CN109709091A - Equipment for testing product lacquer painting - Google Patents
Equipment for testing product lacquer painting Download PDFInfo
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- CN109709091A CN109709091A CN201711008307.6A CN201711008307A CN109709091A CN 109709091 A CN109709091 A CN 109709091A CN 201711008307 A CN201711008307 A CN 201711008307A CN 109709091 A CN109709091 A CN 109709091A
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Abstract
The present invention provides a kind of equipment for testing product lacquer painting, comprising: product conveyor structure to be measured, for product to be measured to be transported to station to be measured;Grasping mechanism, for grabbing the product to be measured at station to be measured and being transferred into the first detection station;First detection camera, takes pictures for the front to the product to be measured at the first detection station;Conveying mechanism is detected, for product to be measured to be delivered to the second detection station from the first detection station;Second detection camera, take pictures for the back side to the product to be measured at the second detection station, this equipment for testing product lacquer painting can efficiently, automate, accurately the lacquer painting of product is detected.
Description
Technical field
The present invention relates to product lacquer painting quality detection device more particularly to a kind of setting for testing product lacquer painting
It is standby.
Background technique
Many product needs paint on surface, and the quality of lacquer painting influences the quality and service life of product, therefore goes out
The important link of product control when before factory for the detection of lacquer painting, as shown in Figure 1, be a kind of housing of kitchen tools, its convex surface and concave surface
All carried out spray painting processing, then how efficiently, automation, accurately to its lacquer painting carry out detection be existing in the prior art
Problem, it would be highly desirable to solve.
Summary of the invention
The technical problem to be solved by the present invention is in order to solve how efficiently, automation, accurately to the lacquer painting of product into
Row detection, the present invention provides a kind of equipment for testing product lacquer painting to solve the above problems.
The technical solution adopted by the present invention to solve the technical problems is: a kind of equipment for testing product lacquer painting, packet
It includes:
Product conveyor structure to be measured, for product to be measured to be transported to station to be measured;
Grasping mechanism, for grabbing the product to be measured at station to be measured and being transferred into the first detection station;
First detection camera, takes pictures for the front to the product to be measured at the first detection station;
Conveying mechanism is detected, for product to be measured to be delivered to the second detection station from the first detection station;
Second detection camera, takes pictures for the back side to the product to be measured at the second detection station.
Preferably, the grasping mechanism includes six-joint robot and the first electromagnetic suction head, first electromagnetic suction head is solid
It is scheduled on the hand of the six-joint robot.
Preferably, the grasping mechanism includes coordinates robot, the second electromagnetic suction head and turns mechanism, the coordinate machine
Device people includes Z-axis transmission mechanism, the first X-axis transmission mechanism and rotation mechanism in vertical shaft, the rotation mechanism in vertical shaft include turntable and
The driving motor that driving turntable is rotated in horizontal plane, the Z-axis transmission mechanism are fixed on the turntable, and first X-axis passes
Motivation structure is fixedly connected with Z-axis transmission mechanism, and the end of second electromagnetic suction head and the first X-axis transmission mechanism is fixed to be connected
It connects;
The mechanism of turning includes the first elevating mechanism and turnover mechanism, and first elevating mechanism and turnover mechanism, which are fixed, to be connected
Connect, the turnover mechanism includes roll-over table, overturning motor and torsion shaft, the roll-over table be located at the first detection station and with institute
It states torsion shaft to be fixedly connected, the axis of the torsion shaft is parallel with Y-axis, the rotation of torsion shaft described in the overturning motor driven, institute
It states and is provided at least one third electromagnetic suction head on roll-over table.
Preferably, the product conveyor structure to be measured includes overhead rail, the first sliding block and for hanging product to be measured
Connection component, several described first sliding blocks are slidably matched with overhead rail and can move along overhead rail, each described
First sliding block is fixedly connected with a connection component.
Preferably, the connection component includes tripod, connecting plate and hanger bar, the apex angle of the tripod and first
Sliding block is fixedly connected, and the upper end of two hanger bars is fixedly connected with two base angles of tripod respectively, the hanger bar
Lower end has the hook for hanging product to be measured, and the two sides of the connecting plate are fixed with two hanger bars respectively to be connected
It connects.
The equipment for testing product lacquer painting of coordinates robot and six-joint robot, the station to be measured have been used simultaneously
Including upper station and lower station, first detection station includes the first positive detection station and the second positive detection station, institute
Stating the second detection station includes the first back side detection station and the second back side detection station, and the grasping mechanism includes six axis machines
People, the first electromagnetic suction head, coordinates robot, the second electromagnetic suction head and mechanism is turned, the coordinates robot is used for lower station
Transferred product to be measured to the first positive detection station, it is described to turn mechanism setting in the first positive detection station and coordinate machine
People's cooperation, the six-joint robot are used for the transferred product to be measured of upper station to the second positive detection station;The detection is defeated
Mechanism is sent to include the first conveyer belt being arranged between the first positive detection station and the first back side detection station and be arranged the
The second conveyer belt between two positive detection stations and the second back side detection station, the first detection camera include the first front
Detect camera and the second front detection camera, the first front detection camera setting the described first positive detection station and to
Lower shooting, the second front detection camera setting is in the described second positive detection station and to shooting along the x axis, and described the
Two detection cameras include first back side detection camera shot downwards and second back side detection camera, first back side detection
Camera is located at first back side detection station, and second back side detection camera is located at second back side detection station;
First electromagnetic suction head is fixed on the hand of the six-joint robot, for drawing the product to be measured at upper station;
The coordinates robot includes Z-axis transmission mechanism, the first X-axis transmission mechanism and rotation mechanism in vertical shaft, described to horizontally rotate
Mechanism includes the driving motor that turntable and driving turntable are rotated in horizontal plane, and the Z-axis transmission mechanism is lead screw auxiliary drive gear
And it is fixed on the turntable, the first X-axis transmission mechanism is lead screw auxiliary drive gear and fixes with Z-axis transmission mechanism
Connection, second electromagnetic suction head is fixedly connected with the end of the first X-axis transmission mechanism, for draw at lower station to
Survey product;
The mechanism of turning includes the first elevating mechanism and turnover mechanism, and first elevating mechanism and turnover mechanism, which are fixed, to be connected
Connect, the turnover mechanism includes roll-over table, overturning motor and torsion shaft, the roll-over table be located at the first positive detection station and
It is fixedly connected with the torsion shaft, the axis of the torsion shaft is parallel with Y-axis, and torsion shaft described in the overturning motor driven turns
It is dynamic, at least one third electromagnetic suction head is provided on the roll-over table;
The product conveyor structure to be measured includes the upper company of overhead rail, the first sliding block and the product to be measured for hanging upper station
The lower connection component of connected components and the product to be measured for hanging lower station, several described first sliding blocks and overhead rail slide
It can be moved along overhead rail with merging, each first sliding block is fixedly connected with the upper connection component, the lower connection
The lower section of upper connection component is arranged in component.
Specifically, the mechanism of turning further includes mounting base, first elevating mechanism include lifter plate, the first cylinder and
Guide rod, first cylinder is fixed in the mounting base and its piston rod is fixedly connected with lifter plate, is led described in two
The upper end of bar is fixedly connected with lifter plate and is slidably matched respectively with two oil-free bushings being arranged in the mounting base, institute
The output shaft for stating overturning motor is sequentially connected by synchronous belt and torsion shaft, is fixed with two bearing blocks, institute on the lifter plate
The inner ring for stating torsion shaft and the bearing in two bearing blocks cooperates, and the quantity of the third electromagnetic suction head is four, is in square
Shape is distributed on the roll-over table.
Preferably, the upper connection component includes tripod, upper junction plate and upper hanger bar, the apex angle of the tripod
It is fixedly connected with the first sliding block, the upper end of two upper hanger bars is fixedly connected with two base angles of tripod respectively, described
The lower end of upper hanger bar has a hook for hanging the product to be measured of upper station, and the two sides of the upper junction plate are respectively with two
A upper hanger bar is fixedly connected;
The lower connection component includes lower connecting plate and lower hanger bar, and the upper end of two lower hanger bars has for hanging over
The hook of the product to be measured of station, the lower end of the lower hanger bar have the hook for hanging the product to be measured of lower station, institute
The two sides for stating lower connecting plate are fixedly connected with two lower hanger bars respectively.
The invention has the advantages that this equipment for testing product lacquer painting can efficiently, automation, it is accurately right
The lacquer painting of product is detected.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the embodiment one of the equipment for testing product lacquer painting of the invention.
Fig. 2 is the partial structural diagram of the embodiment one of the equipment for testing product lacquer painting of the invention.
Fig. 3 is the structural schematic diagram of the embodiment two of the equipment for testing product lacquer painting of the invention.
Fig. 4 is the partial structural diagram of the embodiment two of the equipment for testing product lacquer painting of the invention.
Fig. 5 is the structural schematic diagram of the embodiment three of the equipment for testing product lacquer painting of the invention.
Fig. 6 is the partial structural diagram of the embodiment three of the equipment for testing product lacquer painting of the invention.
Fig. 7 is the partial structural diagram of the embodiment three of the equipment for testing product lacquer painting of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " axial direction ",
The orientation or positional relationship of the instructions such as " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property.In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can be mechanical connect
It connects, is also possible to be electrically connected;It can be directly connected, it can also be indirectly connected through an intermediary.For the common of this field
For technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.In addition, in description of the invention
In, unless otherwise indicated, the meaning of " plurality " is two or more.
The present invention provides a kind of equipment for testing product lacquer painting, comprising:
Product conveyor structure to be measured, for product to be measured to be transported to station to be measured;
Grasping mechanism, for grabbing the product to be measured at station to be measured and being transferred into the first detection station;
First detection camera, takes pictures for the front to the product to be measured at the first detection station;
Conveying mechanism is detected, for product to be measured to be delivered to the second detection station from the first detection station;
Second detection camera, takes pictures for the back side to the product to be measured at the second detection station.
Technical solution of the present invention is clearly illustrated for convenience, sets space coordinates, vertical direction Z
Axis, and be straight up the forward direction of Z axis, front-rear direction is Y-axis, and front is that Y-axis is positive, and left and right directions is X-axis, and
Left is that X-axis is positive.
It as shown in Figure 1 and 2, is the embodiment one of this equipment for testing product lacquer painting, 99 conveying mechanism of product to be measured
8 include overhead rail 1, the first sliding block (being not drawn into figure) and the connection component for hanging product 99 to be measured, several first
Sliding block is slidably matched with overhead rail 1 and can move along overhead rail 1, and overhead rail 1 is the track with minor grade, the
One sliding block along the gradient slides into station to be measured after loading onto product 99 to be measured from the initial position of overhead rail 1, in station to be measured
Locate product 99 to be measured and be crawled mechanism to take away, the first sliding block continuously moves to the end of overhead rail 1, naturally it is also possible to chain be arranged
The transmission mechanism of chain is taken turns, the first sliding block is fixed on chain and moves.Each first sliding block and a connection component are solid
Fixed connection, connection component includes tripod 2, connecting plate 3 and hanger bar 4, and the apex angle of tripod 2 is fixedly connected with the first sliding block,
The upper end of two hanger bars 4 is fixedly connected with two base angles of tripod 2 respectively, and the lower end of hanger bar 4 has hook 401, to
The both upper ends thereof aperture of product 99 is surveyed, hook 401 inserts in the hole that product 99 to be measured is allowed to be suspended on hook 401, connecting plate 3
Two sides be fixedly connected respectively with two hanger bars 4, use first is that play the role of stable hanger bar 4, prevent hanger bar 4
Disorderly shake.Grasping mechanism includes six-joint robot 5 and the first electromagnetic suction head 6, and the first electromagnetic suction head 6 is fixed on six-joint robot 5
Hand, six-joint robot 5 are a day robots of the model MOTOMAN-HP20D of intrinsic safety river company production;First electromagnetic system
There is magnetic force after energization, product 99 to be measured can be sucked.
Infrared sensor can be set at station to be measured and come whether testing product enters station to be measured, when product 99 to be measured
When into detection station, the hand of six-joint robot 5 turns to and is aligned the center of product 99 to be measured, and the first electromagnetism of starting is inhaled
First 6 product 99 to be measured is sucked, and product 99 to be measured is transferred to the first detection station from station to be measured by six-joint robot 5;
For first detection camera 7 towards right shooting, six-joint robot 5 allows the positive face first of product 99 to be measured to detect camera 7, completes
Positive shooting;Front shooting after, six-joint robot 5 by 99 back side of product to be measured upward be placed on detection conveying mechanism
On 8, detection conveying mechanism 8 is conveyer belt, and product 99 to be measured is transported to the second detection station, the second detection camera 9 by conveyer belt
The back side of product 99 to be measured is shot downward, to complete the shooting in two faces.
It is the embodiment two of the equipment for testing product lacquer painting of the invention as shown in Fig. 3 ~ 4, it and embodiment one
Difference is to use different grasping mechanisms, and grasping mechanism includes Z-axis transmission mechanism 10, the first X-axis driver in this embodiment
Structure 11 and rotation mechanism in vertical shaft, rotation mechanism in vertical shaft include the driving motor that turntable 12 and driving turntable 12 are rotated in horizontal plane
(being not drawn into figure), Z-axis transmission mechanism 10 are ball-screw paratype straight line mould group and fix on a turntable 12, Z-axis transmission machine
The sliding block of structure 10 can be moved on Z axis and is fixedly connected with the main body of the first X-axis transmission mechanism 11, the first X-axis driver
Structure 11 is ball-screw paratype straight line mould group, its sliding block can move in X-axis and by a connecting rod 13 and the second electricity
Magnetic suction head 14 is fixedly connected;
Turning mechanism includes mounting base 15, the first elevating mechanism and turnover mechanism, and the first elevating mechanism and turnover mechanism, which are fixed, to be connected
Connect, turnover mechanism includes roll-over table 16, overturning motor 17 and torsion shaft 18, roll-over table 16 be located at the first detection station and with institute
It states torsion shaft 18 to be fixedly connected, the axis of the torsion shaft 18 is parallel with Y-axis, and the overturning motor 17 drives the torsion shaft 18
Rotation.First elevating mechanism includes lifter plate 19, the first cylinder 20 and guide rod 21, and the first cylinder 20 is MB1B50 series cylinder,
First cylinder 20 is fixed in mounting base 15 and its piston rod is fixedly connected with lifter plate 19, the upper end of two guide rods 21 with
Lifter plate 19 is fixedly connected and is slidably matched respectively with two oil-free bushings being arranged in mounting base 15, overturning motor 17
Output shaft is sequentially connected by synchronous belt (being not drawn into figure) and torsion shaft 18, is fixed with two bearing blocks on lifter plate 19, is turned over
The cooperation of the inner ring of shaft 18 and the bearing in two bearing blocks, the quantity of third electromagnetic suction head 22 are four, are existed in distributed rectangular
On roll-over table 16.First detection camera 7-2 is arranged to shoot downwards.
When detecting, when product 99 to be measured enters station to be measured, driving motor drives 12 turns of turntable to this grasping mechanism
It is dynamic, so that the second electromagnetic suction head 14 is turned to product 99 to be measured, is adjusted by Z-axis transmission mechanism 10 and the first X-axis transmission mechanism 11
The position of second electromagnetic suction head 14 makes the second electromagnetic suction head 14 be directed at the middle position of product 99 to be measured, gives the second electromagnetic suction head
14 are powered, and driving motor driven turntable 12 turns round after product 99 to be measured is sucked, and product 99 to be measured enters the first detection station;First
The piston rod of cylinder 20 stretches out, and lifts roll-over table 16, and overturning motor 17 drives roll-over table 16 to rotate, is directed at roll-over table 16 to be measured
Product 99 to be measured is sucked to the energization of third electromagnetic suction head 22 in the back side of product 99, and overturning motor 17 drives roll-over table 16 to turn over again
Turn, make the face-up of product 99 to be measured, the first detection camera 7-2 is shot, and after shooting, the overturning driving of motor 17 is turned over
Turntable 16 is overturn, and retracts the piston rod of the face down of product 99 to be measured and the first cylinder 20, and product 99 to be measured is lower to land
On the conveyor belt, third electromagnetic suction head 22 powers off, and unclamps product 99 to be measured, and subsequent back side shooting is just and the process of embodiment one
It is the same.
It is the embodiment three of the equipment for testing product lacquer painting of the invention as shown in Fig. 5 ~ 7, it uses reality simultaneously
The grasping mechanism in example one and embodiment two is applied, specific structure is as follows:
Station to be measured includes upper station and lower station, and the first detection station includes the first positive detection station and the second front detection
Station, the second detection station include the first back side detection station and the second back side detection station, 99 conveying mechanism packet of product to be measured
Include overhead rail 1, the upper connection component of the first sliding block and the product to be measured 99 for hanging upper station and for hanging lower station
Product to be measured 99 lower connection component, several first sliding blocks and overhead rail 1 are slidably matched and can move along overhead rail 1
Dynamic, overhead rail 1 is the track with minor grade, and the first sliding block loads onto product 99 to be measured from the initial position of overhead rail 1
Station to be measured is slided into along the gradient afterwards, product 99 to be measured is crawled mechanism and takes away, and the first sliding block continuously moves to overhead rail 1
End, naturally it is also possible to transmission mechanism as sprocket wheel chain is set, and the first sliding block is fixed on chain and moves.Often
A first sliding block is fixedly connected with upper connection component, and the lower section of upper connection component is arranged in lower connection component;Specifically, upper company
Connected components include that tripod 2, upper junction plate 3-2 and upper hanger bar 4-2, the apex angle of tripod 2 are fixedly connected with the first sliding block, and two
The upper end of a upper hanger bar 4-2 is fixedly connected with two base angles of tripod 2 respectively, and the lower end of upper hanger bar 4-2, which has, to be used for
The hook of the product to be measured 99 of station in suspension, the two sides of upper junction plate 3-2 are fixed with two upper hanger bar 4-2 respectively to be connected
It connects, the contact portion of hook and product 99 to be measured is provided with V-shaped groove 402, and effect is that product 99 to be measured hangs over the upper Shi Buyi of hook
It is detached from, and when grasping mechanism takes product 99 to be measured away, product 99 to be measured can removing along the smooth surface of V-shaped groove 402;
Lower connection component includes lower connecting plate 3-3 and lower hanger bar 4-3, and the upper end of two lower hanger bar 4-3 has for hanging over upper work
The hook of the product to be measured 99 of position, the lower end of lower hanger bar 4-3 have the hook for hanging the product to be measured 99 of lower station, under
The two sides of connecting plate 3-3 are fixedly connected with two lower hanger bar 4-3 respectively;The lower end of upper hanger bar 4-2 hang one it is to be measured
Product 99, the lower part of this product 99 to be measured hang hanger bar 4-3, and the hook of lower hanger bar 4-3 hangs another production to be measured
Product 99, they are with the certain of the first sliding block while entering upper station and lower station.
Grasping mechanism includes six-joint robot 5, the first electromagnetic suction head 6, coordinates robot, the second electromagnetic suction head 14 and turns
Mechanism, coordinates robot are used to for the product to be measured 99 of lower station being transferred to the first positive detection station, turn mechanism setting and exist
First positive detection station and coordinates robot cooperate, and six-joint robot 5 is used to for the product to be measured 99 of upper station being transferred to the
Two positive detection stations;Detection conveying mechanism includes being arranged between the first positive detection station and the first back side detection station
First conveyer belt 8-2 and setting the second conveyer belt 8-3, coordinate between the second positive detection station and the second back side detection station
The head of first conveyer belt 8-2 is arranged in robot, and the head of the second conveyer belt 8-3 is arranged in six-joint robot 5;
First electromagnetic suction head 6 is fixed on the hand of six-joint robot 5, for drawing the product to be measured 99 at upper station;Coordinate machine
Device people includes Z-axis transmission mechanism 10, the first X-axis transmission mechanism 11 and rotation mechanism in vertical shaft, and rotation mechanism in vertical shaft includes turntable 12
The driving motor rotated with driving turntable 12 in horizontal plane, Z-axis transmission mechanism 10 are ball-screw paratype straight line mould group and consolidate
Determine on a turntable 12, the sliding block of Z-axis transmission mechanism 10 can move on Z axis and the main body with the first X-axis transmission mechanism 11
Be fixedly connected, the first X-axis transmission mechanism 11 be ball-screw paratype straight line mould group, its sliding block can be moved in X-axis and
It is fixedly connected by a connecting rod 13 with the second electromagnetic suction head 14, for drawing the product to be measured 99 at lower station;
Turning mechanism includes the first elevating mechanism and turnover mechanism, and turnover mechanism includes roll-over table 16, overturning motor 17 and overturning
Axis 18, roll-over table 16 are located at the first detection station and are fixedly connected with torsion shaft 18, and the axis of torsion shaft 18 is parallel with Y-axis,
Overturning motor 17 drives torsion shaft 18 to rotate;Turning mechanism further includes mounting base 15, and the first elevating mechanism includes lifter plate 19,
One cylinder and guide rod, the first cylinder is fixed in mounting base 15 and its piston rod is fixedly connected with lifter plate 19, and two are led
The upper end of bar is fixedly connected with lifter plate 19 and is slidably matched respectively with two oil-free bushings being arranged in mounting base 15, turns over
The output shaft of rotating motor 17 is sequentially connected by synchronous belt and torsion shaft 18, is fixed with two bearing blocks on lifter plate 19, is overturn
The cooperation of the inner ring of axis 18 and the bearing in two bearing blocks, the quantity of third electromagnetic suction head 22 are four, are being turned in distributed rectangular
On turntable 16;
First detection camera includes the first front front detection camera 7-3 and second detection camera 7-4, the first front detection camera
7-3 setting is in the first positive detection station and shoots downwards, and the second front detection camera 7-4 setting is in the second positive detection station
And shoot to the right, the second detection camera includes first back side detection camera 23-1 shot downwards and second back side detection camera
23-2, first back side detection camera 23-1 are located at the first back side detection station, and second back side detects camera 23-2 and is located at the second back
Face detection station.
When upper and lower two products 99 to be measured enter upper station and lower station simultaneously, driving motor drives turntable 12 to rotate,
So that the second electromagnetic suction head 14 is turned to product 99 to be measured, adjusts second by Z-axis transmission mechanism 10 and the first X-axis transmission mechanism 11
The position of electromagnetic suction head 14 makes the second electromagnetic suction head 14 be directed at the middle position of the product to be measured 99 of lower station, gives the second electromagnetism
Suction nozzle 14 is powered, and driving motor driven turntable 12 turns round after product 99 to be measured is sucked, and product 99 to be measured enters the first front detection
The piston rod of station, the first cylinder stretches out, and lifts roll-over table 16, and overturning motor 17 drives roll-over table 16 to rotate, makes roll-over table 16
It is directed at the back side of product 99 to be measured, product 99 to be measured is sucked to the energization of third electromagnetic system, overturning motor 17 drives roll-over table 16
It overturning again, makes the face-up of product 99 to be measured, the first front detection camera 7-3 is shot, after shooting, overturning electricity
Machine 17 drives roll-over table 16 to overturn, and retracts the piston rod of the face down of product 99 to be measured and the first cylinder, product to be measured
It is dropped under 99 on first conveyer belt 8-2, then carries out the detection at the back side.At the same time, the hand of six-joint robot 5 turns to simultaneously
Product 99 to be measured is sucked for the center of the product to be measured 99 of station in alignment, the first electromagnetic suction head 6 of starting, six-joint robot
The product to be measured 99 of upper station is transferred to the second positive detection station by 5, and six-joint robot 5 allows the positive face of product 99 to be measured
Second front detection camera 7-4, completes positive shooting;After the shooting of front, six-joint robot 5 is by 99 back side of product to be measured
Being placed on the second conveyer belt 8-3 upward, product 99 to be measured is transported to the second back side detection station by the second conveyer belt 8-3,
Second back side detection camera 23-2 shoots the back side of product 99 to be measured downward, to complete the shooting in two faces.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, not to the schematic representation of the term
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (8)
1. a kind of equipment for testing product lacquer painting characterized by comprising
Product conveyor structure to be measured, for product to be measured to be transported to station to be measured;
Grasping mechanism, for grabbing the product to be measured at station to be measured and being transferred into the first detection station;
First detection camera, takes pictures for the front to the product to be measured at the first detection station;
Conveying mechanism is detected, for product to be measured to be delivered to the second detection station from the first detection station;
Second detection camera, takes pictures for the back side to the product to be measured at the second detection station.
2. being used for the equipment of testing product lacquer painting as described in claim 1, it is characterised in that: the grasping mechanism includes six axis
Robot and the first electromagnetic suction head, first electromagnetic suction head are fixed on the hand of the six-joint robot.
3. being used for the equipment of testing product lacquer painting as described in claim 1, it is characterised in that: the grasping mechanism includes coordinate
Robot, the second electromagnetic suction head and turn mechanism, the coordinates robot include Z-axis transmission mechanism, the first X-axis transmission mechanism and
Rotation mechanism in vertical shaft, the rotation mechanism in vertical shaft include the driving motor that turntable and driving turntable are rotated in horizontal plane, the Z axis
Transmission mechanism is fixed on the turntable, and the first X-axis transmission mechanism is fixedly connected with Z-axis transmission mechanism, second electricity
Magnetic suction head is fixedly connected with the end of the first X-axis transmission mechanism;
The mechanism of turning includes the first elevating mechanism and turnover mechanism, and first elevating mechanism and turnover mechanism, which are fixed, to be connected
Connect, the turnover mechanism includes roll-over table, overturning motor and torsion shaft, the roll-over table be located at the first detection station and with institute
It states torsion shaft to be fixedly connected, the axis of the torsion shaft is parallel with Y-axis, the rotation of torsion shaft described in the overturning motor driven, institute
It states and is provided at least one third electromagnetic suction head on roll-over table.
4. being used for the equipment of testing product lacquer painting as described in claim 1, it is characterised in that: the product conveyor structure to be measured
Including overhead rail, the first sliding block and connection component for hanging product to be measured, several described first sliding blocks and aerial rail
Road is slidably matched and can move along overhead rail, and each first sliding block is fixedly connected with a connection component.
5. being used for the equipment of testing product lacquer painting as claimed in claim 4, it is characterised in that: the connection component includes triangle
Frame, connecting plate and hanger bar, the apex angle of the tripod are fixedly connected with the first sliding block, the upper end difference of two hanger bars
It is fixedly connected with two base angles of tripod, the lower end of the hanger bar has the hook for hanging product to be measured, the company
The two sides of fishplate bar are fixedly connected with two hanger bars respectively.
6. being used for the equipment of testing product lacquer painting as described in claim 1, it is characterised in that: the station to be measured includes upper work
Position and lower station, first detection station include the first positive detection station and the second positive detection station, second inspection
Surveying station includes the first back side detection station and the second back side detection station, and the grasping mechanism includes six-joint robot, first
Electromagnetic suction head, coordinates robot, the second electromagnetic suction head and mechanism is turned, the coordinates robot is used for the production to be measured of lower station
Product are transferred to the first positive detection station, and the mechanism of turning is arranged in the first positive detection station and coordinates robot's cooperation,
The six-joint robot is used for the transferred product to be measured of upper station to the second positive detection station;The detection conveying mechanism packet
The first conveyer belt being arranged between the first positive detection station and the first back side detection station and setting is included to examine in the second front
The second conveyer belt between station and the second back side detection station is surveyed, the first detection camera includes that camera is detected in the first front
With the second front detection camera, the first front detection camera setting is in the described first positive detection station and shoots downwards,
In the described second positive detection station and to shooting along the x axis, described second is detected for the second front detection camera setting
Camera includes first back side detection camera shot downwards and second back side detection camera, and phase seat in the plane is detected at first back side
In first back side detection station, second back side detection camera is located at second back side detection station;
First electromagnetic suction head is fixed on the hand of the six-joint robot, for drawing the product to be measured at upper station;
The coordinates robot includes Z-axis transmission mechanism, the first X-axis transmission mechanism and rotation mechanism in vertical shaft, described to horizontally rotate
Mechanism includes the driving motor that turntable and driving turntable are rotated in horizontal plane, and the Z-axis transmission mechanism is lead screw auxiliary drive gear
And it is fixed on the turntable, the first X-axis transmission mechanism is lead screw auxiliary drive gear and fixes with Z-axis transmission mechanism
Connection, second electromagnetic suction head is fixedly connected with the end of the first X-axis transmission mechanism, for draw at lower station to
Survey product;
The mechanism of turning includes the first elevating mechanism and turnover mechanism, and first elevating mechanism and turnover mechanism, which are fixed, to be connected
Connect, the turnover mechanism includes roll-over table, overturning motor and torsion shaft, the roll-over table be located at the first positive detection station and
It is fixedly connected with the torsion shaft, the axis of the torsion shaft is parallel with Y-axis, and torsion shaft described in the overturning motor driven turns
It is dynamic, at least one third electromagnetic suction head is provided on the roll-over table;
The product conveyor structure to be measured includes the upper company of overhead rail, the first sliding block and the product to be measured for hanging upper station
The lower connection component of connected components and the product to be measured for hanging lower station, several described first sliding blocks and overhead rail slide
It can be moved along overhead rail with merging, each first sliding block is fixedly connected with the upper connection component, the lower connection
The lower section of upper connection component is arranged in component.
7. being used for the equipment of testing product lacquer painting as claimed in claim 6, it is characterised in that: the mechanism of turning further includes peace
Seat is filled, first elevating mechanism includes lifter plate, the first cylinder and guide rod, and first cylinder is fixed in the mounting base
And its piston rod is fixedly connected with lifter plate, the upper end of two guide rods be fixedly connected with lifter plate and respectively with set
It sets two in the mounting base oil-free bushings to be slidably matched, the output shaft of the overturning motor passes through synchronous belt and torsion shaft
It is sequentially connected, is fixed with two bearing blocks on the lifter plate, the torsion shaft is interior with the bearing in two bearing blocks
Circle cooperation, the quantity of the third electromagnetic suction head is four, in distributed rectangular on the roll-over table.
8. being used for the equipment of testing product lacquer painting as claimed in claim 7, it is characterised in that: the upper connection component includes three
Corner bracket, upper junction plate and upper hanger bar, the apex angle of the tripod are fixedly connected with the first sliding block, two upper hanger bars
Upper end is fixedly connected with two base angles of tripod respectively, and the lower end of the upper hanger bar has for hanging the to be measured of upper station
The hook of product, the two sides of the upper junction plate are fixedly connected with two upper hanger bars respectively;
The lower connection component includes lower connecting plate and lower hanger bar, and the upper end of two lower hanger bars has for hanging over
The hook of the product to be measured of station, the lower end of the lower hanger bar have the hook for hanging the product to be measured of lower station, institute
The two sides for stating lower connecting plate are fixedly connected with two lower hanger bars respectively.
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CN201711008307.6A CN109709091A (en) | 2017-10-25 | 2017-10-25 | Equipment for testing product lacquer painting |
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