method; including robot body, 3D camera and cleaning device, cleaning device includes washing box, scavenge pipe, fan, scraper blade and telescopic link. When 3D camera window dust is piled up and needs the clearance, extract the detergent in toward the washing box through the scavenge pipe, the spraying is on 3D camera window, the telescopic link is flexible back and forth, promote scraper blade round trip movement, dust and detergent on the clearance 3D camera window, the fan is bloied to 3D camera window, do not scrape clean detergent with the scraper blade and weather, prevent that the detergent from air-drying naturally and gluing the dust, form the shooting effect that the spot influences 3D camera window. The problem of traditional 3D vision robot camera lack cleaning device, camera window dust pile up the influence and shoot the function, unable accurate location is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a 3D vision robot and a grabbing flaw detection method.
Background
The 3D vision robot is a multi-joint mechanical arm or a multi-degree-of-freedom machine device oriented to the industrial field, can automatically execute work, and is a machine for realizing various functions by means of self power and control capacity. The 3D vision robot shoots the target object through the 3D camera and converts the target object into a seat plate to realize positioning, thereby operating the target object, such as flaw detection and grabbing in metal piece production.
However, the traditional 3D vision robot camera lacks a cleaning device, and after the robot camera is used for a period of time, the 3D camera window influences the shooting function of the camera due to dust accumulation, and cannot be accurately positioned, so that the operation of the robot on a target object is influenced.
Disclosure of Invention
The invention aims to provide a 3D vision robot, and aims to solve the problems that a traditional 3D vision robot camera lacks a cleaning device, dust accumulation on a camera window influences a shooting function, and accurate positioning cannot be achieved.
In order to achieve the above object, the present invention provides a 3D vision robot, the 3D vision robot includes a robot body, a 3D camera and a cleaning device, the robot body has a support and a mounting plate, the support is located at one side of the robot body, the mounting plate is located at one side of the support, the 3D camera is fixedly connected with the mounting plate and located at one side of the mounting plate, the cleaning device includes a washing box, a cleaning pipe, a blower, a scraper and a telescopic rod, the washing box is fixedly connected with the 3D camera and located at the top of the 3D camera, the cleaning pipe is fixedly connected with the washing box and located at one side of the washing box close to the 3D camera, the telescopic rod is fixedly connected with the mounting plate and located at one side of the mounting plate close to the 3D camera, the scraper is fixedly connected with the telescopic rod, and is located the telescopic link is kept away from mounting panel one side, the fan with mounting panel fixed connection, and be located 3D camera one side.
Wherein, cleaning device still includes brush and shower nozzle, the brush with scraper blade fixed connection just is located the scraper blade is close to 3D camera one side, the shower nozzle with scavenge pipe fixed connection just is located the scavenge pipe is close to 3D camera one side, through the shower nozzle sprays, makes the detergent spraying feel even, practices thrift the detergent, the brush reinforcing is right the clean effect of 3D camera.
Wherein, cleaning device still includes sealing washer and honeycomb duct, the sealing washer with 3D camera fixed connection, and be located the 3D camera is close to scavenge pipe one side, the honeycomb duct with mounting panel fixed connection, and be located mounting panel one side, the sealing washer reinforcing the gas tightness of 3D camera, the detergent after the honeycomb duct will use is derived the mounting panel prevents that the detergent from remaining the corruption the fan.
The technical robot comprises a robot body and is characterized in that the robot body comprises a mechanical arm, a lifting column and a mechanical claw, the lifting column is fixedly connected with the mechanical arm and is located on one side of the mechanical arm, the mechanical claw is fixedly connected with the lifting column and is located on one side of the lifting column, the lifting column is far away from one side of the mechanical arm, and articles are grabbed through cooperation of the mechanical arm, the lifting column and the mechanical claw cabinet body.
The robot body further comprises a main controller and a detection rod, the detection rod is fixedly connected with the support and located on one side of the support, the main controller is fixedly connected with the mechanical arm and electrically connected with the detection rod and located on one side of the mechanical arm, a detection device of the detection rod is electrically connected with the main controller, and therefore flaw detection operation of the detection rod is achieved.
The robot body further comprises a detection module and an ultrasonic detector, the detection module is fixedly connected with the detection rod and electrically connected with the master controller, the ultrasonic detector is located on one side of the detection rod and fixedly connected with the detection rod and located on one side of the detection rod, the ultrasonic detector detects metal pieces, and the detection module transmits detection results to the master controller through the detection rod.
The robot body further comprises a pressure sensor and a rubber pad, the rubber pad is fixedly connected with the mechanical claw and located on one side of the pressure sensor, the pressure sensor is fixedly connected with the mechanical claw and located between the mechanical claw and the rubber pad, the pressure sensor detects that pressure stops clamping articles and controls the lifting column to ascend, and the rubber pad protects the pressure sensor from being abraded.
The robot body further comprises a base and a rotating motor, the base is fixedly connected with the mechanical arm and located on one side of the mechanical arm, the rotating motor is fixedly connected with the base and fixedly connected with the mechanical arm and located between the mechanical arm and the base, the base increases weight to prevent the robot body from turning on one side, and the rotating motor rotates the mechanical arm to move the mechanical claw.
In a second aspect, a 3D vision robot and a grabbing flaw detection method comprise the following steps;
the surface of the metal piece on the conveyor belt is detected by an ultrasonic detector on the detection rod, and the detection module judges that the ultrasonic detector detects a defective product and transmits a signal to the main controller;
shooting the defective metal piece by the 3D camera and transmitting the defective metal piece to the main controller to form a coordinate;
the lifting column is controlled to descend through the main controller, the mechanical claw clamps and grabs the defective metal piece, the mechanical arm rotates to enable the lifting column and the mechanical claw to move to the defective area, and the mechanical claw loosens and places the defective metal piece. According to the 3D vision robot, the 3D camera shooting video is transmitted to the robot body for positioning, and the support and the mounting plate provide support and mounting conditions for the 3D camera and the cleaning assembly. 3D camera window dust is piled up, need use when clearing up the subassembly clearance, earlier through the scavenge pipe toward extract the detergent in the washing box, the scavenge pipe spraying detergent is in on the 3D camera window, through the telescopic link is flexible back and forth, promotes the scraper blade makes a round trip to be in 3D camera window removes, through the scraper blade clearance dust and detergent on the 3D camera window, the fan starts the operation to 3D camera window bloies, will the scraper blade does not scrape clean detergent and weathers, prevents that the detergent from gluing the dust in-process of air-drying naturally, forms the spot influence the shooting effect of 3D camera window to influence the location of robot to the target spare. The problem of traditional 3D vision robot camera lack cleaning device, camera window dust pile up the influence and shoot the function, unable accurate location is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a 3D vision robot provided by the present invention;
FIG. 2 is a side view of a 3D vision robot provided by the present invention;
FIG. 3 is a front view of a 3D vision robot provided by the present invention;
FIG. 4 is a partial enlarged view A of FIG. 3;
fig. 5 is a flowchart of a 3D vision robot grabbing flaw detection method provided by the invention.
In the figure: the robot comprises a robot body 1, a 2-3D camera, a 3-cleaning device, a mechanical arm 11, a lifting column 12, a mechanical claw 13, a main controller 14, a detection rod 15, a detection module 16, an ultrasonic detector 17, a pressure sensor 18, a rubber pad 19, a washing box 31, a cleaning pipe 32, a blower 33, a scraper 34, a telescopic rod 35, a brush 36, a spray head 37, a sealing ring 38, a guide pipe 39, a base 111, a rotating motor 112, a support 113 and a mounting plate 114.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 5, the present invention provides a 3D vision robot, the 3D vision robot includes a robot body 1, a 3D camera 3 and a cleaning device 3, the robot body 1 has a support 113 and a mounting plate 114, the support 113 is located at one side of the robot body 1, the mounting plate 114 is located at one side of the support 113, the 3D camera 3 is fixedly connected to the mounting plate 114 and located at one side of the mounting plate 114, the cleaning device 3 includes a washing box 31, a cleaning pipe 32, a blower 33, a scraper 34 and an expansion link 35, the washing box 31 is fixedly connected to the 3D camera 3 and located at the top of the 3D camera 3, the cleaning pipe 32 is fixedly connected to the washing box 31 and located at one side of the washing box 31 close to the 3D camera 3, the expansion link 35 is fixedly connected to the mounting plate 114, and be located mounting panel 114 is close to 3D camera 3 one side, scraper blade 34 with telescopic link 35 fixed connection, and be located telescopic link 35 is kept away from mounting panel 114 one side, fan 33 with mounting panel 114 fixed connection, and be located 3D camera 3 one side.
In this embodiment, the 3D camera 3 captures a video and transmits the video to the robot body 1 for positioning, and the bracket 113 and the mounting plate 114 provide support and mounting conditions for the 3D camera 3 and the cleaning assembly. When dust on the 3D camera 3 window is accumulated and needs to be cleaned by the cleaning assembly, firstly, detergent is extracted from the washing box 31 through the cleaning pipe 32, the cleaning pipe 32 sprays the detergent on the 3D camera 3 window, the scraper 34 is pushed to move back and forth on the 3D camera 3 window through the telescopic rod 35, the dust and the detergent on the 3D camera 3 window are cleaned through the scraper 34, the fan 33 is started to operate to blow the 3D camera 3 window, the detergent which is not scraped completely by the scraper 34 is dried, the detergent is prevented from being adhered to the dust in the natural air drying process, spots are formed to influence the shooting effect of the 3D camera 3 window, and therefore the positioning of the robot body 1 on a target part is influenced. The problem of traditional 3D vision robot camera lack cleaning device 3, camera window dust pile up the influence and shoot the function, unable accurate location is solved.
Further, cleaning device 3 still includes brush 36, shower nozzle 37, sealing washer 38 and honeycomb duct 39, brush 36 with scraper blade 34 fixed connection, and be located scraper blade 34 is close to 3D camera 3 one side, shower nozzle 37 with scavenge pipe 32 fixed connection, and be located scavenge pipe 32 is close to 3D camera 3 one side, sealing washer 38 with 3D camera 3 fixed connection, and be located 3D camera 3 is close to scavenge pipe 32 one side, honeycomb duct 39 with mounting panel 114 fixed connection, and be located mounting panel 114 one side.
In this embodiment, the detergent that wash pipe 32 extracted passes through shower nozzle 37 sprays, makes detergent spraying feel even, practices thrift the detergent, brush 36 reinforcing scraper blade 34 is right the clean effect of 3D camera 3 improves the practicality, sealing washer 38 reinforcing 3D camera 3's gas tightness prevents that the detergent from following 3D camera 3 window gap gets into wherein, arouses circuit fault, honeycomb duct 39 exports the detergent after using mounting panel 114, prevents that long-time detergent from remaining the corruption fan 33, influence the life of fan 33.
Further, the robot body 1 comprises a base 111, a rotating motor 112, a mechanical arm 11, a lifting column 12, a mechanical claw 13, a pressure sensor 18 and a rubber pad 19, wherein the lifting column 12 is fixedly connected with the mechanical arm 11, and is positioned at one side of the mechanical arm 11, the mechanical claw 13 is fixedly connected with the lifting column 12, and is positioned at one side of the lifting column 12 far away from the mechanical arm 11, the rubber pad 19 is fixedly connected with the mechanical claw 13, and is positioned at one side of the pressure sensor 18, the pressure sensor 18 is fixedly connected with the mechanical claw 13, and is positioned between the mechanical claw 13 and the rubber pad 19, the base 111 is fixedly connected with the mechanical arm 11, and is located at one side of the mechanical arm 11, the rotating motor 112 is fixedly connected with the base 111, and is fixedly connected with the mechanical arm 11 and is positioned between the mechanical arm 11 and the base 111.
In this embodiment, the base 111 supports the robot body 1, and simultaneously prevents the robot body 1 from turning sideways, and provides mounting conditions for the bracket 113, the mechanical arm 11 supports the lifting column 12 and the mechanical claw 13, the rubber pad 19 protects the pressure sensor 18 from being abraded when being grabbed, the lifting column 12 descends to lower the mechanical claw 13, the mechanical claw 13 descends to a conveyor belt to grab defective metal parts, the pressure sensor 18 is a TP214G-240 sensor, when the pressure sensor 18 senses pressure, the mechanical claw 13 stops grabbing metal parts, the lifting column 12 ascends to lift the mechanical claw 13 to leave the conveyor belt, the rotating motor 112 rotates to move the mechanical claw 13 to a defective part placing area, and after the mechanical claw 13 loosens to place the defective metal parts, the rotary motor 112 is reset and the above operation is repeated.
Further, the robot body 1 further includes a main controller 14, a detection rod 15, a detection module 16 and an ultrasonic detector 17, the detection rod 15 is fixedly connected to the support 113 and is located on one side of the support 113, the main controller 14 is fixedly connected to the mechanical arm 11 and is electrically connected to the detection rod 15 and is located on one side of the mechanical arm 11, the detection module 16 is fixedly connected to the detection rod 15 and is electrically connected to the main controller 14 and is located on one side of the detection rod 15, and the ultrasonic detector 17 is fixedly connected to the detection rod 15 and is located on one side of the detection rod 15.
In this embodiment, through detecting rod 15 is right detect module 16 with ultrasonic detector 17 provides support and installation condition, through ultrasonic detector 17 with detect module 16 and cooperate jointly, whether there is crack, sunken or protruding on the metalwork surface on the detection conveyer belt, and it is more accurate than artifical detection, and efficiency is higher, and the rethread detect module 16 with the testing result transfer for master controller 14 control robot body 1 will snatch to the defective products metal.
In a second aspect, a 3D vision robot and a grabbing flaw detection method comprise the following steps;
s101, detecting the surface of the metal piece on the conveyor belt through the ultrasonic detector 17 on the detection rod 15, and transmitting a signal to the main controller 14 by the detection module 16 when the ultrasonic detector 17 detects a defective product;
through ultrasonic detector 17 with detect module 16 cooperation jointly, detect whether the metalwork surface on the conveyer belt has the crack, sunken or protruding, more accurate than artifical detection, efficiency is higher, the rethread detect module 16 with the testing result transfer for master controller 14.
S102, shooting the defective metal piece through the 3D camera 3 and transmitting the shot defective metal piece to the main controller 14 to form a coordinate;
when the main controller 14 receives the signal, the 3D camera 3 shoots and transmits the detected defective metal back to the main controller 14 to form a coordinate position for positioning.
S103, the main controller 14 controls the lifting column 12 to descend, the mechanical claw 13 clamps and grips the defective metal piece, the mechanical arm 11 rotates to enable the lifting column 12 and the mechanical claw 13 to move to a defective area, and the mechanical claw 13 releases the defective metal piece.
Through behind 3D camera 3 advances the location, master controller 14 control lift post 12 descends, makes gripper 13 descends and snatchs the defective products metalwork on the conveyer belt, again by lift post 12 rises with gripper 13 and the defective products that snatchs promote, through rotation motor 112 rotates the messenger arm 11 rotates, arm 11 rotates the messenger gripper 13 removes the defective products and places the district, gripper 13 loosens and places the defective products metalwork after, rotation motor 112 resets, repeats above-mentioned operation and snatchs the operation of detecting a flaw once more.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A3D vision robot is characterized in that,
the 3D vision robot comprises a robot body, a 3D camera and a cleaning device, wherein the robot body is provided with a support and a mounting plate, the support is positioned on one side of the robot body, the mounting plate is positioned on one side of the support, the 3D camera is fixedly connected with the mounting plate and positioned on one side of the mounting plate, the cleaning device comprises a washing box, a cleaning pipe, a fan, a scraper and a telescopic rod, the washing box is fixedly connected with the 3D camera and positioned on the top of the 3D camera, the cleaning pipe is fixedly connected with the washing box and positioned on one side of the washing box close to the 3D camera, the telescopic rod is fixedly connected with the mounting plate and positioned on one side of the mounting plate close to the 3D camera, the scraper is fixedly connected with the telescopic rod and positioned on one side of the telescopic rod far away from the mounting plate, the fan with mounting panel fixed connection, and be located 3D camera one side.
2. A3D vision robot as claimed in claim 1,
cleaning device still includes brush and shower nozzle, the brush with scraper blade fixed connection just is located the scraper blade is close to 3D camera one side, the shower nozzle with scavenge pipe fixed connection just is located the scavenge pipe is close to 3D camera one side.
3. A3D vision robot as claimed in claim 1,
cleaning device still includes sealing washer and honeycomb duct, the sealing washer with 3D camera fixed connection, and be located the 3D camera is close to scavenge pipe one side, the honeycomb duct with mounting panel fixed connection, and be located mounting panel one side.
4. A3D vision robot as claimed in claim 1,
the robot body comprises a mechanical arm, a lifting column and a mechanical claw, the lifting column is fixedly connected with the mechanical arm and is located on one side of the mechanical arm, and the mechanical claw is fixedly connected with the lifting column and is located on one side of the mechanical arm far away from the lifting column.
5. A3D vision robot as claimed in claim 4,
the robot body further comprises a main controller and a detection rod, the detection rod is fixedly connected with the support and is located on one side of the support, and the main controller is fixedly connected with the mechanical arm, is electrically connected with the detection rod and is located on one side of the mechanical arm.
6. A3D vision robot as claimed in claim 5,
the robot body still includes detection module and ultrasonic detector, detection module with probe rod fixed connection, and with the master controller electricity is connected, and is located probe rod one side, ultrasonic detector with probe rod fixed connection, and be located probe rod one side.
7. A3D vision robot and a grabbing inspection method, which are applied to the 3D vision robot as claimed in claims 4-6,
the surface of the metal piece on the conveyor belt is detected by an ultrasonic detector on the detection rod, and the detection module judges that the ultrasonic detector detects a defective product and transmits a signal to the main controller;
shooting the defective metal piece by the 3D camera and transmitting the defective metal piece to the main controller to form a coordinate;
the main controller controls the lifting column to descend the mechanical claw to clamp and grab the defective metal piece, the mechanical arm rotates to enable the lifting column and the mechanical claw to move to a defective area, and the mechanical claw loosens and places the defective metal piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110435843.4A CN113084820A (en) | 2021-04-22 | 2021-04-22 | 3D vision robot and grabbing flaw detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110435843.4A CN113084820A (en) | 2021-04-22 | 2021-04-22 | 3D vision robot and grabbing flaw detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113084820A true CN113084820A (en) | 2021-07-09 |
Family
ID=76679478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110435843.4A Pending CN113084820A (en) | 2021-04-22 | 2021-04-22 | 3D vision robot and grabbing flaw detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113084820A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116787492A (en) * | 2023-03-23 | 2023-09-22 | 安徽文达信息工程学院 | Manipulator provided with image acquisition unit |
| FR3138395A1 (en) * | 2022-07-28 | 2024-02-02 | Elwedys | Air jet cleaning of optics |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09248779A (en) * | 1996-03-08 | 1997-09-22 | Showa Electric Wire & Cable Co Ltd | Defective product detecting device and method thereof |
| CN2863280Y (en) * | 2006-01-24 | 2007-01-31 | 湖南大学 | Automatic sorting apparatus for degraded products on high-speed automation production line |
| CN103926317A (en) * | 2014-04-25 | 2014-07-16 | 上海势华电子科技有限公司 | Method for screening workpieces through ultrasonic wave |
| JP2016078150A (en) * | 2014-10-15 | 2016-05-16 | Ｊｆｅスチール株式会社 | Surface defect grinder of steel plate and method |
| CN106079317A (en) * | 2016-04-22 | 2016-11-09 | 苏州超群智能科技有限公司 | A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function |
| CN107471214A (en) * | 2017-08-09 | 2017-12-15 | 苏州阿甘机器人有限公司 | A kind of NI Vision Builder for Automated Inspection and robotic gripping device |
| CN109085173A (en) * | 2018-06-25 | 2018-12-25 | 盐城工学院 | A kind of carrying out flaw detection anthropomorphic robot and its detection method |
| CN110624859A (en) * | 2019-11-05 | 2019-12-31 | 天津三英精密仪器股份有限公司 | Automatic CT equipment suitable for cylinder sample |
| CN211152028U (en) * | 2019-12-11 | 2020-07-31 | 大连荣川科技发展有限公司 | Dust removal type traffic surveillance camera head |
| CN212486597U (en) * | 2020-07-06 | 2021-02-05 | 刘路燕 | Security protection camera with camera lens cleaning function |
-
2021
- 2021-04-22 CN CN202110435843.4A patent/CN113084820A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09248779A (en) * | 1996-03-08 | 1997-09-22 | Showa Electric Wire & Cable Co Ltd | Defective product detecting device and method thereof |
| CN2863280Y (en) * | 2006-01-24 | 2007-01-31 | 湖南大学 | Automatic sorting apparatus for degraded products on high-speed automation production line |
| CN103926317A (en) * | 2014-04-25 | 2014-07-16 | 上海势华电子科技有限公司 | Method for screening workpieces through ultrasonic wave |
| JP2016078150A (en) * | 2014-10-15 | 2016-05-16 | Ｊｆｅスチール株式会社 | Surface defect grinder of steel plate and method |
| CN106079317A (en) * | 2016-04-22 | 2016-11-09 | 苏州超群智能科技有限公司 | A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function |
| CN107471214A (en) * | 2017-08-09 | 2017-12-15 | 苏州阿甘机器人有限公司 | A kind of NI Vision Builder for Automated Inspection and robotic gripping device |
| CN109085173A (en) * | 2018-06-25 | 2018-12-25 | 盐城工学院 | A kind of carrying out flaw detection anthropomorphic robot and its detection method |
| CN110624859A (en) * | 2019-11-05 | 2019-12-31 | 天津三英精密仪器股份有限公司 | Automatic CT equipment suitable for cylinder sample |
| CN211152028U (en) * | 2019-12-11 | 2020-07-31 | 大连荣川科技发展有限公司 | Dust removal type traffic surveillance camera head |
| CN212486597U (en) * | 2020-07-06 | 2021-02-05 | 刘路燕 | Security protection camera with camera lens cleaning function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3138395A1 (en) * | 2022-07-28 | 2024-02-02 | Elwedys | Air jet cleaning of optics |
| CN116787492A (en) * | 2023-03-23 | 2023-09-22 | 安徽文达信息工程学院 | Manipulator provided with image acquisition unit |
| CN116787492B (en) * | 2023-03-23 | 2023-12-12 | 安徽文达信息工程学院 | Manipulator provided with image acquisition unit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113084820A (en) | 3D vision robot and grabbing flaw detection method | |
| CN110102530B (en) | Assembly line type full-automatic three-dimensional blade detection system | |
| CN101166454A (en) | Floor sweeping and scrubbing machine | |
| CN111398418B (en) | In-service blade damage detection robot | |
| CN107571025A (en) | A kind of cell polar ear welding processing equipment | |
| CN109154819A (en) | self-propelled robot | |
| CN110238145B (en) | Rocket tank surface intelligent cleaning and detecting robot system and method | |
| CN209272018U (en) | The automatic flushing device of water quality sensor | |
| CN207067352U (en) | A kind of optoelectronic switch detection device | |
| CN109807145B (en) | Steel bottle self-cleaning device | |
| CN217141433U (en) | Cleaning device and production line | |
| WO2023105018A1 (en) | Waste sorting robot and external cleaning apparatus | |
| CN115833736A (en) | Photovoltaic panel foreign matter detection and cleaning method and device | |
| CN109848140A (en) | A kind of container dry ice cleaning system | |
| CN115121528A (en) | Photovoltaic cleaning system and cleaning method | |
| CN215208093U (en) | Grab bucket feeding machine for garbage disposal | |
| CN207656703U (en) | A kind of interchangeable plate operation cleaning robot applied to photovoltaic array | |
| CN211637654U (en) | Dust removal device for solar panel | |
| CN209396502U (en) | Recycle spraying coating line automatic material blanking mechanism | |
| CN209631741U (en) | A kind of truss type container dry ice cleaning system | |
| JP2003170126A (en) | Cleaning robot for removing dust | |
| KR100967764B1 (en) | A brush device for hull outer wall cleaning | |
| CN207564105U (en) | A kind of cell polar ear welding processing equipment | |
| CN213316345U (en) | Image monitoring device with cleaning function for pipeline robot | |
| CN214638778U (en) | Dry ice cleaning equipment capable of being automatically controlled |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |