CN109677917A - A kind of swing clamping manipulator and plastic cement tube vision inspection device - Google Patents
A kind of swing clamping manipulator and plastic cement tube vision inspection device Download PDFInfo
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- CN109677917A CN109677917A CN201910032674.2A CN201910032674A CN109677917A CN 109677917 A CN109677917 A CN 109677917A CN 201910032674 A CN201910032674 A CN 201910032674A CN 109677917 A CN109677917 A CN 109677917A
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- 239000004568 cement Substances 0.000 title claims abstract description 17
- 238000007689 inspection Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 90
- 230000000712 assembly Effects 0.000 claims abstract description 28
- 238000000429 assembly Methods 0.000 claims abstract description 28
- 238000007599 discharging Methods 0.000 claims abstract description 14
- 238000004064 recycling Methods 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005855 radiation Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 11
- 230000002950 deficient Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
-
- 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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- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Mechanical Engineering (AREA)
- Engineering & Computer Science (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
A kind of swing clamping manipulator and plastic cement tube vision inspection device, in its manipulator, Mechanical Driven seat is installed on robot gantry, robotic drive is installed on Mechanical Driven seat, the output end of robotic drive, which is rotatably connected, drives disk, and mechanical swing rod is connected with driving disk machinery swing rod both ends and is connected separately with driving disk and oscillating deck；One end of oscillating deck connects the output end of swinging driver by bearing, and the other end of oscillating deck connects clamp assemblies.Plastic cement tube vision inspection device, discharging device are that X-axis conveying assembly conveys plastic pipe；Clamping manipulator is swung to send the plastic pipe of X-axis conveying assembly to Y-axis conveying assembly；Y-axis conveying assembly has detection components；Plastic pipe is reached detection components by Y-axis conveying assembly；Detection components are used to detect and control the quality of plastic pipe.The flexible design of the design manipulator is reliable, and clamping is accurately and high-efficient；Detection device is easy to operate, and detection is accurate quick, can be to plastic cement pipe surface image checking and automatic rejection.
Description
Technical field
The present invention relates to detection device technical field more particularly to a kind of swing clamping manipulator and plastic pipe vision-based detections
Device.
Background technique
Structure is complicated for existing manipulator, and it is inadequate to realize that automation generally requires more spatial rotationals, position inaccurate and crawl
Securely, low using whole efficiency for a long time, feeding can consume excessive electric energy back and forth, be unfavorable for the cost of enterprise.Meanwhile it is mechanical
The clamping of hand is stiff, workpiece surface can be made to damage, influence processing efficiency.
Summary of the invention
It is an object of the invention to propose that a kind of swing clamping manipulator, the manipulator can swing and have clamping piece, energy
Swing picks up object.
The present invention also proposes plastic cement tube vision inspection device, which automatically delivers and detect the knot of plastic pipe
Structure.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of swing clamping manipulator, comprising: robot gantry, robot drives component, wobble component and clamp assemblies；
The robot drives component includes: Mechanical Driven seat, robotic drive, driving disk and mechanical swing rod；
The Mechanical Driven seat is installed on the robot gantry, and the robotic drive is installed on the Mechanical Driven
On seat, the output end of the robotic drive is rotationally connected with the driving disk, and the machinery swing rod is connected with described
Drive disk；
The wobble component includes: swinging driver and oscillating deck；
The swinging driver is installed on the robot gantry；
One end of the machinery swing rod is connected to the driving disk, and the other end is connected to the oscillating deck；
One end of the oscillating deck is connected to the output end of the swinging driver by bearing, the oscillating deck it is another
End is operatively connected to the clamp assemblies.
It further explains, the wobble component includes: to swing driving wheel, swing driven wheel, swing driven shaft and swing
Conveyer belt；
The output end position for swinging driving wheel and being placed on the swinging driver；The swing driven shaft is pacified by bearing
One end loaded on the oscillating deck, and it is located at one end with the clamp assemblies；One end installation for swinging driven shaft is
Swing driven wheel is stated, the other end is fixed with the clamp assemblies；Described one end for swinging conveyer belt connects the swing driving wheel,
The other end connects the swing driven wheel；The swing driven shaft is rotated coaxially with the swing driven wheel, and drives the folder
Hold component swing.
It further explains, the clamp assemblies include: clamping bottom plate, clamping base, holding attachment and clamping piece；
The clamping base is installed on the clamping bottom plate, and the holding attachment is connected to the clamping base, described
Holding attachment is fixed with the swing driven shaft, and the clamping piece liftable is connected to the clamping bottom plate.
It further explains, the clamp assemblies include: clamping lifter；
The clamping lifter is installed on the clamping bottom plate, and the clamping piece liftable is installed on the clamping lifter
Output end；
The bottom of the clamping piece is equipped with vacuum chuck, the adjustable connection vacuum of the vacuum chuck.
Plastic cement tube vision inspection device, comprising: discharging device, the swing clamping manipulator, X-axis conveying assembly, Y-axis are defeated
Sending component and detection components；
The discharging device is used to convey plastic pipe for the X-axis conveying assembly；The swing clamping manipulator is used for will
Plastic pipe on the X-axis conveying assembly is sent to the Y-axis conveying assembly；The Y-axis conveying assembly is equipped with the detection group
Part；Plastic pipe for successively being reached the detection components by the Y-axis conveying assembly；The detection components are for detecting and controlling
The quality of plastic pipe.
It further explains, the Y-axis conveying assembly is equipped with Y-axis conveyer belt, and the Y-axis conveying assembly is passed in the Y-axis
It send to take and conveys plastic pipe for the detection components；
The detection components include: detection workbench, detection rack, light source component and detection camera；
The Y-axis conveyer belt is located at the detection workbench, and the detection rack is installed on the detection workbench, described
For light source component to the Y-axis conveyer belt radiation source, the detection camera is installed on the detection rack, and is located at the Y-axis and passes
Send the top of band.
It further explains, the detection components include: part body runner assembly；
The part body runner assembly includes: the first detection drive seat, the first telescopic driver, the second detection drive seat, the
Two telescopic drivers and part body driving motor；
The first detection drive seat and the second detection drive seat are individually fixed in the detection workbench, and in institute
State the two sides of Y-axis conveyer belt；First telescopic driver is installed on the first detection drive seat, the described first flexible driving
The output end of device is to being equipped with pipe sleeve head at the Y-axis conveyer belt；Second telescopic driver is installed on second detection and drives
Dynamic seat, the output end of second telescopic driver are connected with the part body driving motor, the output of the part body driving motor
It holds to being equipped with pipe plug at the Y-axis conveyer belt.
It further explains, the detection components include: rejecting component；
The rejecting component includes: to reject recycling bins, reject pedestal and reject driver；
Described to reject recycling bins and the two sides rejected pedestal and be respectively arranged at the Y-axis conveyer belt, the rejecting is driven
Dynamic device is fixed on the rejecting pedestal；
The output end for rejecting driver and the rejecting recycling bins are in same straight line.
It further explains, the Y-axis conveying assembly includes: that Y-axis rack, Y-axis frame, Y-axis driving roller, Y-axis are driven
Idler wheel and Y-axis driver；
The Y-axis frame is fixed on the Y-axis rack, and the both ends of the Y-axis driving roller are movable to be equipped with the Y-axis
Frame, the both ends of the Y-axis driven roller are movable to be equipped with the Y-axis frame；The Y-axis driver is fixed on the Y-axis
Frame, the output end of the Y-axis driver are connected to the Y-axis driving roller；One end of the Y-axis conveyer belt is connected with described
Y-axis driving roller, the other end of the Y-axis conveyer belt are connected with the Y-axis driven roller；
Transmission is equipped with several sebific duct installation positions on the Y-axis conveyer belt.
It further explains, the X-axis conveying assembly includes: X-axis moving assembly, X-axis limit assembly and X-axis baffle；
The X-axis limit assembly is set on the X-axis moving assembly；The X-axis clamp assemblies are set to the X-axis and move
Dynamic component, and it is located at described one end for swinging clamping manipulator；
The X-axis moving assembly includes: X-axis rack, X-axis frame, X-axis driving wheel, X-axis driven wheel, X-axis conveyer belt and X
Axis driver；
The X-axis frame is fixed on the X-axis rack；The both ends of the X-axis driving wheel are equipped with the X-axis frame；Institute
The both ends for stating X-axis driven wheel are equipped with the X-axis frame；One end of the X-axis conveyer belt is connected with the X-axis driving wheel, another
One end is connected with the X-axis driven wheel；The output end of the X-axis driver is drivingly connected the X-axis driving wheel；
The X-axis conveyer belt is connected to the discharge port of the discharging device；
The X-axis limit assembly includes: X-axis limit base and X-axis height limiting plate；
The X-axis limit base is installed on the side of the X-axis frame, and the X-axis height limiting plate is horizontally installed to the X-axis limit
Position seat, and the X-axis height limiting plate is located at the top of the X-axis conveyer belt；
The X-axis baffle can horizontal extension be installed on the X-axis frame.
Beneficial effects of the present invention:
1, the clamping manipulator that swings of the design has the structure swung, can transmit sebific duct from the direction of X-axis and Z axis,
It is mobile to achieve the effect that intermittence clamps object, improves the accuracy of feeding.
2, the flexible design of plastic cement tube vision inspection device is reliable, easy to operate, and detection is accurate quick, and classification is reliable, energy
Automatic rejection and collection counting to plastic product surface image checking, plastic pipe defective etc..
Detailed description of the invention
Fig. 1 is the structure chart of plastic cement tube vision inspection device；
Fig. 2 is the structure chart for swinging clamping manipulator；
Fig. 3 is the structure chart for swinging clamping manipulator；
Fig. 4 is the structure chart of Y-axis conveying assembly and detection components；
Fig. 5 is the structure chart of Y-axis conveying assembly and detection components；
Fig. 6 is the structure chart of X-axis conveying assembly and discharging device；
Fig. 7 is the enlarged drawing of A in Fig. 6；
Fig. 8 is the structure chart and plastic pipe of part body runner assembly.
Wherein:
Tool handset mounting 1, robot drives component 2, wobble component 3, clamp assemblies 4；
Mechanical Driven seat 21, robotic drive 22, driving disk 23, mechanical swing rod 24；
Swinging driver 31, oscillating deck 32 swing driving wheel 33, swing driven wheel 34, swing driven shaft 35, swing transmission
Band 36；
Clamp bottom plate 41, clamping base 42, holding attachment 43, clamping piece 44, clamping lifter 45；Vacuum chuck 441；
Discharging device 01 swings clamping manipulator 02, X-axis conveying assembly 5, Y-axis conveying assembly 6, detection components 7；It adjusts
Operation panel 03；Plastic pipe 07
X-axis moving assembly 51, X-axis limit assembly 52, X-axis baffle 53；
X-axis rack 511, X-axis frame 512, X-axis driving wheel 513, X-axis driven wheel 514, X-axis conveyer belt 515, X-axis driving
Device 516；
X-axis limit base 521, X-axis height limiting plate 522；
Y-axis conveyer belt 61, Y-axis rack 62, Y-axis frame 63, Y-axis driving roller 64, Y-axis driven roller 65, Y-axis driver
66；Sebific duct installation position 611；
It detects workbench 71, detection rack 72, light source component 73, detection camera 74, part body runner assembly 75, reject component
76；
First detection drive seat 751, the first telescopic driver 752, second detect drive seat 753, the second telescopic driver
754, part body driving motor 755；
Pipe sleeve head 7521；Pipe plug 7551；
Recycling bins 761 are rejected, pedestal 762 is rejected, rejects driver 763.
Specific embodiment
Pass through specific embodiment to further illustrate the technical scheme of the present invention with reference to the accompanying drawing.
A kind of swing clamping manipulator, comprising: robot gantry 1, robot drives component 2, wobble component 3 and clamping group
Part 4；
The robot drives component 2 includes: Mechanical Driven seat 21, robotic drive 22, driving disk 23 and machinery
Swing rod 24；
The Mechanical Driven seat 21 is installed on the robot gantry 1, and the robotic drive 22 is installed on the machine
In tool drive seat 21, the output end of the robotic drive 22 is rotationally connected with the driving disk 23, the mechanical pendulum
Bar 24 is connected with the driving disk 23；
The wobble component 3 includes: swinging driver 31 and oscillating deck 32；
The swinging driver 31 is installed on the robot gantry 1；
One end of the machinery swing rod 24 is connected to the driving disk 23, and the other end is connected to the oscillating deck 32；
One end of the oscillating deck 32 is connected to the output end of the swinging driver 31, the oscillating deck 32 by bearing
The other end be operatively connected to the clamp assemblies 4.
It further explains, the design's swings structure of the clamping manipulator with swing, can be from the direction of X-axis and Z axis
Sebific duct is transmitted, it is mobile to achieve the effect that intermittence clamps object, improves the accuracy of feeding.
In the design, the driving driving disk 23 of robotic drive 22 rotates, due to being equipped with machinery on driving disk 23
Swing rod 24, mechanical swing rod 24 are connected with oscillating deck 32, and the oscillating deck 32 with clamp assemblies 4 is swung；Reach control clamp assemblies 4
Swing the effect of clamping.
Swinging driver 31 is connect with clamp assemblies 4 by bearing, therefore the driving output of swinging driver 31 will not make
The output end synchronous rotary of oscillating deck 32 and swinging driver 31, only a rotating fulcrum.
Meanwhile drive the rotational angle of disk 23 according to circumstances depending on, can be along rotating clockwise or counterclockwise 0-180 °.
It further explains, the wobble component 3 includes: to swing driving wheel 33, swing driven wheel 34, swing driven shaft 35
With swing conveyer belt 36；
The output end position for swinging driving wheel 33 and being placed on the swinging driver 31；The swing driven shaft 35 passes through
Bearing is installed on one end of the oscillating deck 32, and is located at one end with the clamp assemblies 4；It is described to swing the one of driven shaft 35
End is equipped with the swing driven wheel 34, and the other end is fixed with the clamp assemblies 4；One end connection for swinging conveyer belt 36
The swing driving wheel 33, the other end connect the swing driven wheel 34；The swing driven shaft 35 and the swing driven wheel
34 rotate coaxially, and the clamp assemblies 4 is driven to swing.
It further explains, the output end of swinging driver 31, which is connected with, swings driving wheel 33, and it is logical to swing driving wheel 33
It crosses swing conveyer belt 36 and is connect with driven wheel 34 is swung；When starting swinging driver 31, the rotation of driving wheel 33 is swung and with movable pendulum
Driven wheel 34 is moved, is rotated coaxially due to swinging driven shaft 35 and swinging driven wheel 34, and by swinging under the effect of driven shaft 35, is driven
Dynamic 4 rotation of clamp assemblies；Reach after oscillating deck 32 swings clamp assemblies 4, can be rotated by swinging driver 31, make to press from both sides
The position for holding component 4 is more accurate, and clamping will not be caused to deviate because of error.
It further explains, the clamp assemblies 4 include: clamping bottom plate 41, clamping base 42, holding attachment 43 and folder
Gripping member 44；
The clamping base 42 is installed on the clamping bottom plate 41, and the holding attachment 43 is connected to the clamping base
42, the holding attachment 43 is fixed with the swing driven shaft 35, and 44 liftable of clamping piece is connected to the clamping bottom
Plate 41.
It further explains, the clamp assemblies 4 include: clamping lifter 45；
The clamping lifter 45 is installed on the clamping bottom plate 41, and 44 liftable of clamping piece is installed on the clamping
The output end of lifter 45；
The bottom of the clamping piece 44 is equipped with vacuum chuck 441, the adjustable connection vacuum of the vacuum chuck 441.
It further explains, clamping lifter 45, which is added, can effectively prevent 44 damaged in collision other component of clamping piece, and press from both sides
The error of swing can be ignored for the design by holding lifter 45, i.e., may in clamping piece 44 after the swing effect of clamping bottom plate 41
Can be not vertical enough, and by clamping 45 oscilaltion of lifter, elastic vacuum chuck 441 is applied on object, due to
Vacuum chuck 441 is with flexible, without considering whether the vacuum chuck 441 on clamping bottom plate 41 is horizontal plane, only needs to have vacuum
Sucker 441 and isoelectric membrane, and connect vacuum i.e. and can reach the effect for sucking object；Realize the effect of error free gripping objects.
Plastic cement tube vision inspection device, comprising: discharging device 01, the swing clamping manipulator 02, X-axis conveying assembly 5,
Y-axis conveying assembly 6 and detection components 7；
The discharging device 01 is used to convey plastic pipe 07 for the X-axis conveying assembly 5；The swing clamping manipulator 02
For sending the plastic pipe 07 on the X-axis conveying assembly 5 to the Y-axis conveying assembly 6；The Y-axis conveying assembly 6 is equipped with
The detection components 7；The Y-axis conveying assembly 6 is used to plastic pipe 07 successively reaching the detection components 7；The detection group
Part 7 is used to detect and control the quality of plastic pipe 07.
It further explains, 07 vision inspection apparatus of plastic pipe of the design swings folder with clamping manipulator 02 is swung
Manipulator 02 is held for the plastic pipe 07 of X-axis conveying assembly 5 to be reached Y-axis conveying assembly 6, passes through the work of Y-axis conveyer belt 61
Under, plastic pipe 07 is sent to detection components 7, realizes the effect of self-feeding detection.
It further explains, the Y-axis conveying assembly 6 is equipped with Y-axis conveyer belt 61, and the Y-axis conveying assembly 6 is in the Y
It is that the detection components 7 convey plastic pipe 07 on axis conveyer belt 61；
The detection components 7 include: detection workbench 71, detection rack 72, light source component 73 and detection camera 74；
The Y-axis conveyer belt 61 is located at the detection workbench 71, and the detection rack 72 is installed on the detection work
Platform 71, the light source component 73 are installed on the detection rack to 61 radiation source of Y-axis conveyer belt, the detection camera 74
72, and it is located at the top of the Y-axis conveyer belt 61.
It further explains, under the radiation of light source component 73, detection camera 74 can detect the modeling of the transmission of Y-axis conveyer belt 61
Sebific duct 07, detection camera 74 can be scanned 07 surface of plastic pipe, and whether discovery 07 surface of plastic pipe is defective, if discovery modeling
07 surface of sebific duct is defective, that is, after calculating or recording, alerts and deal with；It ensure that the matter on 07 process line of plastic pipe
Amount.
It further explains, the detection components 7 include: part body runner assembly 75；
The part body runner assembly 75 includes: the first detection drive seat 751, the detection drive of the first telescopic driver 752, second
Dynamic seat 753, the second telescopic driver 754 and part body driving motor 755；
The first detection drive seat 751 and the second detection drive seat 753 are individually fixed in the detection workbench
71, and in the two sides of the Y-axis conveyer belt 61；First telescopic driver 752 is installed on the first detection drive seat
751, the output end of first telescopic driver 752 is to being equipped with pipe sleeve head 7521 at the Y-axis conveyer belt 61；Described second stretches
Contracting driver 754 is installed on the second detection drive seat 753, and the output end connection of second telescopic driver 754 is
State part body driving motor 755, the output end of the part body driving motor 755 is to being equipped with pipe plug at the Y-axis conveyer belt 61
7551。
It further explains, Y-axis conveyer belt 61 intermittently passes through part body runner assembly 75, the advance of Y-axis conveyer belt 61 one
A unit, part body runner assembly 75 detect the plastic pipe 07 of corresponding position；First telescopic driver 752 is stretched using pipe sleeve head 7521
The plastic pipe 07 to pass through rotatably is fixed out, and 754 extensible member body driving motor 755 of the second telescopic driver, drives part body
The fixed plastic pipe 07 of pipe plug 7551 on dynamic 755 output end of motor, the both ends of plastic pipe 07 are respectively by pipe sleeve head 7521 and pipe
Plug 7551 is fixed, and after activation members body driving motor 755, plastic pipe 07 is rotated；Under the action of light source component 73, camera 74 is detected
The plastic pipe 07 of rotation is scanned, the defect on 07 surface of plastic pipe is detected, pipe sleeve head 7521 and pipe are unclamped if out of question
Plug 7551；If surface is defective, after unclamping pipe sleeve head 7521 and pipe plug 7551, detection camera 74 can feed back to rejecting component
76, problematic plastic pipe 07 is rejected by rejecting component 76；Therefore, the rotation of plastic pipe 07 can improve 74 pairs of camera modelings of detection
The scan area on 07 surface of sebific duct achievees the effect that improve product qualification rate.
It further explains, the detection components 7 include: to reject component 76；
The rejecting component 76 includes: to reject recycling bins 761, reject pedestal 762 and reject driver 763；
It is described to reject recycling bins 761 and the two sides rejected pedestal 762 and be respectively arranged at the Y-axis conveyer belt 61, institute
It states rejecting driver 763 and is fixed on the rejecting pedestal 762；
The output end for rejecting driver 763 and the rejecting recycling bins 761 are in same straight line.
It further explains, after rejecting component 76 receives the notice of substandard products, is moulded after calculating specified quantity
Sebific duct 07 passes through, and plastic pipe 07 can fall into the output end position for rejecting driver 763, and the output end with rejecting driver 763
When being in same straight line with rejecting recycling bins 761, stretching can be driven by rejecting driver 763, and the plastic pipe of substandard products 07 is pushed into
Recycling bins 761 are rejected, achieve the effect that rejecting.
It further explains, the Y-axis conveying assembly 6 includes: Y-axis rack 62, Y-axis frame 63, Y-axis driving roller 64, Y
Axis driven roller 65 and Y-axis driver 66；
The Y-axis frame 63 is fixed on the Y-axis rack 62, and the both ends of the Y-axis driving roller 64 are movable to be equipped with
The Y-axis frame 63, the both ends of the Y-axis driven roller 65 are movable to be equipped with the Y-axis frame 63；The Y-axis driver
66 are fixed on the Y-axis frame 63, and the output end of the Y-axis driver 66 is connected to the Y-axis driving roller 64；The Y-axis
One end of conveyer belt 61 is connected with the Y-axis driving roller 64, the other end of the Y-axis conveyer belt 61 be connected with the Y-axis from
Dynamic idler wheel 65；
Transmission is equipped with several sebific duct installation positions 611 on the Y-axis conveyer belt 61.
It further explains, Y-axis conveyer belt 61 has several sebific duct installation positions 611, and swinging clamping manipulator 02 will mould
Sebific duct 07 removes and places behind sebific duct installation position 611 from the position of X-axis conveying assembly 5, and Y-axis conveyer belt 61 can move forward one
The unit of a plastic pipe 07 swings clamping manipulator 02 and continues to take plastic pipe 07 to X-axis conveying assembly 5, and is put in next sky
Sebific duct installation position 611.
It swings clamping manipulator 02 and is installed on the position between X-axis conveying assembly 5 and Y-axis conveying assembly 6.
It further explains, the X-axis conveying assembly 5 includes: X-axis moving assembly 51, X-axis limit assembly 52 and X-axis gear
Plate 53；
The X-axis limit assembly 52 is set on the X-axis moving assembly 51；The X-axis clamp assemblies 4 are set to described
X-axis moving assembly 51, and it is located at described one end for swinging clamping manipulator 02；
The X-axis moving assembly 51 includes: X-axis rack 511, X-axis frame 512, X-axis driving wheel 513, X-axis driven wheel
514, X-axis conveyer belt 515 and X-axis driver 516；
The X-axis frame 512 is fixed on the X-axis rack 511；The both ends of the X-axis driving wheel 513 are equipped with the X
Axis frame 512；The both ends of the X-axis driven wheel 514 are equipped with the X-axis frame 512；One end of the X-axis conveyer belt 515 connects
It is connected to the X-axis driving wheel 513, the other end is connected with the X-axis driven wheel 514；The output end of the X-axis driver 516 drives
The dynamic connection X-axis driving wheel 513；
The X-axis conveyer belt 515 is connected to the discharge port of the discharging device 01；
The X-axis limit assembly 52 includes: X-axis limit base 521 and X-axis height limiting plate 522；
The X-axis limit base 521 is installed on the side of the X-axis frame 512, and the X-axis height limiting plate 522 is horizontally installed to
The X-axis limit base 521, and the X-axis height limiting plate 522 is located at the top of the X-axis conveyer belt 515；
The X-axis baffle 53 can horizontal extension be installed on the X-axis frame 512.
It further explaining, X-axis height limiting plate 522 is used to limit vertical position of the plastic pipe 07 at X-axis conveyer belt 515,
Plastic pipe 07 is set to remain unified form transmission；And X-axis baffle 53 advances due to blocking plastic pipe 07, while also having positioning
Effect, the plastic pipe 07 at contact 53 position of X-axis baffle can be clamped by swinging clamping manipulator 02, reached and improved clamping
Accuracy rate.
Discharging device 01, which is equipped with, adjusts operation panel 03, for adjusting control discharging device 01, the swing clamping manipulator
02, the parameter of X-axis conveying assembly 5, Y-axis conveying assembly 6 and detection components 7, realization are uniformly controlled；Meanwhile it also can be to X-axis baffle
53 setting horizontal extension cylinders, carry out the horizontal extension of control X-axis baffle 53, reach the position of control X-axis baffle 53, and it is fixed to change
Position.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of swing clamping manipulator characterized by comprising robot gantry, robot drives component, wobble component and
Clamp assemblies；
The robot drives component includes: Mechanical Driven seat, robotic drive, driving disk and mechanical swing rod；
The Mechanical Driven seat is installed on the robot gantry, and the robotic drive is installed on the Mechanical Driven seat
On, the output end of the robotic drive is rotationally connected with the driving disk, and the machinery swing rod is connected with the drive
Dynamic disk；
The wobble component includes: swinging driver and oscillating deck；
The swinging driver is installed on the robot gantry；
One end of the machinery swing rod is connected to the driving disk, and the other end is connected to the oscillating deck；
One end of the oscillating deck is connected to the output end of the swinging driver by bearing, and the other end of the oscillating deck can
It is movably connected on the clamp assemblies.
2. a kind of swing clamping manipulator according to claim 1, which is characterized in that the wobble component includes: to swing
Driving wheel swings driven wheel, swings driven shaft and swings conveyer belt；
The output end position for swinging driving wheel and being placed on the swinging driver；The swing driven shaft is installed on by bearing
One end of the oscillating deck, and it is located at one end with the clamp assemblies；Described one end for swinging driven shaft is equipped with the pendulum
Dynamic driven wheel, the other end are fixed with the clamp assemblies；Described one end for swinging conveyer belt connects the swing driving wheel, another
End connects the swing driven wheel；The swing driven shaft is rotated coaxially with the swing driven wheel, and drives the clamping group
Part is swung.
3. a kind of swing clamping manipulator according to claim 2, which is characterized in that the clamp assemblies include: clamping
Bottom plate, clamping base, holding attachment and clamping piece；
The clamping base is installed on the clamping bottom plate, and the holding attachment is connected to the clamping base, the clamping
Connector is fixed with the swing driven shaft, and the clamping piece liftable is connected to the clamping bottom plate.
4. a kind of swing clamping manipulator according to claim 3, which is characterized in that the clamp assemblies include: clamping
Lifter；
The clamping lifter is installed on the clamping bottom plate, and the clamping piece liftable is installed on the defeated of the clamping lifter
Outlet；
The bottom of the clamping piece is equipped with vacuum chuck, the adjustable connection vacuum of the vacuum chuck.
5. the plastic cement tube vision inspection device of clamping manipulator, feature are swung described in any one according to claim 1~4
It is, comprising: discharging device, the swing clamping manipulator, X-axis conveying assembly, Y-axis conveying assembly and detection components；
The discharging device is used to convey plastic pipe for the X-axis conveying assembly；The swing clamping manipulator is used for the X
Plastic pipe on axis conveying assembly is sent to the Y-axis conveying assembly；The Y-axis conveying assembly is equipped with the detection components；Institute
Y-axis conveying assembly is stated for plastic pipe successively to be reached to the detection components；The detection components are for detecting and controlling plastic cement
The quality of pipe.
6. plastic cement tube vision inspection device according to claim 5, which is characterized in that the Y-axis conveying assembly is equipped with Y-axis
Conveyer belt, the Y-axis conveying assembly is in being detection components conveying plastic pipe on the Y-axis conveyer belt；
The detection components include: detection workbench, detection rack, light source component and detection camera；
The Y-axis conveyer belt is located at the detection workbench, and the detection rack is installed on the detection workbench, the light source
For part to the Y-axis conveyer belt radiation source, the detection camera is installed on the detection rack, and is located at the Y-axis conveyer belt
Top.
7. plastic cement tube vision inspection device according to claim 6, which is characterized in that the detection components include: part body
Runner assembly；
The part body runner assembly includes: the first detection drive seat, the first telescopic driver, the second detection drive seat, second stretches
Contracting driver and part body driving motor；
The first detection drive seat and the second detection drive seat are individually fixed in the detection workbench, and in the Y
The two sides of axis conveyer belt；First telescopic driver is installed on the first detection drive seat, first telescopic driver
Output end to being equipped with pipe sleeve head at the Y-axis conveyer belt；Second telescopic driver is installed on the second detection driving
Seat, the output end of second telescopic driver are connected with the part body driving motor, the output end of the part body driving motor
Pipe plug is equipped with to the Y-axis conveyer belt.
8. plastic cement tube vision inspection device according to claim 7, which is characterized in that the detection components include: to reject
Component；
The rejecting component includes: to reject recycling bins, reject pedestal and reject driver；
It is described to reject recycling bins and the two sides rejected pedestal and be respectively arranged at the Y-axis conveyer belt, the rejecting driver
It is fixed on the rejecting pedestal；
The output end for rejecting driver and the rejecting recycling bins are in same straight line.
9. plastic cement tube vision inspection device according to claim 6, which is characterized in that the Y-axis conveying assembly includes: Y
Axis rack, Y-axis frame, Y-axis driving roller, Y-axis driven roller and Y-axis driver；
The Y-axis frame is fixed on the Y-axis rack, and the both ends of the Y-axis driving roller are movable to be equipped with the Y-axis side
Frame, the both ends of the Y-axis driven roller are movable to be equipped with the Y-axis frame；The Y-axis driver is fixed on the Y-axis side
Frame, the output end of the Y-axis driver are connected to the Y-axis driving roller；One end of the Y-axis conveyer belt is connected with the Y
Axis driving roller, the other end of the Y-axis conveyer belt are connected with the Y-axis driven roller；
Transmission is equipped with several sebific duct installation positions on the Y-axis conveyer belt.
10. plastic cement tube vision inspection device according to claim 6, which is characterized in that the X-axis conveying assembly includes: X
Axis moving assembly, X-axis limit assembly and X-axis baffle；
The X-axis limit assembly is set on the X-axis moving assembly；The X-axis clamp assemblies are set to the mobile group of the X-axis
Part, and it is located at described one end for swinging clamping manipulator；
The X-axis moving assembly includes: that X-axis rack, X-axis frame, X-axis driving wheel, X-axis driven wheel, X-axis conveyer belt and X-axis are driven
Dynamic device；
The X-axis frame is fixed on the X-axis rack；The both ends of the X-axis driving wheel are equipped with the X-axis frame；The X-axis
The both ends of driven wheel are equipped with the X-axis frame；One end of the X-axis conveyer belt is connected with the X-axis driving wheel, the other end connects
It is connected to the X-axis driven wheel；The output end of the X-axis driver is drivingly connected the X-axis driving wheel；
The X-axis conveyer belt is connected to the discharge port of the discharging device；
The X-axis limit assembly includes: X-axis limit base and X-axis height limiting plate；
The X-axis limit base is installed on the side of the X-axis frame, and the X-axis height limiting plate is horizontally installed to the X-axis limit
Seat, and the X-axis height limiting plate is located at the top of the X-axis conveyer belt；
The X-axis baffle can horizontal extension be installed on the X-axis frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910032674.2A CN109677917A (en) | 2019-01-14 | 2019-01-14 | A kind of swing clamping manipulator and plastic cement tube vision inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910032674.2A CN109677917A (en) | 2019-01-14 | 2019-01-14 | A kind of swing clamping manipulator and plastic cement tube vision inspection device |
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| CN109677917A true CN109677917A (en) | 2019-04-26 |
Family
ID=66193280
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|---|---|---|---|
| CN201910032674.2A Pending CN109677917A (en) | 2019-01-14 | 2019-01-14 | A kind of swing clamping manipulator and plastic cement tube vision inspection device |
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| WO2021212549A1 (en) * | 2020-04-23 | 2021-10-28 | 苏州必为智能控制科技有限公司 | Visual defect detection device |
| CN113911726A (en) * | 2021-07-20 | 2022-01-11 | 杭州聚导科技有限公司 | Silicon wafer carrier door plate clamp with fault detection device |
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