CN109835709A - A kind of lacquer painting detection device - Google Patents
A kind of lacquer painting detection device Download PDFInfo
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- CN109835709A CN109835709A CN201711202266.4A CN201711202266A CN109835709A CN 109835709 A CN109835709 A CN 109835709A CN 201711202266 A CN201711202266 A CN 201711202266A CN 109835709 A CN109835709 A CN 109835709A
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- 238000001514 detection method Methods 0.000 title claims abstract description 168
- 239000004922 lacquer Substances 0.000 title claims abstract description 36
- 238000010422 painting Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 170
- 230000005540 biological transmission Effects 0.000 claims description 41
- 238000012546 transfer Methods 0.000 claims description 27
- 230000007306 turnover Effects 0.000 claims description 18
- 230000003028 elevating effect Effects 0.000 claims description 15
- 238000013519 translation Methods 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Abstract
The present invention provides a kind of lacquer painting detection devices, 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, a kind of this lacquer painting detection device can efficiently, automation, 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 lacquer painting detection device.
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 lacquer painting detection devices to solve the above problems.
The technical solution adopted by the present invention to solve the technical problems is: a kind of lacquer painting detection device, 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；
Rejecting mechanism, the rejecting mechanism include drum conveying line, transfer mechanism and reject pipeline, the drum conveying line,
The drum conveying line connects in the end of the detection conveying mechanism, and the transfer mechanism is used for the substandard products on drum conveying line
Move to the rejecting pipeline.
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.
A kind of lacquer painting detection device of coordinates robot and six-joint robot has been used simultaneously, and the station to be measured includes upper
Station and lower station, first detection station include the first positive detection station and the second positive detection station, and described second
Detection station includes the first back side detection station and the second back side detection station, and the grasping mechanism includes six-joint robot, the
One electromagnetic suction head, coordinates robot, the second electromagnetic suction head and mechanism is turned, the coordinates robot is used for the to be measured of lower station
Transferred product is described to turn mechanism setting and match in the first positive detection station with coordinates robot to the first positive detection station
It closes, the six-joint robot is used for the transferred product to be measured of upper station to the second positive detection station；The detection conveyer
Structure includes the first conveyer belt being arranged between the first positive detection station and the first back side detection station and is arranged second just
The second conveyer belt between face detection station and the second back side detection station, the first detection camera include the first front detection
Camera and the second front detection camera, the first front detection camera setting is in the described first positive detection station and claps downwards
It takes the photograph, in the described second positive detection station and to shooting along the x axis, described second is examined for the second front detection camera setting
Surveying camera includes first back side detection camera shot downwards and second back side detection camera, and camera is detected at first back side
Positioned at 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.
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.
Specifically, the drum conveying line includes multiple spaced rollers and the drive for driving the roller rotation
Motivation structure, the transfer mechanism include multiple transfer brackets, translation mechanism and lifting mechanism, and the transfer bracket is arranged adjacent
Between two rollers, the lifting mechanism is connect with translation mechanism and transfer bracket respectively, the translation of the translation mechanism
It is oriented parallel to the axial direction of the roller, pipeline is rejected and is connected to the side of the drum conveying line and in the transfer branch
On the translation direction of frame.
The invention has the advantages that a kind of this lacquer painting detection device can efficiently, automation, accurately to product
Lacquer painting 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 a kind of structural schematic diagram of the embodiment one of lacquer painting detection device of the invention.
Fig. 2 is a kind of partial structural diagram of the embodiment one of lacquer painting detection device of the invention.
Fig. 3 is a kind of structural schematic diagram of the embodiment two of lacquer painting detection device of the invention.
Fig. 4 is a kind of partial structural diagram of the embodiment two of lacquer painting detection device of the invention.
Fig. 5 is a kind of structural schematic diagram of the embodiment three of lacquer painting detection device of the invention.
Fig. 6 is a kind of partial structural diagram of the embodiment three of lacquer painting detection device of the invention.
Fig. 7 is a kind of partial structural diagram of the embodiment three of lacquer painting detection device 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 lacquer painting detection devices, 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；
Rejecting mechanism, rejecting mechanism include drum conveying line, transfer mechanism and reject pipeline, drum conveying line, and roller conveys
Line connects in the end of detection conveying mechanism, and transfer mechanism is used to the substandard products on drum conveying line moving to rejecting pipeline.
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 a kind of embodiment one of this lacquer painting detection device, 99 conveying mechanism 8 of product to be measured includes
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 blocks with
Overhead rail 1 is slidably matched and can move along overhead rail 1, and overhead rail 1 is the track with minor grade, the first sliding block
Station to be measured is slided into along the gradient after loading onto product 99 to be measured from the initial position of overhead rail 1, it is to be measured at station to be measured
Product 99 is crawled mechanism and takes away, and the first sliding block continuously moves to the end of overhead rail 1, naturally it is also possible to sprocket wheel chain be arranged
Transmission mechanism, the first sliding block is fixed on chain and moves.Each first sliding block is fixedly connected with a connection component,
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, two suspensions
The upper end of bar 4 is fixedly connected with two base angles of tripod 2 respectively, and the lower end of hanger bar 4 has hook 401, product 99 to be measured
Both upper ends thereof aperture, hook 401 insert in the hole to allow product 99 to be measured be suspended on hook 401 on, the two sides of connecting plate 3
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 from disorderly shaking.It grabs
Taking mechanism includes six-joint robot 5 and the first electromagnetic suction head 6, and the first electromagnetic suction head 6 is fixed on the hand of six-joint robot 5, and six
Axis robot 5 is a day robot of the model MOTOMAN-HP20D of intrinsic safety river company production；First electromagnetic system has after being powered
There is magnetic force, 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.Drum conveying line includes multiple spaced rollings
Cylinder 24 and driving mechanism for driving roller 24 to rotate, driving mechanism is motor, and motor driven roller 24 rotates, due to roller
Pipeline connect detection conveying mechanism end, the product being detected from detection conveying mechanism be docked on roller 24 and to
Preceding conveying, transfer mechanism include multiple transfer brackets 25, translation mechanism and lifting mechanism, and in this example, transfer bracket 25 is upper
Narrow trapezoid support under width, transfer bracket 25 are arranged between adjacent two rollers 24, and lifting mechanism is cylinder, its piston rod
It is fixedly connected with the bottom of transfer bracket 25, translation mechanism includes cylinder, sliding block and guide rail, and cylinder pushes sliding block to move up in guide rail
Dynamic, lifting mechanism is fixed on sliding block, and the translation direction of sliding block is parallel to the axial direction of roller 24, is rejected pipeline 26 and is connected to rolling
Cylinder pipeline side and on the translation direction of transfer bracket 25, rejectings pipeline 26 be belt conveyor line.If mobile
Product on to drum conveying line is substandard products, and lifting mechanism can jack up transfer bracket 25, and transfer bracket 25 jacks up substandard products, then puts down
Substandard products are transferred to and reject on pipeline 26 by telephone-moving structure；Since transfer bracket 25 is with a narrow upper and lower width trapezoidal, after it is picked up, two
There are certain distances for side and bottom and the side of drum conveying line, and there are the spaces that transfer bracket 25 translates.Transfer branch
Frame 25 can also be designed to it is T-shaped, it is apparent that not trapezoidal stable structure.
It is a kind of embodiment two of lacquer painting detection device of the invention as shown in Fig. 3 ~ 4, the difference of it and embodiment one is
Using different grasping mechanisms, grasping mechanism includes Z-axis transmission mechanism 10,11 and of the first X-axis transmission mechanism in this embodiment
Rotation mechanism in vertical shaft, rotation mechanism in vertical shaft include the driving motor that rotates in horizontal plane of turntable 12 and driving turntable 12 (in figure not
Draw), Z-axis transmission mechanism 10 is ball-screw paratype straight line mould group and fixes on a turntable 12, the cunning of Z-axis transmission mechanism 10
Block can be moved on Z axis and is fixedly connected with the main body of the first X-axis transmission mechanism 11, and the first X-axis transmission mechanism 11 is rolling
Ballscrew paratype straight line mould group, its sliding block can move in X-axis and by a connecting rod 13 and the second electromagnetic suction head 14
It 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 a kind of embodiment three of lacquer painting detection device of the invention as shown in Fig. 5 ~ 7, it uses embodiment one simultaneously
With the grasping mechanism in embodiment two, 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 (9)
1. a kind of lacquer painting detection device 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；
Rejecting mechanism, the rejecting mechanism include drum conveying line, transfer mechanism and reject pipeline, the drum conveying line,
The drum conveying line connects in the end of the detection conveying mechanism, and the transfer mechanism is used for the substandard products on drum conveying line
Move to the rejecting pipeline.
2. a kind of lacquer painting detection device as described in claim 1, it is characterised in that: the grasping mechanism includes six-joint robot
With the first electromagnetic suction head, first electromagnetic suction head is fixed on the hand of the six-joint robot.
3. a kind of lacquer painting detection device as described in claim 1, it is characterised in that: the grasping mechanism includes coordinate machine
People, the second electromagnetic suction head and mechanism is turned, the coordinates robot includes Z-axis transmission mechanism, the first X-axis transmission mechanism and level
Rotating mechanism, 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, and second electromagnetism is inhaled
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. a kind of lacquer painting detection device as described in claim 1, it is characterised in that: the product conveyor structure to be measured includes sky
Middle orbit, the first sliding block and the connection component for hanging product to be measured, 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 a connection component.
5. a kind of lacquer painting detection device as claimed in claim 4, it is characterised in that: the connection component includes tripod, connects
Fishplate bar and hanger bar, the apex angle of the tripod are fixedly connected with the first sliding block, and the upper end of two hanger bars is respectively with three
Two base angles of corner bracket are fixedly connected, and the lower end of the hanger bar has the hook for hanging product to be measured, the connecting plate
Two sides be fixedly connected respectively with two hanger bars.
6. a kind of lacquer painting detection device as described in claim 1, it is characterised in that: the station to be measured includes upper station under
Station, first detection station include the first positive detection station and the second positive detection station, second detection station
Including the first back side detection station and the second back side detection station, the grasping mechanism includes six-joint robot, the suction of the first electromagnetism
Head, coordinates robot, the second electromagnetic suction head and mechanism is turned, the coordinates robot is used for the transferred product to be measured of lower station
It is described to turn mechanism setting and cooperate in the first positive detection station and coordinates robot to the first positive detection station, described six
Axis robot is used for the transferred product to be measured of upper station to the second positive detection station；The detection conveying mechanism includes setting
First conveyer belt and setting between the first positive detection station and the first back side detection station is in the second positive detection station
With the second conveyer belt between the second back side detection station, the first detection camera includes that camera and second is detected in the first front
Front detection camera, the first front detection camera setting is in the described first positive detection station and shoots downwards, and described the
In the described second positive detection station and to shooting along the x axis, described second detects camera bag for two front detection camera settings
First back side detection camera shot downwards and second back side detection camera are included, first back side detection camera is located at described
First back side detection station, second back side detection camera are 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. a kind of lacquer painting detection device as claimed in claim 6, it is characterised in that: the mechanism of turning further includes mounting base,
First elevating mechanism includes lifter plate, the first cylinder and guide rod, first cylinder be fixed in the mounting base and
Its piston rod is fixedly connected with lifter plate, and the upper end of two guide rods is fixedly connected with lifter plate and exists respectively with setting
Two oil-free bushings in the mounting base are slidably matched, and the output shaft of the overturning motor is driven by synchronous belt and torsion shaft
It connects, is fixed with two bearing blocks on the lifter plate, the inner ring of the torsion shaft and the bearing in two bearing blocks is matched
It closes, the quantity of the third electromagnetic suction head is four, in distributed rectangular on the roll-over table.
8. a kind of lacquer painting detection device as claimed in claim 7, it is characterised in that: the upper connection component include tripod,
Upper junction plate and upper hanger bar, the apex angle of the tripod are fixedly connected with the first sliding block, the upper end of two upper hanger bars
It is fixedly connected respectively with two base angles of tripod, the lower end of the upper hanger bar has the product to be measured for hanging upper station
Hook, 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.
9. a kind of lacquer painting detection device as described in claim 1, it is characterised in that: the drum conveying line includes multiple intervals
The roller of arrangement and driving mechanism for driving roller rotation, the transfer mechanism includes multiple transfer brackets, translation
Mechanism and lifting mechanism, the transfer bracket are arranged between adjacent two rollers, the lifting mechanism respectively with translation
Mechanism is connected with transfer bracket, and the translation direction of the translation mechanism is parallel to the axial direction of the roller, rejects pipeline connection
The drum conveying line side and on the translation direction of the transfer bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711202266.4A CN109835709A (en) | 2017-11-27 | 2017-11-27 | A kind of lacquer painting detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711202266.4A CN109835709A (en) | 2017-11-27 | 2017-11-27 | A kind of lacquer painting detection device |
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| CN109835709A true CN109835709A (en) | 2019-06-04 |
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| CN201711202266.4A Pending CN109835709A (en) | 2017-11-27 | 2017-11-27 | A kind of lacquer painting detection device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110217563A (en) * | 2019-06-11 | 2019-09-10 | 湖南隋侯珠科技有限公司 | A kind of two-in-one pipetting tip arrangement robot |
| CN113877833A (en) * | 2021-10-09 | 2022-01-04 | 深圳市华腾智能技术有限公司 | Bearing device and equipment for automatic detection of flat plate type product and detection method |
| CN110217563B (en) * | 2019-06-11 | 2024-04-19 | 湖南隋侯珠科技有限公司 | Robot is arranged to two unification pipetting tips |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217563A (en) * | 2019-06-11 | 2019-09-10 | 湖南隋侯珠科技有限公司 | A kind of two-in-one pipetting tip arrangement robot |
| CN110217563B (en) * | 2019-06-11 | 2024-04-19 | 湖南隋侯珠科技有限公司 | Robot is arranged to two unification pipetting tips |
| CN113877833A (en) * | 2021-10-09 | 2022-01-04 | 深圳市华腾智能技术有限公司 | Bearing device and equipment for automatic detection of flat plate type product and detection method |
| CN113877833B (en) * | 2021-10-09 | 2023-03-10 | 深圳市华腾智能技术有限公司 | Bearing device and equipment for automatic detection of flat plate type product and detection method |
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