CN117697827B - Terminal vision testing arrangement of robot - Google Patents
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Abstract
The invention belongs to the technical field of robot test equipment, and particularly relates to a robot tail end vision test device, which comprises a test platform, wherein a support beam is fixedly arranged in the center of one side of the test platform, an installation seat for fixedly installing an industrial robot is fixedly arranged at one end of the support beam, which is far away from the test platform, side detection systems are symmetrically arranged on the top surface of the test platform on two sides of the installation seat, and a center detection system is arranged corresponding to the installation seat; wherein the side detection system comprises a circumferential test assembly and an industrial camera; the center detection system comprises a center test assembly and a test workpiece clamped on the center test assembly. The invention can simulate the real production environment before leaving the factory, comprehensively detect the situation of collocation between the industrial robot and the tail end vision system in practical application, and debug the tail end vision system so that the tail end vision system can be matched with the robot almost perfectly.
Description
Technical Field
The invention belongs to the technical field of robot testing equipment, and particularly relates to a robot tail end vision testing device.
Background
The industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device widely used in the industrial field, has certain automatic performance, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability. They are widely used in various industries such as electronics, logistics, chemical engineering, etc.
The robot terminal vision means that a machine is used for measuring and judging instead of human eyes, so that the robot can be more intelligent. The machine vision system includes: light source, lens (fixed focus lens, variable magnification lens, telecentric lens, micro lens), camera (including CCD camera and COMS camera), image processing unit (or image capture card), image processing software, monitor, communication/input/output unit, etc.
The industrial robot can intelligently simulate the arms of a human to perform various operations, and mainly depends on the tail end vision system of the robot to identify and position various objects so as to accurately perform various operations, but the robot is applied to a production line after the production is finished at the present stage to perform practical application tests, so that the tail end vision of the robot and the practical application of the robot lack of tests, errors are easily generated in practical application, and the errors are not easily found and easily ignored due to small common errors, so that the precision of produced workpieces on the production line is not high, the yield is low, and the high-precision processing of the workpieces is not facilitated.
Disclosure of Invention
The invention aims to provide a robot tail end vision testing device which can simulate a real production environment before leaving a factory, comprehensively detect the situation of collocation between an industrial robot and a tail end vision system in practical application, and debug the situation, so that the tail end vision system can be matched with the robot almost perfectly, and therefore, when the robot tail end vision testing device is applied to a practical production line, high-precision processing operation can be carried out, and the yield of workpieces is higher.
The technical scheme adopted by the invention is as follows:
a robotic end vision testing device, comprising:
the system comprises a test platform, wherein a supporting beam is fixedly arranged at the center of one side of the test platform, a mounting seat for fixedly mounting an industrial robot is fixedly arranged at one end, away from the test platform, of the supporting beam, side detection systems are symmetrically arranged on the top surface of the test platform on two sides of the mounting seat, and a center detection system is correspondingly arranged on the mounting seat;
wherein the side detection system comprises a circumferential test assembly and an industrial camera;
the circumferential test assembly comprises two groups of positioning supports, and a vertical laser transmitter and a laser receiver which are arranged at the upper part and the lower part of the positioning supports, wherein the two groups of positioning supports are arranged in an up-down opposite way, the positioning supports, the vertical laser transmitter and the laser receiver are positioned on the same vertical line, and the positioning supports, the vertical laser transmitter and the laser receiver are arranged on the top surface of the test platform through supporting mechanisms;
the industrial cameras are at least provided with three groups, and the industrial cameras are circumferentially arranged on the periphery of the positioning support;
the center detection system comprises a center test assembly and a test workpiece clamped on the center test assembly;
positioning pins are integrally formed at two ends of the test workpiece, and a test through hole is formed in the center of the test workpiece;
the center test assembly comprises a supporting platform vertically arranged on the top surface of the test platform, fixed clamping jaws symmetrically arranged on the supporting platform, movable clamping jaws movably arranged on the supporting platform and a supporting plate for supporting the test workpiece, a horizontal pushing mechanism for driving the movable clamping jaws is arranged between the movable clamping jaws and the supporting platform, and a vertical pushing mechanism for driving the test workpiece is arranged between the supporting plate and the supporting platform;
the side detection system is used for detecting the rotation positioning capability of the tail end vision of the robot, and the center detection system is used for detecting the center positioning capability of the tail end vision of the robot.
The supporting mechanism comprises a Y-shaped support plate fixedly mounted on the top surface of the testing platform, side support plates and vertical support posts symmetrically mounted on the top surface of the Y-shaped support plate, and a lower support, an upper support and a lifting plate which are mounted on the vertical support posts in a sliding manner, wherein a first lifting mechanism for driving the upper support to move up and down is arranged between the upper support and the side support plates, a second lifting mechanism for driving the lower support to move up and down is arranged between the lower support and the side support plates, two groups of positioning supports are mounted on the lower support and the upper support respectively, and a vertical laser transmitter and a laser receiver are mounted on the bottom surface of the Y-shaped support plate and the bottom surface of the lifting plate respectively.
The first lifting mechanism comprises a first movable support plate and a second movable support plate which are slidably mounted between the vertical support posts, and a lifting cylinder fixedly mounted between the first movable support plate and the second movable support plate, wherein the power output end of the lifting cylinder penetrates through the first movable support plate to be fixedly mounted on the lifting plate, and two ends of the lifting plate are fixedly connected with the upper support through first vertical connecting rods.
The second lifting mechanism comprises a worm gear lifter and a servo motor which are fixedly installed on the side support plate, the power output end of the servo motor is in transmission connection with the power output end of the worm gear lifter through a speed reducer, the power output end of the worm gear lifter is fixedly installed on the bottom surface of the second movable support plate, and two ends of the first movable support plate are fixedly connected with two ends of the lower support through second vertical connecting rods.
The laser through groove of V type has been seted up in the location support center, and the side has a location cylinder through support fixed mounting, location cylinder power take off end fixed mounting has the location tongue, the location tongue runs through the location support extends to in the laser through groove, the lower support with all set up on the upper support with the V type groove of laser through groove similar structure.
The Y-shaped support plate is characterized in that an adjusting mechanism for supporting the industrial camera is further arranged on the top surface of the Y-shaped support plate, the adjusting mechanism comprises a vertical support seat fixedly mounted on the top surface of the Y-shaped support plate through I-shaped steel, a vertical sliding seat is mounted on the side surface of the vertical support seat in a vertical sliding mode, a first tight supporting nut for supporting the vertical sliding seat is further connected to the vertical support seat in a threaded mode, an arc-shaped groove is formed in the vertical sliding seat, a horizontal support seat is mounted in the arc-shaped groove in a sliding mode, a tight supporting threaded sleeve is connected to a sliding shaft of the horizontal support seat in a threaded mode, a horizontal clamping seat is mounted on the horizontal support seat in a horizontal sliding mode, a second tight supporting nut for supporting the horizontal clamping seat is connected to the horizontal support seat in a threaded mode, and the industrial camera is fixedly mounted on the horizontal clamping seat.
The locating pin is communicated with the center of the test through hole, and the test through hole is funnel-shaped.
The vertical pushing mechanism comprises a vertical limit sliding seat fixedly mounted on the side surface of the supporting platform, a limit supporting rod slidably mounted in the vertical limit sliding seat and a first pushing cylinder vertically mounted on the supporting platform, the top end of the limit supporting rod is fixedly mounted on the bottom surface of the supporting plate, and the power output end of the first pushing cylinder is fixedly mounted on the bottom surface of the supporting plate.
The horizontal pushing mechanism comprises a second pushing cylinder, a pushing rod and a horizontal limiting sliding seat, wherein the second pushing cylinder is horizontally and fixedly arranged on the supporting platform, the pushing rod is fixedly arranged at the power output end of the second pushing cylinder, the horizontal limiting sliding seat is fixedly arranged on the top surface of the supporting platform, the pushing rod is slidably connected in the horizontal limiting sliding seat, and one end, far away from the second pushing cylinder, of the pushing rod is fixedly arranged on the movable clamping jaw.
The vertical limiting assembly is used for limiting the vertical lifting of the lower support and the upper support, and comprises a limiting cylinder fixedly mounted on the side face of the side support plate, and the tail end of the power output end of the limiting cylinder is vertically and rotatably connected with a limiting roller.
The invention has the technical effects that:
the movable clamping jaw is matched with the supporting plate, so that the position of a test workpiece can be positioned at different heights, the clamping position of the industrial robot can be accurately identified in the process of clamping the workpiece, the precision of material taking is ensured, the matching degree of the vision of the tail end with the industrial robot in the actual application process of material taking is further detected, the detection of multiple angles and multiple surfaces can be realized, the accuracy of a material taking test result is higher, and the accuracy of the material taking test result is more consistent with the actual use condition;
according to the invention, the two groups of positioning supports are matched, the relative positions of the two groups of positioning supports can be continuously changed during detection, and whether the industrial robot can accurately convey a test workpiece to a required position is detected, so that the matching degree of the tail end vision with the industrial robot in the actual application process of discharging can be detected, and the detection of multiple angles and multiple surfaces can be realized, so that the accuracy of a discharging test result is higher and more consistent with the actual use condition;
according to the invention, the test workpiece is matched with the vertical laser transmitter and the laser receiver, meanwhile, the test through hole is funnel-shaped, and laser can pass through the test through hole only under the condition of higher vertical alignment precision, so that the eccentricity of the vertical alignment of the test workpiece compared with the positioning support is calculated by utilizing the laser receiving rate of the laser receiver, and the actual identification capacity of the industrial robot tail end vision system is detected;
according to the invention, the industrial camera is arranged, a placement position picture can be shot for comparing and analyzing the deviation degree of the placement position, the servo motor and the lifting cylinder can be utilized for synchronously clamping the test workpiece, the clamping picture is shot again through the industrial camera for comparing and analyzing the deviation degree of the placement position, the positioning tongue is pushed by the positioning cylinder to position the test workpiece, the positioning picture is shot, and the position deviation between the placement and the actual processing is compared and analyzed, so that the matching degree of the tail end vision and the industrial robot is accurately analyzed; and two groups of circumferential test assemblies and industrial cameras are arranged for testing, so that the actual matching degree of the tail end vision and the industrial robot is evaluated more comprehensively, the analysis result is more comprehensive and accurate, and the optimal effect can be achieved in the actual application.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a test platform according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a circumferential testing component according to an embodiment of the present invention;
FIG. 4 is a schematic view of a portion of a circumferential test assembly according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a first lifting mechanism and a second lifting mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic perspective view of the rear view of FIG. 5 in accordance with the present invention;
FIG. 7 is a schematic diagram of the positioning support, vertical laser transmitter, and laser receiver of an embodiment of the present invention;
FIG. 8 is a schematic diagram of an industrial camera adjustment mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic side perspective view of an industrial camera adjustment mechanism according to an embodiment of the present invention;
FIG. 10 is a schematic view of a vertical stop assembly according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a test workpiece and a center test assembly according to an embodiment of the invention;
FIG. 12 is a top view of FIG. 11 in accordance with the present invention;
FIG. 13 is a cross-sectional view taken along section A-A of FIG. 12 in accordance with the present invention;
fig. 14 is an enlarged view of part a of fig. 13 according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a test platform; 2. a circumferential test assembly; 3. an industrial camera; 4. testing a workpiece; 5. a central test assembly; 6. a vertical limit assembly; 7. an industrial robot;
11. a support beam; 12. a mounting base; 13. a control box;
21. positioning a support; 22. a vertical laser transmitter; 23. a laser receiver; 24. y-shaped support plates; 25. a side support plate; 26. a vertical support; 27. a lower support; 28. an upper support; 29. a lifting plate; 210. the first movable support plate; 211. a second movable support plate; 212. a lifting cylinder; 213. a first vertical link; 214. a second vertical link; 215. a worm gear lifter; 216. a servo motor; 217. a speed reducer;
2101. laser groove passing; 2102. positioning a cylinder; 2103. positioning tongue;
31. a vertical support; 32. a vertical slide; 33. a first abutment nut; 34. an arc-shaped groove; 35. a horizontal support; 36. abutting against the threaded sleeve; 37. a horizontal clamping seat; 38. a second abutment nut;
41. a positioning pin; 42. testing the through hole;
51. a support platform; 52. fixing the clamping jaw; 53. a movable clamping jaw; 54. a supporting plate; 55. a vertical limit sliding seat; 56. a limit strut; 57. a first pushing cylinder; 58. a second pushing cylinder; 59. a push rod; 510. a horizontal limit slide seat;
61. a limit cylinder; 62. and limiting the idler wheels.
Detailed Description
The present invention will be specifically described with reference to examples below in order to make the objects and advantages of the present invention more apparent. It should be understood that the following text is intended to describe only one or more specific embodiments of the invention and does not limit the scope of the invention strictly as claimed.
As shown in fig. 1-14, a robot terminal vision testing device comprises a testing platform 1, side detection systems symmetrically arranged on two sides of the top surface of the testing platform 1, and a center detection system arranged in the center of the top surface of the testing platform 1;
the side detection system comprises a circumferential test assembly 2 and an industrial camera 3, and is used for detecting the rotation positioning capability of the end vision of the robot;
the center detection system comprises a center test assembly 5 and a test workpiece 4 clamped on the center test assembly 5, and is used for detecting the center positioning capability of the tail end vision of the robot;
referring specifically to fig. 2, in order to install the circumferential test assembly 2, the center test assembly 5 and the positioning installation industrial robot 7, a support beam 11 is fixedly installed at the center of one side of the test platform 1, an installation seat 12 for fixedly installing the industrial robot 7 is fixedly installed at one end of the support beam 11 away from the test platform 1, and meanwhile, a center detection system is installed on the test platform 1 corresponding to the installation seat 12, and a control box 13 is installed at one side away from the installation seat 12 for controlling the device.
Referring to fig. 7, the circumferential testing assembly 2 includes two sets of positioning supports 21, and a vertical laser transmitter 22 and a laser receiver 23 disposed at the upper and lower parts of the positioning supports 21, where the two sets of positioning supports 21 are disposed in a vertically opposite manner, and are used for positioning and placing the test workpiece 4, and after the industrial robot 7 takes the test workpiece 4, they are placed between the two positioning supports 21, and they can be accurately placed at a designated position by detecting them, so as to determine the degree of cooperation between the end vision and the industrial robot 7;
further, in order to ensure the accuracy of the detection result, the positioning support 21 is located on the same vertical line with the vertical axis of the vertical laser transmitter 22 and the vertical axis of the laser receiver 23, and the center of the positioning support 21 is penetrated and provided with the V-shaped laser through groove 2101, so that the vertical laser transmitter 22 can vertically irradiate on the laser receiver 23 when transmitting laser, no deviation is generated, and unnecessary monitoring errors are avoided.
Referring to fig. 3 to 4, in order to install two positioning supports 21, a vertical laser transmitter 22 and a laser receiver 23, a Y-shaped support 24 is fixedly installed on the top surface of the test platform 1, and at the same time, side support plates 25 are symmetrically installed on the top surface of the Y-shaped support 24, and vertical support posts 26 corresponding to the side support plates 25, by sliding a lower support 27, an upper support 28 and a lifting plate 29 on the vertical support posts 26, the positioning supports 21 can be installed on the lower support 27 and the upper support 28, at the same time, the vertical laser transmitter 22 and the laser receiver 23 are installed on the bottom surface of the Y-shaped support 24 and the bottom surface of the lifting plate 29, and V-shaped grooves with structures similar to those of the laser through grooves 2101 are formed on the lower support 27 and the upper support 28, after the vertical laser transmitter 22 emits laser, the laser can vertically pass through the two positioning supports 21 to reach the surface of the laser receiver 23 without obstruction, thereby forming a vertical detection system.
Referring to fig. 4 to 6, for more accurate testing, a first movable support plate 210 and a second movable support plate 211 are slidably mounted between the vertical support posts 26, a lifting cylinder 212 is fixedly mounted between the first movable support plate 210 and the second movable support plate 211, a power output end of the lifting cylinder 212 penetrates through the first movable support plate 210 and is fixedly mounted on the lifting plate 29, and two ends of the lifting plate 29 are fixedly connected with the upper support 28 through a first vertical connecting rod 213, so that the upper support 28 and a positioning support 21 fixed on the upper support 28 can be pulled to move up and down through the lifting cylinder 212, and the relative position of testing is changed;
further, the side support plate 25 is fixedly provided with a worm gear lifter 215 and a servo motor 216, the power output end of the servo motor 216 is in transmission connection with the power output end of the worm gear lifter 215 through a speed reducer 217, meanwhile, the power output end of the worm gear lifter 215 is fixedly arranged on the bottom surface of the second movable support plate 211, and the two ends of the first movable support plate 210 are fixedly connected with the two ends of the lower support 27 through a second vertical connecting rod 214, so that the second movable support plate 211 and the first movable support plate 210 can be pushed to lift by the servo motor 216 through the worm gear lifter 215, and the lower support 27 and the positioning support 21 fixed on the lower support plate are driven to move up and down, and the relative position of a test is changed;
according to the above structure, when a test is performed, the servo motor 216 and the lifting cylinder 212 can be synchronously started to cooperate with each other to change the relative heights of the lower support 27 and the upper support 28, thereby changing the relative heights of the two positioning supports 21, and detecting whether the industrial robot 7 can accurately place the test workpiece 4 at the center of the two positioning supports 21, thereby detecting the visual recognition capability of the tail end of the industrial robot 7.
Referring to fig. 3, in the present embodiment, the industrial camera 3 is provided with three groups, and a circumferential array is arranged around the positioning support 21;
of course, in other embodiments, the industrial camera 3 is provided with at least three groups, the number of which can be selected as desired;
further, referring to fig. 8-9 specifically, in order to adjust the shooting angle of the industrial camera 3 conveniently, so that a clearer picture can be shot for comparison analysis, the top surface of the Y-shaped support plate 24 is fixedly provided with a vertical support 31 through i-steel, the side surface of the vertical support 31 is vertically and slidably provided with a vertical sliding seat 32, the vertical support 31 is also in threaded connection with a first abutting nut 33 for abutting against the vertical sliding seat 32, the vertical sliding seat 32 is provided with an arc-shaped groove 34, a horizontal support 35 is slidably arranged in the arc-shaped groove 34, a sliding shaft of the horizontal support 35 is in threaded connection with an abutting thread sleeve 36, the horizontal support 35 is horizontally and slidably provided with a horizontal clamping seat 37, the horizontal support 35 is in threaded connection with a second abutting nut 38 for abutting against the horizontal clamping seat 37, and the industrial camera 3 is fixedly arranged on the horizontal clamping seat 37;
in actual adjustment, the shooting height can be adjusted by sliding the vertical sliding seat 32 up and down, the shooting height can be fixed by utilizing the first abutting nut 33, meanwhile, the horizontal supporting seat 35 can be slid and rotated in the arc-shaped groove 34 to adjust the shooting elevation angle and the depression angle, the horizontal distance of shooting can be adjusted by utilizing the abutting threaded sleeve 36 to fix, and the horizontal distance of shooting can be adjusted by sliding the horizontal clamping seat 37 back and forth, and the second abutting nut 38 is utilized to fix, so that the definition of a shot picture is ensured, and analysis is facilitated.
13-14, positioning pins 41 are integrally formed at two ends of a test workpiece 4, a test through hole 42 is formed in the center of the test workpiece, and the test through hole 42 is matched with the test through hole, a positioning cylinder 2102 is fixedly arranged on the side surface of a positioning support 21 through a bracket, a positioning tongue 2103 is fixedly arranged at the power output end of the positioning cylinder 2102, the positioning tongue 2103 penetrates through the positioning support 21 to extend into a laser through groove 2101, the position of the positioning tongue 2103 can be controlled through the expansion and contraction of the positioning cylinder 2102, and therefore the positioning pin 41 is abutted to complete the position positioning in actual processing;
further, the positioning pin 41 is communicated with the center of the test through hole 42, the test through hole 42 is funnel-shaped, and the diameter of the smallest diameter is the same as the diameter of the laser beam emitted by the vertical laser emitter 22; thus, during testing, the vertical laser emitter 22 is used for emitting laser, whether the laser can penetrate through the test through hole 42 to irradiate the laser receiver 23 is detected, and meanwhile, the eccentricity of the vertical alignment of the test workpiece 4 relative to the positioning support 21 is calculated according to the laser receiving rate of the laser receiver 23, so that the actual identification capability of the tail end vision system of the industrial robot 7 is detected.
Referring to fig. 11 to 13, the center test assembly 5 includes a support platform 51 vertically installed on the top surface of the test platform 1, fixed clamping jaws 52 symmetrically installed on the support platform 51, movable clamping jaws 53 movably installed on the support platform 51, and a supporting plate 54 for supporting the test workpiece 4;
wherein, the two fixed clamping jaws 52 and the movable clamping jaw 53 are distributed in a triangle shape;
further, in order to push the movable clamping jaw 53 to position and clamp the test workpiece 4, a second push cylinder 58 is horizontally and fixedly arranged on the supporting platform 51, meanwhile, a push rod 59 is fixedly arranged at the power output end of the second push cylinder 58, a horizontal limit sliding seat 510 is fixedly arranged on the top surface of the supporting platform 51, the push rod 59 is slidably connected in the horizontal limit sliding seat 510, and one end far away from the second push cylinder 58 is fixedly arranged on the movable clamping jaw 53, so that the test workpiece 4 can be pushed by the second push cylinder 58 through the push rod 59 to be positioned and clamped between the two fixed clamping jaws 52 and the movable clamping jaw 53;
furthermore, in order to change the placement position of the test workpiece 4, thereby more comprehensively testing the matching degree between the terminal vision and the industrial robot 7, the side surface of the supporting platform 51 is fixedly provided with a vertical limit sliding seat 55, meanwhile, the sliding installation of the vertical limit sliding seat 55 is provided with a limit supporting rod 56, so that the up-and-down lifting route of the supporting plate 54 is limited, deviation of lifting is avoided, the supporting platform 51 is vertically provided with a first pushing cylinder 57, the top end of the limit supporting rod 56 is fixedly arranged on the bottom surface of the supporting plate 54, the power output end of the first pushing cylinder 57 is fixedly arranged on the bottom surface of the supporting plate 54, the supporting plate 54 is pushed up and down by the first pushing cylinder 57, the placement position of the test workpiece 4 is further changed, the industrial robot 7 is utilized for carrying out multiple clamping, and the tests are different in height and multiple times, so that the accuracy of the test result is ensured.
Referring to fig. 1 and 10, the present embodiment further includes a vertical limiting assembly 6, two sets of vertical limiting assemblies are disposed on each set of the circumferential testing assemblies 2, and are disposed on the sides of the first vertical connecting rod 213 and the second vertical connecting rod 214, for limiting the vertical lifting of the lower support 27 and the upper support 28;
wherein, perpendicular spacing subassembly 6 includes fixed mounting in the spacing cylinder 61 of side branch board 25 side, and spacing cylinder 61 power take off end is rotated perpendicularly and is connected with spacing gyro wheel 62, extends through spacing cylinder 61 power chamber output, laminates spacing gyro wheel 62 side at the side of first perpendicular connecting rod 213 and second perpendicular connecting rod 214 to can be spacing by spacing gyro wheel 62 in the in-process that reciprocates above that, can not take place the slope and squint, thereby guarantees the accurate and the stability of whole test system.
Of course, in other embodiments, the vertical limiting component 6 may not be provided or one or more groups of vertical limiting components 6 may be provided, and the selection needs to be made according to actual needs.
The working principle of the invention is as follows: in use, firstly, the industrial robot 7 is fixed on the mounting seat 12, the stability of the industrial robot 7 in the test process is ensured, the test workpiece 4 is placed on the top surface of the supporting plate 54, meanwhile, the pushing rod 59 is pushed by the second pushing cylinder 58, the test workpiece is clamped and positioned between the fixed clamping jaw 52 and the movable clamping jaw 53, then the second pushing cylinder 58 contracts, the movable clamping jaw 53 is separated from the side surface of the test workpiece 4, the test workpiece 4 is loosened, the industrial robot 7 is started to clamp and take the test workpiece 4, whether the test workpiece 4 can be accurately clamped is detected, the height of the supporting plate 54 can be changed through the first pushing cylinder 57, the placement position of the test workpiece 4 is changed, after the test workpiece is positioned again through the movable clamping jaw 53, the test workpiece is clamped by the industrial robot 7 with different heights, multiple tests are performed, and the accuracy of a test result is ensured;
secondly, after the test of the central test assembly 5 is finished, clamping the test workpiece 4 by the industrial robot 7, moving and placing the test workpiece between the positioning supports 21, synchronously starting by utilizing the servo motor 216 and the lifting cylinder 212, mutually matching, changing the relative heights of the lower support 27 and the upper support 28, changing the relative heights of the two positioning supports 21, detecting whether the industrial robot 7 can accurately place the test workpiece 4 at the center of the two positioning supports 21, simultaneously transmitting laser by utilizing the vertical laser transmitter 22, detecting whether the vertical laser transmitter can penetrate through the test through hole 42 and irradiate on the laser receiver 23, simultaneously calculating the eccentricity of the vertical alignment of the test workpiece 4 relative to the positioning supports 21 according to the laser receiving rate of the laser receiver 23, thereby detecting the actual recognition capability of the end vision system of the industrial robot 7, then placing the test workpiece 4 on the positioning supports 21 by utilizing the industrial robot 7, shooting a placement position picture by utilizing the industrial camera 3 for comparing and analyzing the deviation degree of the placement position by utilizing the servo motor 216 and the lifting cylinder 212, and shooting the test workpiece 4 again by utilizing the industrial camera 3 for comparing and analyzing the deviation degree of the placement position picture, and analyzing the actual positioning picture by pushing the tongue and positioning the positioning picture of the test workpiece is matched with the actual positioning picture 210when the positioning picture is matched with the positioning picture of the positioning machine;
finally, the industrial robot 7 is used for placing the test workpiece 4 back on the supporting plate 54, and then the test is carried out through the circumferential test assembly 2 and the industrial camera 3 at the other side; therefore, the actual matching degree of the tail end vision and the industrial robot is evaluated more comprehensively, the analysis result is more comprehensive and accurate, and the optimal effect can be achieved in the actual application.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (10)
1. A robotic end vision testing device, comprising:
the device comprises a test platform (1), wherein a supporting beam (11) is fixedly arranged in the center of one side of the test platform, a mounting seat (12) for fixedly mounting an industrial robot (7) is fixedly arranged at one end, far away from the test platform (1), of the supporting beam (11), side detection systems are symmetrically arranged on the top surface of the test platform (1) on two sides of the mounting seat (12), and a center detection system is correspondingly arranged on the mounting seat (12);
wherein the side detection system comprises a circumferential test assembly (2) and an industrial camera (3);
the circumferential test assembly (2) comprises two groups of positioning supports (21), and a vertical laser emitter (22) and a laser receiver (23) which are arranged at the upper part and the lower part of the positioning supports (21), wherein the two groups of positioning supports (21) are arranged in an up-down opposite mode, the positioning supports (21) and the vertical axes of the vertical laser emitter (22) and the laser receiver (23) are positioned on the same vertical line, and the positioning supports (21), the vertical laser emitter (22) and the laser receiver (23) are arranged on the top surface of the test platform (1) through supporting mechanisms;
the industrial camera (3) is provided with at least three groups, and is circumferentially arranged at the periphery of the positioning support (21);
the center detection system comprises a center test assembly (5) and a test workpiece (4) clamped on the center test assembly (5);
positioning pins (41) are integrally formed at two ends of the test workpiece (4), and a test through hole (42) is formed in the center of the test workpiece;
the center test assembly (5) comprises a support platform (51) vertically arranged on the top surface of the test platform (1), fixed clamping jaws (52) symmetrically arranged on the support platform (51), movable clamping jaws (53) movably arranged on the support platform (51) and a supporting plate (54) for supporting the test workpiece (4), a horizontal pushing mechanism for driving the movable clamping jaws (53) is arranged between the movable clamping jaws (53) and the support platform (51), and a vertical pushing mechanism for driving the test workpiece (4) is arranged between the supporting plate (54) and the support platform (51);
the side detection system is used for detecting the rotation positioning capability of the tail end vision of the robot, and the center detection system is used for detecting the center positioning capability of the tail end vision of the robot.
2. A robotic end vision testing device as defined in claim 1, wherein: the supporting mechanism comprises a Y-shaped support plate (24) fixedly mounted on the top surface of the test platform (1), side support plates (25) and vertical support posts (26) symmetrically mounted on the top surface of the Y-shaped support plate (24) and a lower support (27), an upper support (28) and a lifting plate (29) mounted on the vertical support posts (26) in a sliding mode, a first lifting mechanism used for driving the upper support (28) to move up and down is arranged between the upper support (28) and the side support plate (25), a second lifting mechanism used for driving the lower support (27) to move up and down is arranged between the lower support (27) and the side support plate (25), two groups of positioning supports (21) are mounted on the lower support (27) and the upper support (28) respectively, and a vertical laser emitter (22) and a laser receiver (23) are mounted on the bottom surface of the Y-shaped support plate (24) and the bottom surface of the lifting plate (29) respectively.
3. A robotic end vision testing device as defined in claim 2, wherein: the first lifting mechanism comprises a first movable support plate (210) and a second movable support plate (211) which are slidably mounted between the vertical support posts (26) and a lifting cylinder (212) which is fixedly mounted between the first movable support plate (210) and the second movable support plate (211), a power output end of the lifting cylinder (212) penetrates through the first movable support plate (210) to be fixedly mounted on the lifting plate (29), and two ends of the lifting plate (29) are fixedly connected with the upper support (28) through first vertical connecting rods (213).
4. A robotic end vision testing device as defined in claim 3, in which: the second lifting mechanism comprises a worm gear lifter (215) and a servo motor (216) which are fixedly arranged on the side support plate (25), the power output end of the servo motor (216) is in transmission connection with the power output end of the worm gear lifter (215) through a speed reducer (217), the power output end of the worm gear lifter (215) is fixedly arranged on the bottom surface of the second movable support plate (211), and two ends of the first movable support plate (210) are fixedly connected with two ends of the lower support plate (27) through second vertical connecting rods (214).
5. A robotic end vision testing device as defined in claim 2, wherein: the laser through groove (2101) of V style of calligraphy has been seted up in locating support (21) center, and the side has location cylinder (2102) through support fixed mounting, location cylinder (2102) power take off end fixed mounting has location tongue (2103), location tongue (2103) run through locating support (21) extend to in laser through groove (2101), lower support (27) with all seted up on upper support (28) with V type groove of laser through groove (2101) similar structure.
6. A robotic end vision testing device as defined in claim 2, wherein: the utility model provides a camera, including Y type extension board (24) top surface, be provided with still that is used for supporting industrial camera (3) adjustment mechanism, adjustment mechanism include through I-steel fixed mounting in perpendicular support (31) of Y type extension board (24) top surface, perpendicular support (31) side perpendicular slidable mounting has perpendicular slide (32), just still threaded connection has on perpendicular support (31) be used for supporting first tight nut (33) of perpendicular slide (32), arc wall (34) have been seted up on perpendicular slide (32), slidable mounting has horizontal support (35) in arc wall (34), threaded connection has on the slide shaft of horizontal support (35) supports tight thread bush (36), horizontal slidable mounting has horizontal holder (37) on horizontal support (35), just threaded connection has on horizontal support (35) to be used for supporting tight second tight nut (38) of horizontal holder (37), industrial camera (3) fixed mounting in on horizontal holder (37).
7. A robotic end vision testing device as defined in claim 1, wherein: the locating pin (41) is communicated with the center of the test through hole (42), and the test through hole (42) is funnel-shaped.
8. A robotic end vision testing device as defined in claim 1, wherein: the vertical pushing mechanism comprises a vertical limit sliding seat (55) fixedly mounted on the side surface of the supporting platform (51), a limit supporting rod (56) slidably mounted in the vertical limit sliding seat (55) and a first pushing cylinder (57) vertically mounted on the supporting platform (51), the top end of the limit supporting rod (56) is fixedly mounted on the bottom surface of the supporting plate (54), and the power output end of the first pushing cylinder (57) is fixedly mounted on the bottom surface of the supporting plate (54).
9. A robotic end vision testing device as defined in claim 1, wherein: the horizontal pushing mechanism comprises a second pushing cylinder (58) which is horizontally and fixedly arranged on the supporting platform (51), a pushing rod (59) which is fixedly arranged at the power output end of the second pushing cylinder (58) and a horizontal limit sliding seat (510) which is fixedly arranged on the top surface of the supporting platform (51), wherein the pushing rod (59) is slidably connected in the horizontal limit sliding seat (510), and one end of the pushing rod (59) which is far away from the second pushing cylinder (58) is fixedly arranged on the movable clamping jaw (53).
10. A robotic end vision testing device as defined in claim 2, wherein: the vertical limiting assembly (6) is used for limiting the vertical lifting of the lower support (27) and the upper support (28), the vertical limiting assembly (6) comprises a limiting cylinder (61) fixedly installed on the side face of the side support plate (25), and the tail end of the power output end of the limiting cylinder (61) is vertically connected with a limiting roller (62) in a rotating mode.
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