CN110090817A - Product lacquer painting detection device - Google Patents
Product lacquer painting detection device Download PDFInfo
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- CN110090817A CN110090817A CN201810093585.4A CN201810093585A CN110090817A CN 110090817 A CN110090817 A CN 110090817A CN 201810093585 A CN201810093585 A CN 201810093585A CN 110090817 A CN110090817 A CN 110090817A
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- 238000001514 detection method Methods 0.000 title claims abstract description 151
- 239000004922 lacquer Substances 0.000 title claims abstract description 32
- 238000010422 painting Methods 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 140
- 238000004064 recycling Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000003028 elevating effect Effects 0.000 claims description 19
- 230000007306 turnover Effects 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000001681 protective effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
- G01N21/898—Irregularities in textured or patterned surfaces, e.g. textiles, wood
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Wood Science & Technology (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention provides a kind of product lacquer painting detection devices, comprising: product conveyor structure to be measured, for product to be measured to be transported to station to be measured；Positioning mechanism positions product to be measured for clamping；Grasping mechanism, for grabbing the product to be measured at station to be measured and being transferred into the first detection station；Recovering mechanism, for rejecting and recycling the lower connection component of the lower station in product conveyor structure to be measured；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.This product lacquer painting detection device can efficiently, automation, accurately the lacquer painting of product is detected.
Description
Technical field
The present invention relates to the detections to product lacquer painting quality, 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 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 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；
Positioning mechanism positions product to be measured for clamping；
Grasping mechanism, for grabbing the product to be measured at station to be measured and being transferred into the first detection station；
Recovering mechanism, for rejecting the lower connection component of the lower station in the product conveyor structure to be measured；
First detection camera, takes pictures for the front to the product to be measured at the first detection station；
Conveying mechanism is detected, for product to be measured to be delivered to the second detection station from the first detection station；
Second detection camera, takes pictures for the back side to the product to be measured at the second detection station.
Preferably, the 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 block is slidably matched with overhead rail and can move along overhead rail, and each first sliding block and the upper connection component are solid
The lower section of upper connection component is arranged in fixed connection, the lower connection component；
The upper connection component includes tripod, upper junction plate and upper hanger bar, and the apex angle of the tripod and the first sliding block are solid
Fixed connection, the upper end of two upper hanger bars is fixedly connected with two base angles of tripod respectively, under the upper hanger bar
Holding has hook for hanging the product to be measured of upper station, the two sides of the upper junction plate respectively with two upper suspensions
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.
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 the bottom plate are fixed with the second sliding block with first guide rail cooperation, and top surface is fixed with two
Length direction 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 rear column are fixed on vertically on second bottom plate, and two described preceding vertical
Plane where column is parallel with X-axis；
Second X-axis transmission mechanism, for translating the first bottom plate in the X-axis direction；
First Y-axis transmission mechanism, for translating the second bottom plate in the Y-axis direction；
Clamp system, the clamp system are fixed on front column, for clamping the connecting plate into station to be measured.
It is solid between two front columns preferably, the recovering mechanism, including the three or three axis cylinder and ejection end
Surely it is connected with cross bar, is fixed with mounting plate on the cross bar, the three or the three axis cylinder is fixed on a mounting board and its work
Moved end is stretched in the Y-axis direction, and the movable end of the three or the three axis cylinder is fixed with two ejection ends by T-shaped plate.
Preferably, the recovering mechanism further includes that recycling conveyer belt and recycling box, the recycling conveyer belt are located at lower company
The end of the recycling conveyer belt is arranged in the lower section of fishplate bar, the recycling box.
Preferably, the clamp system, including two upper slide unit cylinders, two lower slide unit cylinders, open on two in parallel
It holds one's breath cylinder and two lower parallelly opening-and-closing cylinders, two upper slide unit cylinders are separately fixed on two front columns, and described two
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-closing gas
Cylinder is fixedly connected with the piston rod of two upper slide unit cylinders respectively, and two movable ends of the upper parallelly opening-and-closing cylinder are fixed respectively
There is first gripping finger and is opened and closed on Y-axis direction；Two lower slide unit cylinders are located at lower station and their work
Relative telescopic, two lower parallelly opening-and-closing cylinders are solid with the piston rod of two lower slide unit cylinders respectively in the X-axis direction for stopper rod
Fixed connection, two movable ends of the lower parallelly opening-and-closing cylinder are respectively fixed with second gripping finger and on Y-axis directions
Opening and closing.
Preferably, the positioning mechanism further includes being accurately positioned component,
The accurate positioning component, including the one or three axis cylinder, the two or three axis cylinder, linking arm and positioning end, described first
Three axis cylinders and the two or three axis cylinder are separately fixed on two front columns, the one or the three axis cylinder and the two or three axis cylinder position
In upper station and their piston rod relative telescopic in the X-axis direction, the movable end and linking arm of the one or the three axis cylinder
It is fixedly connected, the positioning end, the work of the two or the three axis cylinder are fixed in the top and bottom of the linking arm respectively
The positioning end is fixed in moved end.
Preferably, the station to be measured includes upper station and the lower station, first detection station includes first
Positive detection station and the second positive detection station, second detection station include the first back side detection station and second back side
Detection station, the grasping mechanism include six-joint robot, the first electromagnetic suction head, coordinates robot, the second electromagnetic suction head and tune
Rotation mechanism, the coordinates robot are used for the transferred product to be measured of lower station to the first positive detection station, the turning machine
Structure setting cooperates in the first positive detection station and coordinates robot, and the six-joint robot is used for the product to be measured of upper station
It is transferred to the second positive 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, further including two bad part eject mechanisms, it is separately positioned on the end of first conveyer belt and the second conveyer belt
End, the bad part eject mechanism include:
Roller conveyor structure, including multiple spaced rollers, the roller are parallel to Y direction；
Transfer mechanism, including multiple transfer brackets, the second elevating mechanism and the second Y-axis transmission mechanism, adjacent two rollers
Between be provided with the transfer bracket, second elevating mechanism is connect with transfer bracket, second Y-axis transmission mechanism
It is connect with the second elevating mechanism；
Pipeline is rejected, the substandard products for transfer mechanism transmitting to be come are sent out.
Preferably, the detection conveying mechanism includes setting in the first positive detection station and the first back side detection station
Between first conveyer belt and the second conveyer belt for being arranged between the second positive detection station and the second back side detection station, institute
Stating the first detection camera includes the first front detection camera and the second front detection camera, the first front detection camera setting
It shoots in the described first positive detection station and downwards, the second front detection camera setting is in the second front detection work
Position and to shooting along the x axis, the second detection camera includes first back side detection camera and the second back shot downwards
Camera is detected in face, and first back side detection camera is located at first back side detection station, and camera is detected at second back side
Positioned at second back side detection station.
The beneficial effects of the invention are as follows this product 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 the structural schematic diagram of the optimum embodiment of the recovering mechanism in product of the present invention lacquer painting detection device.
Fig. 2 is the structural schematic diagram of the optimum embodiment of product of the present invention lacquer painting detection device.
Fig. 3 is the partial structural diagram of product of the present invention lacquer painting detection device.
Fig. 4 is the structural schematic diagram of the optimum embodiment of double-station workpiece of the present invention.
Fig. 5 is the structural schematic diagram of the optimum embodiment of connection component in the present invention.
Fig. 6 is the partial structural diagram of positioning mechanism of the present invention.
Fig. 7 is the structural schematic diagram of the optimum embodiment of the partial structurtes of product of the present invention lacquer painting detection device.
Fig. 8 is the structural schematic diagram of the optimum embodiment of the first elevating mechanism of the invention.
Fig. 9 is the structural schematic diagram of the optimum embodiment of the partial structurtes of product of the present invention lacquer painting detection device.
Figure 10 is the structural schematic diagram of the optimum embodiment of bad part eject 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, the 55, the 3rd 3 axis cylinder, 56, ejection end, 57, recycling conveyer belt, 58, recycling box, 59, cross bar, 60, installation
Plate, 61, T-shaped plate.
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 the description present invention and simplify description, rather than indication or suggestion it is signified or element 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.
As shown in Fig. 1 ~ 10, the present invention provides a kind of product lacquer painting detection devices, comprising:
30 conveying mechanism of product to be measured, for product 30 to be measured to be transported to station to be measured；
Positioning mechanism positions product 30 to be measured for clamping；
Grasping mechanism, for grabbing the product to be measured 30 at station to be measured and being transferred into the first detection station；
Recovering mechanism, for rejecting and recycling the lower connection component of the lower station in 30 conveying mechanism of product to be measured；
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.
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.
30 conveying mechanism of product to be measured includes overhead rail 21, the first sliding block and the product to be measured 30 for hanging upper station
Upper connection component and the product to be measured 30 for hanging lower station lower connection component, several first sliding blocks and overhead rail
21 are slidably matched and can move along overhead rail 21, and overhead rail 21 is the track with minor grade, and the first sliding block is from sky
The initial position of middle orbit 21 is loaded onto and slides into station to be measured along the gradient after product 30 to be measured, the product to be measured at station to be measured
30, which are crawled mechanism, takes away, and the first sliding block continuously moves to the end of overhead rail 21, naturally it is also possible to sprocket wheel chain be arranged
Transmission mechanism, the first sliding block are fixed on chain and move.Each first sliding block is fixedly connected with upper connection component, lower company
The lower section of upper connection component is arranged in connected components.
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 is fixedly connected, and the upper end of two upper hanger bars 27 is fixedly connected with two base angles of tripod 22 respectively, upper hanger bar 27
Lower end has the hook 25 for hanging the product to be measured 30 of upper station, and the two sides of upper junction plate 26 are above hung with two respectively
Bar 27 is fixedly connected；The both upper ends thereof aperture of product 30 to be measured, hook 25 insert in the hole that product 30 to be measured is allowed to be suspended on extension
On hook 25, the two sides of upper junction plate 26 are fixedly connected with two upper hanger bars 27 respectively, and use is hanged on stable first is that playing
The effect of hanging rod 27 prevents hanger bar 27 from disorderly shaking.Hook 25 and the contact portion of product 30 to be measured are provided with V-groove 251, imitate
Fruit first is that product 30 to be measured is not easily disconnected from when hanging on hook 25, and when to take product 30 to be measured away be production to be measured to grasping mechanism
Product 30 can 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.The lower part of this product 30 to be measured is hung
Lower hanger bar 29, the hook 25 of lower hanger bar 29 hang another product 30 to be measured, they with the first sliding block it is certain simultaneously
Into upper station and lower station；
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 bottom plate 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 sides
To 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；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, for translating the first bottom plate 3 in the X-axis direction；For the second cylinder being fixed on pedestal 1,
Model MB1L32, the piston rod of the second cylinder are parallel to X-axis and are fixedly connected with the first bottom plate 3, and the second cylinder drives the
One bottom plate 3 moves in the X-axis direction；
First Y-axis transmission mechanism, for translating the second bottom plate 6 in the Y-axis direction；To be fixed on the first bottom plate 3
Three cylinders, model MB1L32, the piston rod of third cylinder are parallel to Y-axis and are fixedly connected with the second bottom plate 6, third cylinder
The second bottom plate 6 is driven to move in the Y-axis direction；
Clamp system, clamp system are fixed on front column 9, for clamping the connecting plate into station to be measured.
Recovering mechanism, including the three or three axis cylinder 55, ejection end 56, recycling conveyer belt 57 and recycling box 58, before two
It is fixedly connected with cross bar 59 between column 9, the 60, the 3rd 3 axis cylinder 55 of mounting plate is fixed on cross bar 59 and is fixed on mounting plate 60
Above and its movable end stretches in the Y-axis direction, and the movable end of the three or three axis cylinder 55 is fixed with two tops by T-shaped plate 61
The lower section that conveyer belt 57 is located at lower connecting plate 28 is recycled towards lower connecting plate 28 in end 56 out, ejection end 56, and recycling box 58 is set
It sets in the end of recycling conveyer belt 57.Instantly after the product to be measured 30 of station is removed, the second gripping finger of lower parallelly opening-and-closing cylinder
20 unclamp and retract, and the piston rod of the three or three axis cylinder 55 stretches out, and ejection end 56 ejects backward, backward by lower connecting plate 28
Top, lower connecting plate 28 and lower hanger bar 29 can be overturn with the upper end hook 25 of two lower hanger bars 29 for fulcrum, lower hanger bar 29
Upper end hook 25 and the contact portion of the product to be measured 30 of upper station be also that there is V-groove 251, therefore hanger bar 29 instantly
When being overturn with lower connecting plate 28, fallen down by the just very smooth surface along V-groove 251 that acts on of gravity, this is V-type
Second effect of slot 251；Lower connecting plate 28 and lower hanger bar 29 are fallen on recycling conveyer belt 57, and recycling conveyer belt 57 again will
They are moved to end, finally fall in recycling box 58, to realize the automatic recycling of lower connecting plate 28 and lower hanger bar 29；
Since recycling box 58 has certain height, the end of recycling conveyer belt 57 is higher than starting point.
After the product to be measured 30 of upper station is removed, the first gripping finger 19 of upper parallelly opening-and-closing cylinder 17 is unclamped and is retracted,
It positions end 14 to retract, positioning mechanism is released forward, and upper connection component removes station to be measured with the first sliding block.
Clamp system, including 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, two upper slide unit cylinders 15 are separately fixed on two front columns 9, and two 15, upper slide unit cylinder
In upper station and their piston rod relative telescopic in the X-axis direction, two upper parallelly opening-and-closing cylinders 17 respectively with two on
The piston rod of slider cylinder 15 is fixedly connected, two movable ends of upper parallelly opening-and-closing cylinder 17 be respectively fixed with a gripping finger and
It is opened and closed on Y-axis direction；Two lower slide unit cylinders 16 are located at lower station and their piston rod is stretched relatively in the X-axis direction
Contracting, two lower parallelly opening-and-closing cylinders are fixedly connected with the piston rod of two lower slide unit cylinders 16 respectively, lower parallelly opening-and-closing cylinder
Two movable ends are respectively fixed with second gripping finger 20 and are opened and closed on Y-axis direction.Slider cylinder uses MXH20-40
Serial cylinder, parallelly opening-and-closing cylinder use MHZ2-32 series cylinder；
Positioning mechanism further includes being accurately positioned component,
Accurate positioning component, including the one or three axis cylinder 11, the two or three axis cylinder 12, linking arm 13 and positioning end 14, first
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 gas
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 and company
It connects arm 13 to be fixedly connected, the work of the 14, a 2nd 3 axis cylinder 12 of positioning end is fixed in the top and bottom of linking arm 13 respectively
A positioning end 14 is fixed in moved end, and three axis cylinders use MGPM32-75 series cylinder.
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；Six axis machines
Device people 31 is a day robot of the model MOTOMAN-HP20D of intrinsic safety river company production.
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, the first elevating mechanism include lifter plate 49,
First cylinder 53 and guide rod 54, the first cylinder 53 be MB1B50 series cylinder, the first cylinder 53 be fixed in mounting base 44 and
Its piston rod is fixedly connected with lifter plate 49, the upper end of two guide rods 54 be fixedly connected with lifter plate 49 and respectively with setting
Two oil-free bushings in mounting base 44 are slidably matched, and the output shaft of overturning motor 46 is driven by synchronous belt and torsion shaft 47
It connects, two bearing blocks, the inner ring cooperation of torsion shaft 47 and the bearing in two bearing blocks, third electricity is fixed on lifter plate 49
The quantity of magnetic suction head 48 is four, in distributed rectangular on roll-over table 45.First detection camera is arranged to shoot downwards.
When six-joint robot 31 works, when product 30 to be measured enters detection station, positioning mechanism is located at product to be measured
30 front, controlling the second cylinder at this time makes entire frame that product 30 to be measured be followed to move in the X-axis direction, and controls third gas
Cylinder moves backward two upper parallelly opening-and-closing cylinders, the first gripping finger 19 of the left and right sides is allowed to be located at the two sides of upper junction plate 26, with
Two slider cylinders are controlled afterwards, the first gripping finger 19 is made to stretch to connecting plate, allow upper junction plate 26 in the clamping of a pair of first gripping finger 19
In section, parallelly opening-and-closing cylinder in control, the first gripping finger 19 clamps upper junction plate 26；Then the one or three axis cylinder 11 and the are controlled
Two or three axis cylinders 12 allow positioning end 14 to stretch out and withstand the left and right sides of product 30 to be measured, be finely adjusted, thus accurately fixed
Position, the hand of six-joint robot 31 turn to the center for being directed at product 30 to be measured, start the first electromagnetic suction head 32 for production to be measured
Product 30 are sucked, and product 30 to be measured is transferred to the first detection station by six-joint robot 31, and the release of the first gripping finger 19 is retracted, localization machine
Structure retracts original position；
For first detection camera towards right shooting, six-joint robot 31 allows the positive face first of product 30 to be measured to detect camera, completes
Positive shooting；Front shooting after, six-joint robot 31 by 30 back side of product to be measured upward be placed on detection conveyer
On structure, detection conveying mechanism is conveyer belt, and product 30 to be measured is transported to the second detection station, the second detection camera court by conveyer belt
The back side of lower shooting product 30 to be measured, to complete the shooting in two faces.
When coordinate machine man-hour, after waiting product 30 to be measured to be accurately positioned, driving motor drives turntable 42 to rotate, and makes
Second electromagnetic suction head 33 turns to product 30 to be measured, and the second electricity is adjusted by Z-axis transmission mechanism 40 and the first X-axis transmission mechanism 41
The position of magnetic suction head 33 makes the second electromagnetic suction head 33 be directed at the middle position of product 30 to be measured, is powered to the second electromagnetic suction head 33,
Driving motor driven turntable 42 turns round after product 30 to be measured is sucked, and product 30 to be measured enters the first detection station, the second gripping finger 20
Release is retracted, and positioning mechanism retracts original position；The piston rod of first cylinder 53 stretches out, and lifts installation roll-over table 45, overturns motor 46
It drives roll-over table 45 to rotate, roll-over table 45 is made to be directed at the back side of product 30 to be measured, be sucked to the energization of third electromagnetic suction head 48 to be measured
Product 30, overturning motor 46 drive roll-over table 45 to overturn again, make the face-up of product 30 to be measured, and the first detection camera carries out
Shooting, after shooting, overturning motor 46 drives roll-over table 45 to overturn, and makes the face down and the first cylinder of product 30 to be measured
53 piston rod retracts, and drops on conveyer belt under product 30 to be measured.
Product lacquer painting detection device further includes two bad part eject mechanisms, and it is defeated to be separately positioned on first conveyer belt 34 and second
The end of band 35 is sent, bad part eject mechanism includes:
50 conveying mechanism of roller, including multiple spaced rollers 50, roller 50 are parallel to Y direction；
Transfer mechanism, including multiple transfer brackets 51, the second elevating mechanism and the second Y-axis transmission mechanism 8, adjacent two rollers 50
Between be provided with a transfer bracket 51, the second elevating mechanism is connect with transfer bracket 51, the second Y-axis transmission mechanism 8 and second
Elevating mechanism connection, the second elevating mechanism and the second Y-axis transmission mechanism 8 are cylinder-driven structure；
Pipeline 52 is rejected, is sent out for transfer mechanism to be transmitted the substandard products come.When detecting substandard products, when substandard products are defeated
After sending band to be moved on roller 50, the second elevating mechanism of starting lifts transfer bracket 51, and substandard products rise therewith and leave roller
50, restart the second Y-axis transmission mechanism 8 and substandard products are moved on rejecting pipeline 52.
Detection conveying mechanism include be arranged between the first positive detection station and the first back side detection station it is first defeated
The second conveyer belt 35 for sending band 34 and being arranged between the second positive detection station and the second back side detection station, the first detection phase
Machine includes the first front detection camera 36 and the second front detection camera 37, and the first front detection camera 36 setting is in the first front
Detection station is simultaneously shot downwards, the second front detection camera 37 setting in the second positive detection station and to shooting along the x axis,
Second detection camera includes first back side detection camera 38 shot downwards and second back side detection camera 39, the inspection of first back side
It surveys camera 38 and is located at the first back side detection station, second back side detection camera 39 is located at the second back side detection station.
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；
Positioning mechanism positions product to be measured for clamping；
Grasping mechanism, for grabbing the product to be measured at station to be measured and being transferred into the first detection station；
Recovering mechanism, for rejecting the lower connection component of the lower station in the product conveyor structure to be measured；
First detection camera, takes pictures for the front to the product to be measured at the first detection station；
Conveying mechanism is detected, for product to be measured to be delivered to the second detection station from the first detection station；
Second detection camera, takes pictures for the back side to the product to be measured at the second detection station.
2. product 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 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 connection component is arranged under upper connection component
Side；
The upper connection component includes tripod, upper junction plate and upper hanger bar, and the apex angle of the tripod and the first sliding block are solid
Fixed connection, the upper end of two upper hanger bars is fixedly connected with two base angles of tripod respectively, under the upper hanger bar
Holding has hook for hanging the product to be measured of upper station, the two sides of the upper junction plate respectively with two upper suspensions
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.
3. product lacquer painting detection device as claimed in claim 2, 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 the bottom plate are fixed with the second sliding block with first guide rail cooperation, and top surface is fixed with two
Length direction 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 rear column are fixed on vertically on second bottom plate, and two described preceding vertical
Plane where column is parallel with X-axis；
Second X-axis transmission mechanism, for translating the first bottom plate in the X-axis direction；
First Y-axis transmission mechanism, for translating the second bottom plate in the Y-axis direction；
Clamp system, the clamp system are fixed on front column, for clamping the connecting plate into station to be measured.
4. product lacquer painting detection device as claimed in claim 3, it is characterised in that: the recovering mechanism, including the three or three axis
Cylinder and ejection end, are fixedly connected with cross bar between two front columns, are fixed with mounting plate on the cross bar, and described the
Three or three axis cylinders are fixed on a mounting board and its movable end stretches in the Y-axis direction, the activity of the three or the three axis cylinder
End is fixed with two ejection ends by T-shaped plate.
5. product lacquer painting detection device as claimed in claim 4, it is characterised in that: the recovering mechanism further includes recycling conveying
Band and recycling box, the recycling conveyer belt are located at the lower section of lower connecting plate, and the recycling conveyer belt is arranged in the recycling box
End.
6. product lacquer painting detection device as claimed in claim 5, it is characterised in that: the clamp system, including two upper cunnings
Platform cylinder, two lower slide unit cylinders, two upper parallelly opening-and-closing cylinders and two lower parallelly opening-and-closing cylinders, the two upper slide unit gas
Cylinder is separately fixed on two front columns, and two upper slide unit cylinders are located at upper station and their piston rod in X-axis side
Upward relative telescopic, two upper parallelly opening-and-closing cylinders are fixedly connected with the piston rod of two upper slide unit cylinders respectively, described
Two movable ends of upper parallelly opening-and-closing cylinder are respectively fixed with first gripping finger and are opened and closed on Y-axis direction；Described two
A lower slide unit cylinder is located at lower station and their piston rod relative telescopic in the X-axis direction, two lower parallelly opening-and-closings
Cylinder is fixedly connected with the piston rod of two lower slide unit cylinders respectively, and two movable ends of the lower parallelly opening-and-closing cylinder are solid respectively
Surely there is second gripping finger and be opened and closed on Y-axis direction.
7. product lacquer painting detection device as claimed in claim 5, it is characterised in that: the positioning mechanism further includes being accurately positioned
Component,
The accurate positioning component, including the one or three axis cylinder, the two or three axis cylinder, linking arm and positioning end, described first
Three axis cylinders and the two or three axis cylinder are separately fixed on two front columns, the one or the three axis cylinder and the two or three axis cylinder position
In upper station and their piston rod relative telescopic in the X-axis direction, the movable end and linking arm of the one or the three axis cylinder
It is fixedly connected, the positioning end, the work of the two or the three axis cylinder are fixed in the top and bottom of the linking arm respectively
The positioning end is fixed in moved end.
8. product lacquer painting detection device as described in claim 1, it is characterised in that: the station to be measured includes upper station and institute
Lower station is stated, first detection station includes the first positive detection station and the second positive detection station, 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 first electricity
Magnetic suction head, coordinates robot, the second electromagnetic suction head and mechanism is turned, the coordinates robot is used for the product to be measured of lower station
It is transferred to the first positive detection station, it is described to turn mechanism setting in the first positive detection station and coordinates robot's cooperation, institute
Six-joint robot is stated to be used for the transferred product to be measured of upper station to the second positive 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: it further include two bad part eject mechanisms, point
The end of first conveyer belt and the second conveyer belt is not set, and the bad part eject mechanism includes:
Roller conveyor structure, including multiple spaced rollers, the roller are parallel to Y direction；
Transfer mechanism, including multiple transfer brackets, the second elevating mechanism and the second Y-axis transmission mechanism, adjacent two rollers
Between be provided with the transfer bracket, second elevating mechanism is connect with transfer bracket, second Y-axis transmission mechanism
It is connect with the second elevating mechanism；
Pipeline is rejected, the substandard products for transfer mechanism transmitting to be come are sent out.
10. product lacquer painting detection device as described in claim 1, it is characterised in that: 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810093585.4A CN110090817A (en) | 2018-01-31 | 2018-01-31 | Product lacquer painting detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810093585.4A CN110090817A (en) | 2018-01-31 | 2018-01-31 | Product lacquer painting detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110090817A true CN110090817A (en) | 2019-08-06 |
Family
ID=67442368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810093585.4A Pending CN110090817A (en) | 2018-01-31 | 2018-01-31 | Product lacquer painting detection device |
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| Country | Link |
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| CN (1) | CN110090817A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113145498A (en) * | 2021-04-20 | 2021-07-23 | 清远职业技术学院 | Surface defect detection device based on machine vision and detection method thereof |
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