CN109987401A - A kind of product lacquer painting detection device - Google Patents

A kind of product lacquer painting detection device Download PDF

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Publication number
CN109987401A
CN109987401A CN201810047609.2A CN201810047609A CN109987401A CN 109987401 A CN109987401 A CN 109987401A CN 201810047609 A CN201810047609 A CN 201810047609A CN 109987401 A CN109987401 A CN 109987401A
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CN
China
Prior art keywords
station
product
measured
axis
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810047609.2A
Other languages
Chinese (zh)
Inventor
裘乐淼
王琼
王海栋
薛驰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Industrial Technology Research Institute of Zhejiang University
Original Assignee
Changzhou Industrial Technology Research Institute of Zhejiang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changzhou Industrial Technology Research Institute of Zhejiang University filed Critical Changzhou Industrial Technology Research Institute of Zhejiang University
Publication of CN109987401A publication Critical patent/CN109987401A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08Control devices operated by article or material being fed, conveyed or discharged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/92Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • B65G2203/041Camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The present invention provides a kind of product lacquer painting detection device, a kind of product lacquer painting detection device, comprising: product conveyor structure to be measured, for product to be measured to be transported to station to be measured;Clamp system, for clamping the product to be measured of station to be measured;Positioning mechanism, for clamp system to be transported to clamping station;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 includes drum conveying line, transfer mechanism and rejects pipeline, and drum conveying 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.This scheme is detected convenient for positioning product to be measured.

Description

A kind of product lacquer painting detection device
Technical field
The present invention relates to the devices to clamping product, and in particular to a kind of product 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 product to be measured of kitchen tools, its convex surface and Concave surface has all carried out spray painting processing, then, positioning product how is clamped to realize that subsequent crawl detection is to deposit in the prior art The problem of, it would be highly desirable to solve.
Summary of the invention
The technical problem to be solved by the present invention is cannot achieve asking for clamping positioning to solve product in the prior art Topic.The present invention provides a kind of product 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 product lacquer painting detection device, comprising:
Product conveyor structure to be measured, for product to be measured to be transported to station to be measured;
Clamp system, for clamping the product to be measured for being located at station to be measured;
Positioning mechanism, for clamp system to be transported to clamping station;
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 positioning mechanism, comprising:
Pedestal is fixed with two length directions, first guide rail parallel with X-axis on the pedestal;
First bottom plate, the bottom surface of first bottom plate are fixed with the second sliding block with first guide rail cooperation, and top surface is fixed with Two length directions, second guide rail parallel with Y-axis;
Frame, including the second bottom plate, two front columns and two rear columns, the bottom surface of second bottom plate are fixed with and described The third sliding block of two guide rails cooperation, the front column and the rear column are fixed on vertically on second bottom plate, described in two Plane where front column is parallel with X-axis;
Second X-axis transmission mechanism, for translating first bottom plate in the X-axis direction;
Second Y-axis transmission mechanism, for translating second bottom plate in the Y-axis direction;
Clamp system, the clamp system are fixed on the front column.
Preferably, the positioning mechanism further includes being accurately positioned component, for the product to be measured for entering station to be measured It is accurately positioned in the X-axis direction.
Preferably, the accurate positioning component includes the one or three axis cylinder, the two or three axis cylinder, linking arm and positioning end Head, the one or the three axis cylinder and the two or the three axis cylinder are separately fixed on two front columns, the one or three axis Cylinder and the two or the three axis cylinder are located at upper station and their piston rod relative telescopic in the X-axis direction, and described first The movable end of three axis cylinders is fixedly connected with the linking arm, the top and bottom of the linking arm fix respectively one it is described fixed Position end, the movable end of the two or the three axis cylinder fix the positioning end.
Preferably, the clamp system includes two upper slide unit cylinders, two lower slide unit cylinders, two upper parallelly opening-and-closings Cylinder and two lower parallelly opening-and-closing cylinders, two upper slide unit cylinders are separately fixed on two front columns, and described two A upper slide unit cylinder is located at upper station and their piston rod relative telescopic in the X-axis direction, two upper parallelly opening-and-closings Cylinder is fixedly connected with the piston rod of two upper slide unit cylinders respectively, two movable ends point of the upper parallelly opening-and-closing cylinder It is not fixed with first gripping finger and is opened and closed on Y-axis direction;Two lower slide unit cylinders be located at lower station and it Piston rod relative telescopic in the X-axis direction, two lower parallelly opening-and-closing cylinders respectively with two lower slide unit cylinders Piston rod be fixedly connected, two movable ends of the lower parallelly opening-and-closing cylinder are respectively fixed with second gripping finger and in Y It is opened and closed on axial direction.
Preferably, the product conveyor structure to be measured includes overhead rail, the first sliding block and for hanging upper station The lower connection component of the upper connection component of product to be measured and the product to be measured for hanging lower station, several described first sliding blocks It is slidably matched and can be moved along overhead rail with overhead rail, each first sliding block and the fixed company of the upper connection component It connects, the lower section of upper connection component is arranged in the lower connection component.
Preferably, the upper connection component includes tripod, upper junction plate and upper hanger bar, the apex angle of the tripod It being fixedly connected with the first sliding block, the upper end of two upper hanger bars is fixedly connected with two base angles of the tripod respectively, The lower end of the upper hanger bar has the hook for hanging the product to be measured of upper station, the two sides difference of the upper junction plate It is fixedly connected with two upper hanger bars;
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.
Preferably, the station to be measured includes upper station and lower station, first detection station includes the first front Detection station and the second positive detection station, second detection station include that the first back side detection station and second back side are detected Station, the grasping mechanism include six-joint robot, the first electromagnetic suction head, coordinates robot, the second electromagnetic suction head and turning machine Structure, the coordinates robot are used for the transferred product to be measured of lower station to the first positive detection station, and the mechanism of turning is set It sets and cooperates in the first positive detection station and coordinates robot, 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 includes setting in the first positive detection station and first back side detection work First conveyer belt between position and the second conveyer belt being arranged between the second positive detection station and the second back side detection station, The first detection camera includes the first front detection camera and the second front detection camera, and the first front detection camera is set It sets in the described first positive detection station and shoots downwards, the second front detection camera setting is in second front detection Station and to shooting along the x axis, the second detection camera includes first back side detection camera and second shot downwards Camera is detected at the back side, and first back side detection camera is located at first back side detection station, and phase is detected at second back side Machine 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.
Preferably, the mechanism of turning further includes mounting base, first elevating mechanism includes 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, described in two The upper end of guide rod is fixedly connected with lifter plate and is slidably matched respectively with two oil-free bushings being arranged in the mounting base, The output shaft of the overturning motor is sequentially connected by synchronous belt and torsion shaft, is fixed with two bearing blocks on the lifter plate, The cooperation of the inner ring of the torsion shaft and the bearing in two bearing blocks, the quantity of the third electromagnetic suction head are four, are in Distributed rectangular is on the roll-over table.
Preferably, the drum conveying line includes multiple spaced rollers and for driving the roller to rotate Driving mechanism, the transfer mechanism include multiple transfer brackets, translation mechanism and lifting mechanism, and the transfer bracket is arranged in phase Between adjacent two rollers, the lifting mechanism is connect with translation mechanism and transfer bracket respectively, and the translation mechanism is put down The axial direction for being oriented parallel to the roller is moved, pipeline is rejected and is connected to the side of the drum conveying line and in the transfer On the translation direction of bracket.
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, when grabbing the product to be measured of station up and down, can better stationary positioned product to be measured, Facilitate the progress of crawl.
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 optimum embodiment of product lacquer painting detection device of the present invention.
Fig. 2 is a kind of partial structural diagram of product lacquer painting detection device of the present invention.
Fig. 3 is a kind of structural schematic diagram of the double-station of product lacquer painting detection device of the present invention.
Fig. 4 is the structural schematic diagram of connection component in the present invention.
Fig. 5 is a kind of partial structural diagram of product lacquer painting detection device of the present invention.
Fig. 6 is the structural schematic diagram of the first elevating mechanism of the invention.
Fig. 7 is a kind of partial structural diagram of product lacquer painting detection device of the present invention.
Fig. 8 is the structural schematic diagram of rejecting mechanism of the present invention and upper station inspection.
Fig. 9 is the partial structural diagram of positioning mechanism of the present invention.
1, pedestal in figure, the 2, first guide rail, the 3, first bottom plate, the 4, second sliding block, the 5, second guide rail, the 6, second bottom plate, 7, Third sliding block, the 8, second Y-axis transmission mechanism, 9, front column, 10, rear column, the 11, the 1st axis cylinder, the 12, the 2nd 3 axis gas Cylinder, 13, linking arm, 14, positioning end, 15, upper slide unit cylinder, 16, lower slide unit cylinder, 17, upper parallelly opening-and-closing cylinder, 18, under Parallelly opening-and-closing cylinder, the 19, first gripping finger, the 20, second gripping finger, 21, overhead rail, 22, tripod, 25, hook, 26, upper connection Plate, 27, upper hanger bar, 28, lower connecting plate, 29, lower hanger bar, 30, product to be measured, 251, V-groove, 31, six-joint robot, 32, the first electromagnetic suction head, the 33, second electromagnetic suction head, 34, first conveyer belt, the 35, second conveyer belt, the 36, first front detection phase Camera is detected at machine, the 37, second front detection camera, 38, first back side, and camera, 40, Z-axis transmission machine are detected in 39, second back side Structure, the 41, first X-axis transmission mechanism, 42, turntable, 43, connecting rod, 44, mounting base, 45, roll-over table, 46, overturning motor, 47, turn over Shaft, 48, third electromagnetic suction head, 49, lifter plate, 50, roller, 51, transfer bracket, 52, rejecting pipeline, the 53, first cylinder, 54, guide rod.
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.On the contrary, this The embodiment of invention includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal Object.
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.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention Embodiment person of ordinary skill in the field understood.
The present invention provides a kind of product lacquer painting detection devices, comprising:
Product conveyor structure to be measured, for product 30 to be measured to be transported to station to be measured;
Clamp system, for clamping the product to be measured 30 for being located at station to be measured;
Positioning mechanism, for clamp system to be transported to clamping station;
Grasping mechanism, for grabbing the product to be measured 30 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 30 at the first detection station;
Conveying mechanism is detected, for product 30 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 30 at the second detection station;
Rejecting mechanism, rejecting mechanism include that drum conveying line, transfer mechanism and rejecting pipeline 52, drum conveying line, roller are defeated Line sending connects in the end of detection conveying mechanism, and transfer mechanism, which is used to move to the substandard products on drum conveying line, rejects pipeline 52.
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.
Positioning mechanism, comprising:
Pedestal 1 is fixed with two length directions, first guide rail 2 parallel with X-axis on pedestal 1;
First bottom plate 3, the bottom surface of the first bottom plate 3 are fixed with the second sliding block 4 with the cooperation of the first guide rail 2, and top surface is fixed with two Length direction second guide rail 5 parallel with Y-axis;
Frame, including the front column 9, two of the second bottom plate 6, two rear column 10, back protective plate and two side protective plates, the second bottom The bottom surface of plate 6 is fixed with the third sliding block 7 with the cooperation of the second guide rail 5, and front column 9 and rear column 10 are fixed on the second bottom plate vertically On 6, two 9 place planes of front column are parallel with X-axis, and back protective plate is fixedly connected with two rear columns 10, a side protective plate It is fixedly connected with a front column 9 and a rear column 10, is stood after another side protective plate and another front column 9 and another Column 10 is fixedly connected, and carries on the back protective plate and the stability of frame can be enhanced in side protective plate;
Second X-axis transmission mechanism (being not drawn into figure), for the second cylinder being fixed on pedestal 1, model MB1L32, the second gas The piston rod of cylinder is parallel to X-axis and is fixedly connected with the first bottom plate 3, and the second cylinder drives the first bottom plate 3 to move in the X-axis direction It is dynamic;For translating the first bottom plate 3 in the X-axis direction;
Second Y-axis transmission mechanism 8, for the third cylinder being fixed on the first bottom plate 3, model MB1L32, the work of third cylinder Stopper rod is parallel to Y-axis and is fixedly connected with the second bottom plate 6, and third cylinder drives the second bottom plate 6 to move in the Y-axis direction;With In translating the second bottom plate 6 in the Y-axis direction;
Clamp system, clamp system are fixed on front column 9.
Positioning mechanism further includes being accurately positioned component, in the X-axis direction for the product to be measured 30 to entrance station to be measured It is accurately positioned.
Component is accurately positioned to include the one or three axis cylinder 11, the two or three axis cylinder 12, linking arm 13 and position end 14, the One or three axis cylinders 11 and the two or three axis cylinder 12 are separately fixed on two front columns 9, the one or three axis cylinder 11 and the two or three axis Cylinder 12 is located at upper station and their piston rod relative telescopic in the X-axis direction, the movable end of the one or three axis cylinder 11 with Linking arm 13 is fixedly connected, and the 14, a 2nd 3 axis cylinder 12 of positioning end is fixed in the top and bottom of linking arm 13 respectively Movable end fixes a positioning end 14.One or three axis cylinder and the two or three axis cylinder use MGPM32-75 series cylinder.
Clamp system includes upper 17 and of parallelly opening-and-closing cylinder of two 15, two, upper slide unit cylinder, 16, two, lower slide unit cylinders Two lower parallelly opening-and-closing cylinders 18, two upper slide unit cylinders 15 are separately fixed on two front columns 9, two upper slide unit cylinders 15 Positioned at upper station and their piston rod relative telescopic in the X-axis direction, two upper parallelly opening-and-closing cylinders 17 respectively with two The piston rod of upper slide unit cylinder 15 is fixedly connected, and two movable ends of upper parallelly opening-and-closing cylinder 17 are respectively fixed with one first folder Refer to 19 and is opened and closed on Y-axis direction;Two lower slide unit cylinders 16 are located at lower station and their piston rod in X-direction Upper relative telescopic, two lower parallelly opening-and-closing cylinders 18 are fixedly connected with the piston rod of two lower slide unit cylinders 16 respectively, lower parallel Two movable ends of opening and closing cylinder 18 are respectively fixed with second gripping finger 20 and are opened and closed on Y-axis direction.Upper slide unit gas Cylinder and lower slide unit cylinder use MXH20-40 series cylinder, and upper parallelly opening-and-closing cylinder and lower parallelly opening-and-closing cylinder use MHZ2-32 Serial cylinder;
Product conveyor structure to be measured includes overhead rail 21, the first sliding block (being not drawn into figure) and for hanging the to be measured of upper station The lower connection component of the upper connection component of product 30 and the product to be measured 30 for hanging lower station, several the first sliding block (figures In be not drawn into) be slidably matched and can be moved along overhead rail 21 with overhead rail 21, each first sliding block (being not drawn into figure) It is fixedly connected with upper connection component, the lower section of upper connection component is arranged in lower connection component.Overhead rail 21 is that have compared with clivia The track of degree, the first sliding block (being not drawn into figure) are sliding along the gradient after loading onto product 30 to be measured from the initial position of overhead rail 21 Station to be measured is moved, product 30 to be measured is crawled mechanism and takes away at station to be measured, and the first sliding block (being not drawn into figure) continues to move It moves to the end of overhead rail 21, naturally it is also possible to which the transmission mechanism of sprocket wheel chain is set, and the first sliding block (being not drawn into figure) is solid It is scheduled on chain and moves.
Upper connection component includes tripod 22, upper junction plate 26 and upper hanger bar 27, and the apex angle of tripod 22 and first are slided Block (being not drawn into figure) is fixedly connected, and the upper end of two upper hanger bars 27 is fixedly connected with two base angles of tripod 22 respectively, The lower end of upper hanger bar 27 has the hook 25 for hanging the product to be measured 30 of upper station, the two sides difference of upper junction plate 26 It is fixedly connected with two upper hanger bars 27;The both upper ends thereof aperture of product 30 to be measured, hook 25 insert in the hole to allow production to be measured Product 30 be suspended on hook 25 on, the two sides of connecting plate are fixedly connected with two hanger bars respectively, use first is that playing stabilization The effect of hanger bar prevents hanger bar from disorderly shaking, and hook 25 and the contact portion of product 30 to be measured are provided with V-groove 251, effect It is that product 30 to be measured is not easily disconnected from when hanging on hook 25, and when grasping mechanism takes product 30 to be measured away, product 30 to be measured can With removing along the smooth surface of V-groove 251.
Lower connection component includes lower connecting plate 28 and lower hanger bar 29, and the upper end of two lower hanger bars 29 has for hanging over The hook 25 of the product to be measured 30 of upper station, the lower end of lower hanger bar 29 have the extension for hanging the product to be measured 30 of lower station Hook 25, the two sides of lower connecting plate 28 are fixedly connected with two lower hanger bars 29 respectively, under the lower part of this product to be measured is hung Hanger bar 29, the hook 25 of lower hanger bar 29 hang another product to be measured, they are with the first sliding block (being not drawn into figure) It is certain to enter upper station and lower station simultaneously.
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, and grasping mechanism includes six axis Robot 31, the first electromagnetic suction head 32, coordinates robot, the second electromagnetic suction head 33 and mechanism is turned, coordinates robot is used for will The product to be measured 30 of lower station is transferred to the first positive detection station, turns mechanism setting in the first positive detection station and coordinate Robot cooperation, six-joint robot 31 are used to for the product to be measured 30 of upper station being transferred to the second positive detection station;It detects defeated Sending mechanism includes that the first conveyer belt 34 being arranged between the first positive detection station and the first back side detection station and setting exist The second conveyer belt 35 between second positive detection station and the second back side detection station, the first detection camera include the first front Detect camera 36 and the second front detection camera 37, the first front detection camera 36 setting is in the first positive detection station and downward It shoots, in the second positive detection station and to shooting along the x axis, second detects camera bag for the second front detection camera 37 setting First back side detection camera 38 shot downwards and second back side detection camera 39 are included, first back side detects camera 38 and is located at the One back side detection station, second back side detection camera 39 are located at the second back side detection station;
First electromagnetic suction head 32 is fixed on the hand of six-joint robot 31, for drawing the product to be measured 30 at upper station;
Coordinates robot includes Z-axis transmission mechanism 40, the first X-axis transmission mechanism 41 and rotation mechanism in vertical shaft, rotation mechanism in vertical shaft Including turntable 42 and the driving motor that rotate in horizontal plane of driving turntable 42, Z-axis transmission mechanism 40 for lead screw auxiliary drive gear simultaneously And be fixed on turntable 42, the first X-axis transmission mechanism 41 is lead screw auxiliary drive gear and fixes company with Z-axis transmission mechanism 40 It connects, the second electromagnetic suction head 33 is fixedly connected with the end of the first X-axis transmission mechanism 41, for drawing the product to be measured at lower station 30;Z-axis transmission mechanism 40 is ball-screw paratype straight line mould group, and the first X-axis transmission mechanism 41 is ball-screw paratype straight line mould Group, its sliding block can be moved in X-axis and be fixedly connected by a connecting rod 43 with the second electromagnetic suction head 33.
Turning mechanism includes the first elevating mechanism and turnover mechanism, and the first elevating mechanism is fixedly connected with turnover mechanism, turns over Rotation mechanism includes roll-over table 45, overturning motor 46 and torsion shaft 47, roll-over table 45 be located at the first positive detection station and with turn over Shaft 47 is fixedly connected, and the axis of torsion shaft 47 is parallel with Y-axis, and overturning motor 46 drives torsion shaft 47 to rotate, on roll-over table 45 It is provided at least one third electromagnetic suction head 48.
Turning mechanism further includes mounting base 44, and the first elevating mechanism includes lifter plate 49, the first cylinder 53 and guide rod 54, and One cylinder 53 is MB1B50 series cylinder, and the first cylinder 53 is fixed in mounting base 44 and its piston rod and lifter plate 49 are solid Fixed connection, the upper end of two guide rods 54 are fixedly connected and oil-free be arranged in mounting base 44 two respectively with lifter plate 49 The output shaft of casing slip cooperation, overturning motor 46 is sequentially connected by synchronous belt and torsion shaft 47, is fixed on lifter plate 49 The inner ring of two bearing blocks, torsion shaft 47 and the bearing in two bearing blocks cooperates, and the quantity of third electromagnetic suction head 48 is four, In distributed rectangular on roll-over table 45.
50 pipeline of roller includes multiple spaced rollers 50 and the driving mechanism for driving roller 50 to rotate, and is moved Mounted mechanism includes multiple transfer brackets 51, translation mechanism and lifting mechanism, the setting of transfer bracket 51 adjacent two rollers 50 it Between, lifting mechanism is connect with translation mechanism and transfer bracket 51 respectively, and the translation direction of translation mechanism is parallel to the axis of roller 50 To rejecting pipeline 52 is connected to the side of 50 pipeline of roller and on the translation direction of transfer bracket 51.
Product 30 to be measured is transported to work to be measured by product conveyor structure to be measured first by such product lacquer painting detection device On position;Secondly, clamp system is pushed into clamp station, then clamps and is located under the action of clamp system by positioning mechanism The product to be measured 30 of station to be measured, consequently facilitating the progress of latter procedure.
When starting to work, under the induced effect of the first sliding block first (being not drawn into figure), along overhead rail 21 Sliding, when sliding into certain position, the work of the second X-axis transmission mechanism (being not drawn into figure), the second Y-axis transmission mechanism 8 It works at the same time, pushes frame Forward, be located at product 30 to be measured at station to be measured, simultaneously clamp on device and enter clamping station, so Afterwards, clamp system works, and upper slide unit cylinder 15 ejects in the X-axis direction, and then upper parallelly opening-and-closing cylinder 17 works, and drives first Gripping finger 19 works, and clamps the upper hanger bar 27 positioned at upper station;
Secondly, lower slide unit cylinder 16 ejects in the X-axis direction, parallelly opening-and-closing cylinder 18 is then descended to work, drives the second gripping finger 20 Work, clamps the lower hanger bar 29 positioned at lower station;To complete to position.
In lower connection component by before positioning, the work of the one or three axis cylinder 11 releases connection wall, makes two in connection wall The side of product 30 to be measured is withstood in positioning end 14, and the work of the two or three axis cylinder 12 releases third and positions end 14, third The other side of product 30 to be measured is withstood in positioning end 14, because of the positioning action of three positioning ends 14, forms three-point fix effect Fruit, to play good precise positioning effect, making product 30 to be measured is not in shake.
When upper and lower two products 30 to be measured enter upper station and lower station simultaneously, driving motor drives turntable 42 to rotate, So that the second electromagnetic suction head 33 is turned to product 30 to be measured, adjusts second by Z-axis transmission mechanism 40 and the first X-axis transmission mechanism 41 The position of electromagnetic suction head 33 makes the second electromagnetic suction head 33 be directed at the middle position of the product to be measured 30 of lower station, gives the second electromagnetism Suction nozzle 33 is powered, and driving motor driven turntable 42 turns round after product 30 to be measured is sucked, and product 30 to be measured enters the first front detection The piston rod of station, the first cylinder 53 stretches out, and lifts roll-over table 45, and overturning motor 46 drives roll-over table 45 to rotate, makes roll-over table Product 30 to be measured, the overturning driving overturning of motor 46 is sucked to the energization of third electromagnetic suction head 48 in the back side of 45 alignment products 30 to be measured Platform 45 is overturn again, makes the face-up of product 30 to be measured, and the first front detection camera 36 is shot, after shooting, turned over Rotating motor 46 drives roll-over table 45 to overturn, and retracts the piston rod of the face down of product 30 to be measured and the first cylinder 53, to It surveys under product 30 and drops in first conveyer belt 34, then carry out the detection at the back side.At the same time, the hand of six-joint robot 31 The center of the product to be measured 30 of station is turned to and is aligned, product 30 to be measured is sucked the first electromagnetic suction head 32 of starting, and six The product to be measured 30 of upper station is transferred to the second positive detection station by axis robot 31, and six-joint robot 31 allows product 30 to be measured The front of positive face second detection camera 37, complete positive shooting;After the shooting of front, six-joint robot 31 will be to be measured Product 30 to be measured is transported to second back side and examined by 30 back side of product being placed on the second conveyer belt 35 upward, the second conveyer belt 35 Station is surveyed, second back side detection camera 39 shoots the back side of product 30 to be measured downward, to complete the shooting in two faces.Six axis machines Device people 31 is a day robot of the model MOTOMAN-HP20D of intrinsic safety river company production.
Driving mechanism is motor, and motor driven roller 50 rotates, since 50 pipeline of roller connects in detection conveying mechanism End, the product being detected are docked on roller 50 and are fed forward from detection conveying mechanism, and transfer mechanism includes multiple Transfer bracket 51, translation mechanism and lifting mechanism, in this example, transfer bracket 51 is trapezoid support wide at the top and narrow at the bottom, transfer branch Frame 51 is arranged between adjacent two rollers 50, and lifting mechanism is cylinder, and the bottom of its piston rod and transfer bracket 51 is fixed Connection, translation mechanism include cylinder, sliding block and guide rail, and cylinder pushes sliding block to move on guide rail, and lifting mechanism is fixed on sliding block On, the translation direction of sliding block is parallel to the axial direction of roller 50, reject pipeline 52 be connected to drum conveying line side and On the translation direction of transfer bracket 51, rejecting pipeline 52 is belt conveyor line.If being moved to the product on drum conveying line For substandard products, lifting mechanism can jack up transfer bracket 51, and transfer bracket 51 jacks up substandard products, and then substandard products are transferred to and pick by translation mechanism Except on pipeline 52;Since transfer bracket 51 is with a narrow upper and lower width trapezoidal, after it is picked up, two sides and bottom and roller There are certain distances for the side of pipeline, and there are the spaces that transfer bracket 51 translates.Transfer bracket 51 can also be designed to T word Shape, it is apparent that not trapezoidal stable structure.
First elevating mechanism includes lifter plate 49, the first cylinder 53 and guide rod 54, and the first cylinder 53 is MB1B50 series gas Cylinder, the first cylinder 53 is fixed in mounting base 44 and its piston rod is fixedly connected with lifter plate 49, two guide rods 54 it is upper End is fixedly connected with lifter plate 49 and is slidably matched respectively with two oil-free bushings being arranged in mounting base 44, overturns motor 46 output shaft is sequentially connected by synchronous belt (being not drawn into figure) and torsion shaft 47, is fixed with two bearings on lifter plate 49 The inner ring of seat, torsion shaft 47 and the bearing in two bearing blocks cooperates, and the quantity of third electromagnetic suction head 48 is four, in rectangle point Cloth is on roll-over table 45.First detection camera is arranged to shoot downwards.
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 (10)

1. a kind of product 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;
Clamp system, for clamping the product to be measured for being located at station to be measured;
Positioning mechanism, for clamp system to be transported to clamping station;
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. product lacquer painting detection device as described in claim 1, it is characterised in that:
The positioning mechanism, comprising:
Pedestal is fixed with two length directions, first guide rail parallel with X-axis on the pedestal;
First bottom plate, the bottom surface of first bottom plate are fixed with the second sliding block with first guide rail cooperation, and top surface is fixed with Two length directions, second guide rail parallel with Y-axis;
Frame, including the second bottom plate, two front columns and two rear columns, the bottom surface of second bottom plate are fixed with and described The third sliding block of two guide rails cooperation, the front column and the rear column are fixed on vertically on second bottom plate, described in two Plane where front column is parallel with X-axis;
Second X-axis transmission mechanism, for translating first bottom plate in the X-axis direction;
Second Y-axis transmission mechanism, for translating second bottom plate in the Y-axis direction;
Clamp system, the clamp system are fixed on the front column.
3. product lacquer painting detection device as claimed in claim 2, it is characterised in that: the positioning mechanism further includes being accurately positioned Component, for being accurately positioned in the X-axis direction to the product to be measured for entering station to be measured.
4. product lacquer painting detection device as claimed in claim 3, it is characterised in that: the accurate positioning component includes the one or three Axis cylinder, the two or three axis cylinder, linking arm and positioning end, the one or the three axis cylinder and the two or the three axis cylinder are solid respectively It is scheduled on two front columns, the one or the three axis cylinder and the two or the three axis cylinder are located at upper station and their work Relative telescopic, the movable end of the one or the three axis cylinder are fixedly connected stopper rod with the linking arm in the X-axis direction, the connection The positioning end is fixed in the top and bottom of arm respectively, the movable end of the two or the three axis cylinder fix one it is described fixed Position end.
5. product lacquer painting detection device as claimed in claim 4, it is characterised in that: the clamp system includes two upper slide units Cylinder, two lower slide unit cylinders, two upper parallelly opening-and-closing cylinders and two lower parallelly opening-and-closing cylinders, two upper slide unit cylinders It is separately fixed on two front columns, two upper slide unit cylinders are located at upper station and their piston rod in X-axis Relative telescopic on direction, two upper parallelly opening-and-closing cylinders are fixed with the piston rod of two upper slide unit cylinders respectively to be connected It connects, two movable ends of the upper parallelly opening-and-closing cylinder are respectively fixed with first gripping finger and are opened and closed on Y-axis direction; Two lower slide unit cylinders are located at lower station and their piston rod relative telescopic in the X-axis direction, and two described lower flat Row opening and closing cylinder is fixedly connected with the piston rod of two lower slide unit cylinders respectively, two work of the lower parallelly opening-and-closing cylinder Moved end is respectively fixed with second gripping finger and is opened and closed on Y-axis direction.
6. product lacquer painting detection device as claimed in claim 5, it is characterised in that: the product conveyor structure to be measured includes sky Middle orbit, the upper connection component of the first sliding block and the product to be measured for hanging upper station and the production to be measured for hanging lower station The lower connection component of product, several described first sliding blocks are slidably matched with overhead rail and can move along overhead rail, each First sliding block is fixedly connected with the upper connection component, and the lower section of upper connection component is arranged in the lower connection component.
7. product lacquer painting detection device as claimed in claim 6, 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 the tripod, 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.
8. product 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.
9. product lacquer painting detection device as claimed in claim 8, 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.
10. product lacquer painting detection device as described in claim 1, it is characterised in that: the drum conveying line includes multiple Every the roller of arrangement and driving mechanism for driving roller rotation, the transfer mechanism includes multiple transfer brackets, flat Telephone-moving structure and lifting mechanism, the transfer bracket are arranged between adjacent two rollers, the lifting mechanism respectively with it is flat Telephone-moving structure is connected with transfer bracket, and the translation direction of the translation mechanism is parallel to the axial direction of the roller, is rejected pipeline and is connected Connect the side in the drum conveying line and on the translation direction of the transfer bracket.
CN201810047609.2A 2017-12-29 2018-01-18 A kind of product lacquer painting detection device Pending CN109987401A (en)

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CN201711480974 2017-12-29

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