CN110813783A - Appearance intelligent detection system based on manipulator - Google Patents

Appearance intelligent detection system based on manipulator Download PDF

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Publication number
CN110813783A
CN110813783A CN201911033795.5A CN201911033795A CN110813783A CN 110813783 A CN110813783 A CN 110813783A CN 201911033795 A CN201911033795 A CN 201911033795A CN 110813783 A CN110813783 A CN 110813783A
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CN
China
Prior art keywords
feeding
positioning
manipulator
channel
driving
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Pending
Application number
CN201911033795.5A
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Chinese (zh)
Inventor
裴卫巍
潘正颐
侯大为
王罡
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Changzhou Weiyizhi Technology Co Ltd
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Changzhou Weiyizhi Technology Co Ltd
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Application filed by Changzhou Weiyizhi Technology Co Ltd filed Critical Changzhou Weiyizhi Technology Co Ltd
Priority to CN201911033795.5A priority Critical patent/CN110813783A/en
Publication of CN110813783A publication Critical patent/CN110813783A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/04Sorting according to size
    • B07C5/10Sorting according to size measured by light-responsive means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting 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
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/363Sorting apparatus characterised by the means used for distribution by means of air
    • B07C5/367Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
    • B07C5/368Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means actuated independently
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063Using robots

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  • Manipulator (AREA)

Abstract

The invention relates to an appearance intelligent detection system based on a manipulator, which is provided with a workbench; the workbench is provided with a feeding mechanism, a first positioning mechanism and a manipulator mechanism; the feeding mechanism is a vibrating disc and a feeding channel; the first positioning mechanism comprises a first support frame; the first support frame is provided with a lifting slide block; a through channel for a workpiece to enter is arranged on the lifting slide block; the front end of the through channel is correspondingly matched with the discharge end of the feeding channel; the feeding end of the feeding channel is correspondingly matched with the discharging end of the vibrating disc; the manipulator mechanism comprises a manipulator, wherein a shooting device for shooting the appearance of the workpiece and a grabbing device for grabbing the workpiece in the through channel are fixedly arranged on the manipulator. The invention can realize the appearance detection and the grabbing of the workpiece through the mechanical hand mechanism and realize the automatic detection.

Description

Appearance intelligent detection system based on manipulator
Technical Field
The invention relates to an intelligent appearance detection system, in particular to an appearance intelligent detection system based on a manipulator.
Background
With the continuous development of industrial automation, more and more fields try to replace the traditional manual operation by automatic equipment. In the field of electronic production, the appearance of some tiny parts needs to be detected. The traditional appearance detection generally depends on rough detection by naked eyes, and then fine detection is carried out manually through detection equipment.
Therefore, a great deal of manpower investment is needed in the whole detection process. Particularly, with the development of industrial automation, the yield of parts is larger and larger, the detection work of the parts is heavier and heavier, and the labor cost is higher and higher. To solve this problem, automated appearance inspection devices have slowly emerged in recent years. However, these appearance inspection apparatuses generally perform single-surface inspection through a pipeline. And the part has a plurality of faces to be detected, so in order to meet the detection requirement, the detection of one part needs to depend on a plurality of detection devices for special detection. Although the detection accuracy and efficiency are greatly improved, the detection method has a large improvement space.
Disclosure of Invention
The invention aims to provide an intelligent appearance detection system based on a manipulator, which can perform appearance detection on all surfaces of a workpiece and can realize automatic sorting of qualified products and unqualified products.
The technical scheme for realizing the purpose of the invention is as follows: the invention has a workbench; the workbench is provided with a feeding mechanism, a first positioning mechanism and a manipulator mechanism; the feeding mechanism is a vibrating disc and a feeding channel;
the first positioning mechanism comprises a first support frame fixedly arranged on the workbench; the first support frame is provided with a lifting slide block which can slide up and down on the first support frame under the driving of a lifting cylinder; a through channel for a workpiece to enter is arranged on the lifting slide block; a limiting baffle for blocking a workpiece is fixedly arranged at the tail end of the through channel on the first support frame; the through channel of the lifting slide block can completely exceed the limit baffle under the driving of the lifting cylinder; the front end of the through channel is correspondingly matched with the discharge end of the feeding channel; the feeding end of the feeding channel is correspondingly matched with the discharging end of the vibrating disc;
the manipulator mechanism comprises a manipulator, wherein a shooting device for shooting the appearance of the workpiece and a grabbing device for grabbing the workpiece in the through channel are fixedly arranged on the manipulator.
Meanwhile, the automatic sorting machine also comprises a second positioning mechanism and a sorting mechanism; the second positioning mechanism comprises a second support frame, a driving rack and a positioning block; the second support frame is fixedly arranged on the workbench; the second support frame is provided with a driving rack which is driven by the driving device to slide on the second support frame in a linear manner; the positioning block comprises driven gear parts and a positioning part for positioning and placing a workpiece, wherein the driven gear parts and the positioning part are connected into a whole; the driven gear part is rotatably arranged on the second support frame and is in transmission fit with the driving rack; the number of the positioning blocks is equal to that of the through channels on the lifting slide block, and the position relationship among the positioning blocks corresponds to that among the through channels; the grabbing device on the manipulator is used for grabbing the workpieces in the through channels and transferring the workpieces to the positioning parts;
the sorting mechanism comprises a qualified collecting hopper, an unqualified collecting hopper, a first air blowing module, a second air blowing module and a third air blowing module arranged on the positioning block; a first air blowing module is correspondingly arranged on one side of each positioning block on the second support frame, and a second air blowing module is correspondingly arranged on the other side of each positioning block on the second support frame; the qualified aggregate bins and the unqualified aggregate bins are respectively arranged on the workbench and are respectively positioned at two sides of the positioning block;
the first blowing module comprises a first fixing body fixedly connected to the second supporting frame, a first blowing port is formed in the first fixing body, and the first blowing port is connected with a first blowing pipe capable of spraying compressed air; the second blowing module comprises a second fixing body fixedly connected to the second support frame, a second blowing port is formed in the second fixing body, and the second blowing port is connected with a second blowing pipe capable of spraying compressed air; the third air blowing module comprises a third air blowing port which is arranged on the positioning part and used for blowing the workpiece away from the positioning part; the third air blowing port is connected with a third air blowing pipe capable of spraying compressed air; the first blowing module is used for blowing the workpiece separated from the positioning part into the qualified aggregate bin; and the second blowing module is used for blowing the workpieces separated from the positioning part into the unqualified aggregate bin.
As an optimized design, two mechanical arm mechanisms, two second positioning mechanisms and two sorting mechanisms are arranged; one manipulator mechanism corresponds to one second positioning mechanism, and one second positioning mechanism corresponds to one sorting mechanism; the two manipulator mechanisms respectively perform reciprocating operation between the first positioning mechanism and the corresponding second positioning mechanism, and the two manipulator mechanisms perform alternate operation.
As an optimized design, two sets of feeding mechanisms are provided; at least two feeding grooves are arranged on the feeding channel of each feeding mechanism; the lifting slide block is provided with two feeding positions, the feeding positions correspond to the feeding mechanisms one by one, and each feeding position is provided with a plurality of through channels corresponding to the feeding grooves on the corresponding feeding channel one by one; the manipulator is provided with two groups of shooting devices, the two groups of shooting devices correspond to the two feeding positions one by one and are used for shooting workpieces in the through channels at the corresponding feeding positions; the gripping device on the manipulator is a sucker capable of adsorbing a workpiece; the manipulator is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels on the lifting slide block, and the suckers are matched with the through channels in a one-to-one correspondence mode. Two feed grooves are preferably arranged on the feed channel.
As a deformation design of the optimized design, the feeding mechanism is provided with two sets of feeding mechanisms; a feeding channel of each feeding mechanism is provided with a feeding groove; the lifting slide block is provided with two feeding positions, the feeding positions correspond to the feeding mechanisms one by one, and each feeding position is provided with a plurality of linearly arranged through channels;
the first support frame is provided with a sliding plate which can slide back and forth along the linear arrangement direction of the through channel under the driving of the driving device; the sliding plate is provided with a lifting slide block which can slide up and down on the sliding plate under the driving of a lifting cylinder;
an optical fiber sensing head used for sensing whether a workpiece exists in a through channel which is butted with the feed chute at present is fixedly arranged on the limiting baffle plate and is positioned right opposite to the feed chute;
the manipulator is provided with two groups of shooting devices which are respectively used for shooting workpieces in the through channels at the feeding positions; the gripping device on the manipulator is a sucker capable of adsorbing a workpiece; the manipulator is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels on the lifting slide block, and the suckers are matched with the through channels in a one-to-one correspondence mode. Two through channels are arranged on each feeding position; the driving device for driving the sliding plate to slide back and forth is a driving cylinder; after the driving cylinder extends out, one penetrating channel on each feeding position is butted with the corresponding feeding groove; after the driving cylinder retracts, the other penetrating channel on each feeding position is butted with the corresponding feeding groove.
The upper manipulator is a mechanical arm capable of rotating 360 degrees; the free end of the mechanical arm is fixedly provided with an installation plate; the shooting device and the grabbing device are both fixedly arranged on the mounting plate.
The driving device for driving the driving rack to slide comprises a driving motor and an output gear; the driving motor is fixedly connected to the second supporting frame, and an output shaft of the driving motor is in transmission connection with the output gear; the second support frame is provided with a mounting groove;
the driving rack is arranged in the mounting groove in a sliding mode and slides along the extending direction of the mounting groove; the output gear is arranged in the mounting groove and is in transmission fit with the driving rack; the driven gear part of the positioning block is rotatably arranged in the mounting groove and is in transmission fit with the driving rack; a cover plate is covered on the mounting groove; the cover plate is provided with a through hole for the positioning part of the positioning block to extend out.
The driving motor is fixedly connected to the lower surface of the second support frame; an output shaft of the driving motor extends into the mounting groove and is in transmission connection with the output gear.
The invention has the positive effects that: (1) according to the invention, the end face of the workpiece penetrating the channel and close to the limiting plate can be leaked out through the lifting slide block, so that the shooting and background comparison of the shooting device are facilitated; particularly, for some slender workpieces, in order to automatically feed through the vibrating disc, the end face to be detected is not exposed, so that the problem that the detection cannot be carried out or the detection can be carried out only by positioning through a special positioning tool is caused.
(2) According to the invention, the appearance of the bottom of the workpiece is detected at the first positioning mechanism, then the workpiece is transferred to the second positioning mechanism through the grabbing device on the manipulator, then the other surfaces of the workpiece are shot by the shooting device on the manipulator, and finally the sorting of qualified products and unqualified products is realized through the sorting mechanism, so that the full-automatic appearance detection of the workpiece can be realized without manual operation, the detection efficiency is greatly improved, and the detection accuracy is greatly improved.
(3) According to the invention, double-station detection can be realized through the two manipulator mechanisms, the two second positioning mechanisms and the two sorting mechanisms, so that the detection efficiency is further improved.
(4) According to the invention, through two sets of feeding mechanisms, more feeding amount can be realized, so that the detection efficiency is further improved.
(5) According to the invention, the first positioning mechanism can realize the accuracy and timeliness of feeding through the sliding plate, the lifting slide block and the sensing optical fiber, can be better matched with the mechanical arm mechanism, and effectively improves the detection efficiency.
(6) The driving device for driving the driving rack adopts the output gear transmission, so that the accuracy is high; the shooting angle can be effectively determined through the rotation angle of the output shaft of the driving motor, and the accuracy of appearance detection is further improved.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a feeding mechanism according to the present invention;
FIG. 3 is a schematic structural view of a first positioning mechanism according to embodiment 1 of the present invention;
FIG. 4 is a schematic structural view of a first positioning mechanism according to embodiment 2 of the present invention;
FIG. 5 is a schematic structural view of a second positioning mechanism and a sorting mechanism according to the present invention;
FIG. 6 is a schematic structural diagram of a second positioning mechanism of the present invention
FIG. 7 is a schematic view of the structure of the mounting groove of the second support frame of the present invention;
FIG. 8 is a schematic view of a positioning block according to the present invention;
FIG. 9 is a schematic view of the structure of the robot mechanism according to the present invention;
fig. 10 is a schematic structural view of a photographing device and a grasping device according to the present invention.
Detailed Description
(example 1)
With reference to fig. 1 to 3, and 5 to 10, the present invention has a table 1; two sets of feeding mechanisms 2, a first positioning mechanism 3, two manipulator mechanisms 4, two second positioning mechanisms 5 and two sorting mechanisms 6 are arranged on the workbench 1; the feeding mechanism 2 comprises a vibrating disc 21 and a feeding channel 22; the feed end of the vibrating plate 21 can be fitted with a feeding device 7 for feeding.
The first positioning mechanism 3 comprises a first support frame 31 fixedly arranged on the workbench 1; the first support frame 31 is provided with a lifting slide block 32 which can slide up and down on the first support frame 31 under the driving of a lifting cylinder; a through channel 321 for a workpiece to enter is arranged on the lifting slide block 32; a limiting baffle 33 for blocking a workpiece is fixedly arranged at the tail end of the through channel 321 on the first support frame 31; the through channel 321 of the lifting slide block 32 can completely exceed the limit baffle 33 under the driving of the lifting cylinder; the feeding end of the feeding channel 22 is correspondingly matched with the discharging end of the vibrating disc 21;
the robot mechanism 4 includes a robot 41, and a photographing device 42 for photographing the appearance of the workpiece and a gripping device 43 for gripping the workpiece in the through passage 321 are fixedly provided on the robot 41.
The second positioning mechanism 5 comprises a second supporting frame 51, a driving rack 52 and a positioning block 53; the second support frame 51 is fixedly arranged on the workbench 1; the second support frame 51 is provided with a driving rack 52 which is driven by a driving device to slide on the second support frame 51 in a linear manner; the positioning block 53 comprises a driven gear portion 531 and a positioning portion 532 which are connected into a whole and are used for positioning and placing workpieces; the driven gear part 531 is rotatably arranged on the second support frame 51, and the driven gear part 531 is in transmission fit with the driving rack 52; the number of the positioning blocks 53 is equal to the number of the through channels 321 on the lifting slider 32, and the position relationship among the positioning blocks 53 corresponds to the position relationship among the through channels 321; the gripping device 43 on the robot 41 is used for gripping and transferring the workpiece in each through channel 321 to each positioning portion 532;
the sorting mechanism 6 comprises a qualified collecting hopper 61, an unqualified collecting hopper 62, a first air blowing module 63, a second air blowing module 64 and a third air blowing module 65 arranged on the positioning block 53; a first air blowing module 63 is correspondingly arranged on one side of each positioning block 53 of the second support frame 51, and a second air blowing module 64 is correspondingly arranged on the other side of each positioning block 53 of the second support frame 51; the qualified aggregate bins 61 and the unqualified aggregate bins 62 are respectively arranged on the workbench 1 and are respectively positioned at two sides of the positioning block 53;
the first blowing module 63 comprises a first fixed body fixedly connected to the second support frame 51, a first blowing port is arranged on the first fixed body, and the first blowing port is connected with a first blowing pipe capable of spraying compressed air; the second blowing module 64 comprises a second fixing body fixedly connected to the second support frame 51, and a second blowing port is arranged on the second fixing body and connected with a second blowing pipe capable of spraying compressed air; the third air blowing module 65 comprises a third air blowing port which is arranged on the positioning part 532 and is used for blowing the workpiece away from the positioning part 532; the third air blowing port is connected with a third air blowing pipe capable of spraying compressed air; the first blowing module 63 is used for blowing the workpieces separated from the positioning part 532 into the qualified collecting hopper 61; the second blowing module 64 is used for blowing the work detached from the positioning portion 532 into the defective catch hopper 62.
One manipulator mechanism 4 corresponds to one second positioning mechanism 5, and one second positioning mechanism 5 corresponds to one sorting mechanism 6; the two manipulator mechanisms 4 respectively reciprocate between the first positioning mechanism 3 and the corresponding second positioning mechanism 5, and the two manipulator mechanisms 4 alternately operate.
Two feeding grooves are arranged on the feeding channels 22 of the two sets of feeding mechanisms 2; two feeding positions are arranged on the lifting slide block 32, the feeding positions correspond to the feeding mechanisms 2 one by one, and a plurality of through channels 321 which correspond to the feeding grooves on the corresponding feeding channels 22 one by one are arranged on each feeding position; the manipulator 41 is provided with two groups of shooting devices 42, the two groups of shooting devices 42 correspond to the two feeding positions one by one and are used for shooting workpieces penetrating through the channel 321 at the corresponding feeding positions; the gripping device 43 on the robot 41 is a suction cup that can absorb a workpiece; the manipulator 41 is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels 321 on the lifting slide block 32, and the suckers are matched with the through channels 321 in a one-to-one correspondence manner.
The manipulator 41 is a mechanical arm capable of rotating 360 degrees; the free end of the mechanical arm is fixedly provided with a mounting plate 44; the shooting device 42 and the grabbing device 43 are both fixedly arranged on the mounting plate 44.
The driving means for driving the driving rack 52 to slide includes a driving motor and an output gear 54; the driving motor is fixedly connected to the second support frame 51, and an output shaft of the driving motor is in transmission connection with the output gear 54; the second support frame 51 is provided with an installation groove;
the driving rack 52 is arranged in the mounting groove in a sliding manner and slides along the extending direction of the mounting groove; the output gear 54 is arranged in the mounting groove and is in transmission fit with the driving rack 52; the driven gear part 531 of the positioning block 53 is rotatably arranged in the mounting groove and is in transmission fit with the driving rack 52; the mounting groove is covered with a cover plate 55; the cover plate 55 is provided with a through hole for extending the positioning portion 532 of the positioning block 53.
The driving motor is fixedly connected to the lower surface of the second support frame 51; the output shaft of the driving motor extends into the mounting groove and is in transmission connection with the output gear 54.
The detection process for detecting the appearance of the workpiece in the embodiment is as follows:
s1, the vibration disc 21 sends the workpieces into the through channel 321 of the lifting slide block 32 through the feeding channel 22 one by one;
s2, the lifting slide block 32 is driven by the lifting cylinder to rise, so that the through channel 321 on the lifting slide block 32 exceeds the limit baffle 33, and one end, close to the limit baffle 33, of the workpiece in the through channel 321 is exposed
S3, driving the shooting device 42 to shoot one end of the workpiece close to the limit baffle 33 by the manipulator 41, and carrying out appearance detection;
s4, after the above detection is completed, the manipulator 41 drives the grabbing device 43 to grab the workpiece in the through channel 321, and places the workpiece on the positioning portion 532 of the positioning block 53 of one positioning mechanism;
s5, the output gear 54 of the second positioning mechanism 5 drives the driving rack 52 to slide, the driving rack 52 drives the driven gear portion 531, and the positioning block 53 rotates, so as to drive the workpiece on the positioning portion 532 to rotate; at this time, the photographing device 42 photographs the workpiece; at the same time, the other manipulator 41 repeats the steps of S3 and S4, and the alternating operation of the two manipulators 41 is realized;
s6, after the detection is finished, if the workpiece on the positioning block 53 is qualified, the workpiece is blown off the positioning part 532 by the third air blowing module 65 and blown into the qualified collecting hopper 61 by the first air blowing module 63; if it is not qualified, it is blown off the position fixing part 532 by the third air-blowing module 65 and blown into the unqualified collection hopper 62 by the second air-blowing module 64.
(example 2)
Referring to fig. 4, the feeding channels 22 of the two sets of feeding mechanisms 2 are respectively provided with a feeding groove; the lifting slide block 32 is provided with two loading positions, the loading positions correspond to the loading mechanisms 2 one by one, and each loading position is provided with two through channels 321 which are linearly arranged;
the first support frame 31 is provided with a sliding plate 34 which can slide back and forth along the linear arrangement direction of the through channel 321 under the driving of a driving device; the sliding plate 34 is provided with a lifting slide block 32 which can slide up and down on the sliding plate 34 under the driving of a lifting cylinder;
an optical fiber sensing head for sensing whether a workpiece is in a through channel 321 which is in butt joint with the feed chute at present is fixedly arranged on the limit baffle 33 and is positioned right opposite to the feed chute;
two groups of shooting devices 42 are arranged on the manipulator 41, and the two groups of shooting devices 42 are respectively used for shooting workpieces in the through channel 321 at each loading position; the gripping device 43 on the robot 41 is a suction cup that can absorb a workpiece; the manipulator 41 is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels 321 on the lifting slide block 32, and the suckers are matched with the through channels 321 in a one-to-one correspondence manner.
The driving device for driving the sliding plate 34 to slide back and forth is a driving cylinder; after the driving cylinder extends out, one penetrating channel 321 on each material loading position is butted with the corresponding material inlet groove; after the driving cylinder retracts, the other through channel 321 on each loading position is butted with the corresponding feeding groove.
The other technical scheme is the same as that of the embodiment 1.
The detection process for detecting the appearance of the workpiece in the embodiment is as follows:
s1, the vibration disc 21 of the feeding mechanism 2 sends the workpieces into the through channel 321 butted with the feeding channel 22 at the corresponding feeding position one by one through the feeding channel 22; when the optical fiber sensing head senses a workpiece, the driving cylinder works to enable the other through channel 321 at the material loading position to be in butt joint with the feeding channel 22, and when the optical fiber sensing head senses the workpiece, a lifting command is sent to the lifting cylinder;
s2, the lifting slide block 32 is driven by the lifting cylinder to rise, so that the through channel 321 on the lifting slide block 32 exceeds the limit baffle 33, and one end, close to the limit baffle 33, of the workpiece in the through channel 321 is exposed
S3, driving the shooting device 42 to shoot one end of the workpiece close to the limit baffle 33 by the manipulator 41, and carrying out appearance detection;
s4, after the above detection is completed, the manipulator 41 drives the grabbing device 43 to grab the workpiece in the through channel 321, and places the workpiece on the positioning portion 532 of the positioning block 53 of one positioning mechanism;
s5, the output gear 54 of the second positioning mechanism 5 drives the driving rack 52 to slide, the driving rack 52 drives the driven gear portion 531, and the positioning block 53 rotates, so as to drive the workpiece on the positioning portion 532 to rotate; at this time, the photographing device 42 photographs the workpiece; at the same time, the other manipulator 41 repeats the steps of S3 and S4, and the alternating operation of the two manipulators 41 is realized;
s6, after the detection is finished, if the workpiece on the positioning block 53 is qualified, the workpiece is blown off the positioning part 532 by the third air blowing module 65 and blown into the qualified collecting hopper 61 by the first air blowing module 63; if it is not qualified, it is blown off the position fixing part 532 by the third air-blowing module 65 and blown into the unqualified collection hopper 62 by the second air-blowing module 64.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The appearance intelligent detection system based on the mechanical arm is provided with a workbench (1); the method is characterized in that: the workbench (1) is provided with a feeding mechanism (2), a first positioning mechanism (3) and a manipulator mechanism (4); the feeding mechanism (2) comprises a vibrating disc (21) and a feeding channel (22);
the first positioning mechanism (3) comprises a first support frame (31) fixedly arranged on the workbench (1); the first support frame (31) is provided with a lifting slide block (32) which can slide up and down on the first support frame (31) under the driving of a lifting cylinder; a through channel (321) for a workpiece to enter is arranged on the lifting slide block (32); a limiting baffle (33) for blocking a workpiece is fixedly arranged at the tail end of the through channel (321) on the first support frame (31); the through channel (321) of the lifting slide block (32) can completely exceed the limit baffle (33) under the driving of the lifting cylinder; the front end of the through channel (321) is correspondingly matched with the discharge end of the feeding channel (22); the feeding end of the feeding channel (22) is correspondingly matched with the discharging end of the vibrating disc (21);
the manipulator mechanism (4) comprises a manipulator (41), and a shooting device (42) for shooting the appearance of the workpiece and a grabbing device (43) for grabbing the workpiece in the through channel (321) are fixedly arranged on the manipulator (41).
2. The robot-based intelligent appearance inspection system of claim 1, wherein: the device also comprises a second positioning mechanism (5) and a sorting mechanism (6); the second positioning mechanism (5) comprises a second supporting frame (51), a driving rack (52) and a positioning block (53); the second support frame (51) is fixedly arranged on the workbench (1); the second support frame (51) is provided with a driving rack (52) which is driven by a driving device to slide on the second support frame (51) in a straight line; the positioning block (53) comprises a driven gear part (531) and a positioning part (532) which are connected into a whole and are used for positioning and placing a workpiece; the driven gear part (531) is rotationally arranged on the second support frame (51), and the driven gear part (531) is in transmission fit with the driving rack (52); the number of the positioning blocks (53) is equal to that of the through channels (321) on the lifting slide block (32), and the position relation among the positioning blocks (53) corresponds to the position relation among the through channels (321); the grabbing device (43) on the manipulator (41) is used for grabbing the workpieces in the through channels (321) and transferring the workpieces to the positioning parts (532);
the sorting mechanism (6) comprises a qualified collecting hopper (61), an unqualified collecting hopper (62), a first air blowing module (63), a second air blowing module (64) and a third air blowing module (65) arranged on the positioning block (53); one side of the second support frame (51) positioned at each positioning block (53) is correspondingly provided with a first air blowing module (63), and the other side of the second support frame (51) positioned at each positioning block (53) is correspondingly provided with a second air blowing module (64); the qualified collecting hopper (61) and the unqualified collecting hopper (62) are respectively arranged on the workbench (1) and are respectively positioned at two sides of the positioning block (53);
the first blowing module (63) comprises a first fixing body fixedly connected to the second supporting frame (51), a first blowing port is formed in the first fixing body, and the first blowing port is connected with a first blowing pipe capable of spraying compressed air; the second blowing module (64) comprises a second fixing body fixedly connected to the second support frame (51), a second blowing port is formed in the second fixing body, and the second blowing port is connected with a second blowing pipe capable of spraying compressed air; the third air blowing module (65) comprises a third air blowing opening which is arranged on the positioning part (532) and used for blowing the workpiece away from the positioning part (532); the third air blowing port is connected with a third air blowing pipe capable of spraying compressed air; the first blowing module (63) is used for blowing the workpieces separated from the positioning part (532) into the qualified aggregate bin (61); the second blowing module (64) is used for blowing the workpieces separated from the positioning part (532) into the unqualified collecting hopper (62).
3. The robotic-based intelligent appearance inspection system of claim 2, wherein: the automatic sorting machine is provided with two manipulator mechanisms (4), two second positioning mechanisms (5) and two sorting mechanisms (6); one manipulator mechanism (4) corresponds to one second positioning mechanism (5), and one second positioning mechanism (5) corresponds to one sorting mechanism (6); the two manipulator mechanisms (4) respectively perform reciprocating operation between the first positioning mechanism (3) and the corresponding second positioning mechanism (5), and the two manipulator mechanisms (4) perform alternate operation.
4. The robotic-based intelligent appearance inspection system of claim 1, 2 or 3, wherein: two sets of feeding mechanisms (2) are arranged; at least two feeding grooves are arranged on the feeding channel (22) of each feeding mechanism (2); two material loading positions are arranged on the lifting slide block (32), the material loading positions correspond to the material loading mechanisms (2) one by one, and a plurality of through channels (321) which correspond to the material inlet grooves on the corresponding material inlet channels (22) one by one are arranged on each material loading position; the manipulator (41) is provided with two groups of shooting devices (42), the two groups of shooting devices (42) correspond to the two feeding positions one by one and are used for shooting workpieces in the through channel (321) at the corresponding feeding positions; the gripping device (43) on the manipulator (41) is a sucker capable of adsorbing a workpiece; the manipulator (41) is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels (321) on the lifting slide block (32), and the suckers are matched with the through channels (321) in a one-to-one correspondence mode.
5. The robotic-based intelligent appearance inspection system of claim 1, 2 or 3, wherein: two sets of feeding mechanisms (2) are arranged; a feeding channel (22) of each feeding mechanism (2) is provided with a feeding groove; the lifting slide block (32) is provided with two feeding positions, the feeding positions correspond to the feeding mechanisms (2) one by one, and each feeding position is provided with a plurality of linearly arranged through channels (321);
the first support frame (31) is provided with a sliding plate (34) which can slide back and forth along the linear arrangement direction of the through channel (321) under the driving of a driving device; the sliding plate (34) is provided with a lifting slide block (32) which can slide up and down on the sliding plate (34) under the driving of a lifting cylinder;
an optical fiber sensing head used for sensing whether a workpiece exists in a through channel (321) which is butted with the feeding groove at present or not is fixedly arranged on the limiting baffle (33) and is positioned right opposite to the feeding groove;
the manipulator (41) is provided with two groups of shooting devices (42), and the two groups of shooting devices (42) are respectively used for shooting workpieces in the through channels (321) at the loading positions; the gripping device (43) on the manipulator (41) is a sucker capable of adsorbing a workpiece; the manipulator (41) is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels (321) on the lifting slide block (32), and the suckers are matched with the through channels (321) in a one-to-one correspondence mode.
6. The robotic-based intelligent appearance inspection system of claim 4, wherein: two feeding grooves are arranged on the feeding channel (22).
7. The robotic-based intelligent appearance inspection system of claim 5, wherein: two through channels (321) are arranged on each feeding position; the driving device for driving the sliding plate (34) to slide back and forth is a driving cylinder; after the driving cylinder extends out, one through channel (321) on each material loading position is butted with the corresponding material inlet groove; after the driving cylinder retracts, the other through channel (321) on each loading position is butted with the corresponding feeding groove.
8. The robotic-based intelligent appearance inspection system of claim 3, wherein: the manipulator (41) is a mechanical arm capable of rotating 360 degrees; a mounting plate (44) is fixedly arranged at the free end of the mechanical arm; the shooting device (42) and the grabbing device (43) are both fixedly arranged on the mounting plate (44).
9. The robotic-based intelligent appearance inspection system of claim 2, wherein: the driving device for driving the driving rack (52) to slide comprises a driving motor and an output gear (54); the driving motor is fixedly connected to the second supporting frame (51), and an output shaft of the driving motor is in transmission connection with the output gear (54); the second support frame (51) is provided with a mounting groove;
the driving rack (52) is arranged in the mounting groove in a sliding mode and slides along the extending direction of the mounting groove; the output gear (54) is arranged in the mounting groove and is in transmission fit with the driving rack (52); the driven gear part (531) of the positioning block (53) is rotatably arranged in the mounting groove and is in transmission fit with the driving rack (52); a cover plate (55) is covered on the mounting groove; the cover plate (55) is provided with a through hole for extending the positioning part (532) of the positioning block (53).
10. The robotic-based intelligent appearance inspection system of claim 9, wherein: the driving motor is fixedly connected to the lower surface of the second support frame (51); an output shaft of the driving motor extends into the mounting groove and is in transmission connection with an output gear (54).
CN201911033795.5A 2019-10-29 2019-10-29 Appearance intelligent detection system based on manipulator Pending CN110813783A (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112214453A (en) * 2020-09-14 2021-01-12 上海微亿智造科技有限公司 Large-scale industrial data compression storage method, system and medium
CN112427340A (en) * 2020-12-03 2021-03-02 东莞诚信电子塑胶有限公司 Automatic detection equipment
CN113335928A (en) * 2021-08-05 2021-09-03 常州微亿智造科技有限公司 Electronic cigarette outer casing detector

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112214453A (en) * 2020-09-14 2021-01-12 上海微亿智造科技有限公司 Large-scale industrial data compression storage method, system and medium
CN112427340A (en) * 2020-12-03 2021-03-02 东莞诚信电子塑胶有限公司 Automatic detection equipment
CN113335928A (en) * 2021-08-05 2021-09-03 常州微亿智造科技有限公司 Electronic cigarette outer casing detector
CN113335928B (en) * 2021-08-05 2021-11-05 常州微亿智造科技有限公司 Electronic cigarette outer casing detector

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