CN110813783B - Appearance intelligent inspection system based on robot - Google Patents
Appearance intelligent inspection system based on robot Download PDFInfo
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- CN110813783B CN110813783B CN201911033795.5A CN201911033795A CN110813783B CN 110813783 B CN110813783 B CN 110813783B CN 201911033795 A CN201911033795 A CN 201911033795A CN 110813783 B CN110813783 B CN 110813783B
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- feeding
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- blowing
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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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
- B07C5/368—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means actuated independently
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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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Manipulator (AREA)
Abstract
本发明涉及一种基于机械手的外观智能检测系统，具有工作台；所述工作台上设有上料机构、第一定位机构和机械手机构；所述上料机构为振动盘和进料通道；所述第一定位机构包括第一支撑架；第一支撑架上设有升降滑块；所述升降滑块上设有可供工件进入的贯穿通道；贯穿通道的前端与进料通道的出料端对应配合；进料通道的进料端与振动盘的出料端对应配合；机械手机构包括机械手，机械手上固定设有用于拍摄工件外观的拍摄装置和用于抓取贯穿通道内工件的抓取装置。本发明通过机械手机构可以实现工件的外观检测和抓取，实现自动化检测。
The present invention relates to an appearance intelligent detection system based on a manipulator, which has a workbench; the workbench is provided with a feeding mechanism, a first positioning mechanism and a manipulator mechanism; the feeding mechanism is a vibration plate and a feeding channel; the first positioning mechanism includes a first support frame; the first support frame is provided with a lifting slider; the lifting slider is provided with a through channel for a workpiece to enter; the front end of the through channel corresponds to the discharge end of the feeding channel; the feeding end of the feeding channel corresponds to the discharge end of the vibration plate; the manipulator mechanism includes a manipulator, and the manipulator is fixedly provided with a shooting device for shooting the appearance of the workpiece and a grabbing device for grabbing the workpiece in the through channel. The present invention can realize the appearance detection and grabbing of the workpiece through the manipulator mechanism, and realize automatic detection.
Description
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 continued development of industrial automation, more and more fields have attempted to replace traditional manual operations by automated equipment. In the field of electronic production, it is necessary to detect the appearance of some tiny parts. Whereas conventional appearance detection generally relies on the naked eye for coarse detection and then manually through detection equipment for fine detection.
Therefore, a large amount of labor is required for the whole detection process. Especially, with the development of industrial automation, the yield of parts is increased, the detection work of the parts is also increased, and the labor cost is also increased. To solve this problem, an automatic appearance detecting apparatus has come to appear slowly in recent years. However, these appearance inspection apparatuses generally perform inspection of a single surface through a pipeline. The part is provided with a plurality of surfaces to be inspected, so that the inspection of one part is required to be performed exclusively by means of a plurality of inspection devices in order to meet the inspection requirements. Although the detection accuracy and efficiency are greatly improved, a large improvement space is provided.
Disclosure of Invention
The invention aims to provide an appearance intelligent detection system based on a manipulator, which can detect the appearance of all surfaces of a workpiece and can realize automatic sorting of qualified products and unqualified products.
The technical scheme for achieving the aim of the invention is that the device comprises a workbench, wherein a feeding mechanism, a first positioning mechanism and a manipulator mechanism are arranged on the workbench, and 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, a lifting sliding block which can slide up and down on the first support frame under the driving of a lifting cylinder is arranged on the first support frame, a through channel for a workpiece to enter is arranged on the lifting sliding block, a limit baffle for blocking the workpiece is fixedly arranged at the tail end of the through channel on the first support frame, the through channel of the lifting sliding 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 a feeding channel, and the feeding end of the feeding channel is correspondingly matched with the discharge end of the vibration disc;
The manipulator mechanism comprises a manipulator, and a shooting device for shooting the appearance of the workpiece and a grabbing device for grabbing the workpiece in the through passage are fixedly arranged on the manipulator.
The manipulator comprises a first support frame, a first positioning mechanism, a second positioning mechanism, a manipulator and a manipulator, wherein the first positioning mechanism comprises a first support frame, a driving rack and positioning blocks, the first support frame is fixedly arranged on a workbench, the driving rack which is driven by a driving device to slide on the first support frame in a straight line is arranged on the first support frame, the positioning blocks comprise driven gear parts and positioning parts which are connected into a whole and are used for positioning and placing workpieces, the driven gear parts are rotatably arranged on the first support frame and are in transmission fit with the driving rack, the number of the positioning blocks is equal to that of through channels on a lifting slide block, the positional relationship among the positioning blocks corresponds to that among the through channels, and a grabbing device on the manipulator is used for grabbing and transferring the workpieces in the through channels to the positioning parts;
The sorting mechanism comprises a qualified collecting hopper, a disqualified collecting hopper, a first blowing module, a second blowing module and a third blowing module arranged on the positioning blocks, wherein one side of the second support frame, which is positioned on each positioning block, is correspondingly provided with the first blowing module, and the other side of the second support frame, which is positioned on each positioning block, is correspondingly provided with the second blowing module;
The first blowing module comprises a first fixed body fixedly connected to the second support frame, a first blowing port is formed in the first fixed body and is connected with a first blowing pipe capable of blowing out compressed air, the second blowing module comprises a second fixed body fixedly connected to the second support frame, a second blowing port is formed in the second fixed body and is connected with a second blowing pipe capable of blowing out compressed air, the third blowing module comprises a third blowing port which is arranged on the positioning part and is used for blowing out workpieces from the positioning part, the third blowing port is connected with a third blowing pipe capable of blowing out compressed air, the first blowing module is used for blowing out workpieces separated from the positioning part into a qualified collecting hopper, and the second blowing module is used for blowing out workpieces separated from the positioning part into a disqualified collecting hopper.
The mechanical arm mechanism comprises two mechanical arm mechanisms, two second positioning mechanisms and two sorting mechanisms, wherein one mechanical arm mechanism corresponds to one second positioning mechanism, one second positioning mechanism corresponds to one sorting mechanism, the two mechanical arm mechanisms respectively reciprocate between the first positioning mechanism and the corresponding second positioning mechanism, and the two mechanical arm mechanisms alternately operate.
The automatic feeding device is characterized by comprising two sets of feeding mechanisms, wherein at least two feeding grooves are arranged on feeding channels of each feeding mechanism, two feeding positions are arranged on the lifting sliding block and correspond to the feeding mechanisms one by one, a plurality of penetrating channels which correspond to the feeding grooves on the corresponding feeding channels one by one are arranged on each feeding position, two groups of shooting devices are arranged on the manipulator and correspond to the two feeding positions one by one and are used for shooting workpieces in penetrating channels at the positions corresponding to the feeding positions, the grabbing devices on the manipulator are suckers capable of adsorbing the workpieces, a plurality of suckers are arranged on the manipulator, the number of the suckers is equal to that of the penetrating channels on the lifting sliding block, and each sucker is matched with one by one. The feed channel is preferably provided with two feed channels.
The lifting slide block is provided with two feeding levels, the feeding levels correspond to the feeding mechanisms one by one, and a plurality of through channels which are linearly arranged are arranged on each feeding level;
The first support frame is provided with a sliding plate which can slide back and forth along the linear arrangement direction of the through passage under the drive of the driving device, and the sliding plate is provided with a lifting sliding block which can slide up and down on the sliding plate under the drive of the lifting cylinder;
an optical fiber sensor head for sensing whether a workpiece exists in a through channel which is currently in butt joint with the feed chute is fixedly arranged on the limiting baffle plate and positioned on the right opposite side of 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 each feeding position, the grabbing devices on the manipulator are suckers capable of adsorbing the workpieces, the manipulator is provided with a plurality of suckers, the number of the suckers is equal to that of the through channels on the lifting slide block, and the suckers are in one-to-one correspondence fit with the through channels. The feeding device comprises a feeding tank, a driving sliding plate, a driving cylinder, a feeding channel, a driving device, a feeding channel and a feeding channel.
The manipulator is a manipulator capable of rotating by 360 degrees, the free end of the manipulator is fixedly provided with a mounting plate, and the shooting device and the grabbing device are fixedly arranged on the mounting plate.
The driving device for driving the driving rack to slide comprises a driving motor and an output gear, wherein the driving motor is fixedly connected to the second support frame, and the output shaft of the driving motor is in transmission connection with the output gear;
The driving rack is arranged in the mounting groove in a sliding manner 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, the mounting groove is covered with a cover plate, and the cover plate is provided with a through hole from which the positioning part of the positioning block extends.
The driving motor is fixedly connected to the lower surface of the second supporting frame, and an output shaft of the driving motor extends into the mounting groove to be in transmission connection with the output gear.
The invention has the advantages that (1) the end face of the workpiece, which penetrates through the channel, close to the limiting plate can be leaked through the lifting slide block, so that the shooting device can shoot and compare the background conveniently, and particularly, aiming at a plurality of slender workpieces, the end face to be detected is exposed in an unobjectionable way for automatic feeding through the vibrating disc, so that the problem that the detection cannot be carried out or the detection can be carried out only by positioning by means of a special positioning tool is caused.
(2) According to the invention, appearance detection is carried out on the bottom of the workpiece at the first positioning mechanism, then the workpiece is transferred to the second positioning mechanism through the grabbing device on the manipulator, then the shooting device on the manipulator shoots other surfaces of the workpiece, finally sorting of qualified products and unqualified products is realized through the sorting mechanism, full-scale automation is realized, omnibearing appearance detection on the workpiece can be realized without manual operation, detection efficiency is greatly improved, and 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, and the detection efficiency is further improved.
(4) According to the invention, through the two sets of feeding mechanisms, more feeding quantity 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 sliding block and the sensing optical fiber, and can be matched with the mechanical arm mechanism better, so that the detection efficiency is improved effectively.
(6) The driving device for driving the driving rack adopts output gear transmission, has high accuracy, can effectively determine the shooting angle through the rotation angle of the output shaft of the driving motor, and further improves the accuracy of appearance detection.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of a feeding mechanism in 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 diagram of a first positioning mechanism according to embodiment 2 of the present invention;
FIG. 5 is a schematic view of a second positioning mechanism and sorting mechanism according to the present invention;
FIG. 6 is a schematic structural view of a second positioning mechanism according to the present invention
FIG. 7 is a schematic view of the structure of the second bracket in the mounting groove of the present invention;
FIG. 8 is a schematic view of the positioning block according to the present invention;
FIG. 9 is a schematic view of a manipulator mechanism according to the present invention;
fig. 10 is a schematic structural diagram of a photographing device and a grabbing device in the present invention.
Detailed Description
Example 1
Referring to fig. 1 to 3 and fig. 5 to 10, the invention comprises a workbench 1, wherein 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 mechanisms 2 are a vibrating disc 21 and a feeding channel 22, and a feeding device 7 for feeding is arranged at the feeding end of the vibrating disc 21 in a matched manner.
The first positioning mechanism 3 comprises a first supporting frame 31 fixedly arranged on the workbench 1, a lifting sliding block 32 which can slide up and down on the first supporting frame 31 under the driving of a lifting cylinder is arranged on the first supporting frame 31, a through channel 321 for a workpiece to enter is arranged on the lifting sliding block 32, a limit baffle 33 for blocking the workpiece is fixedly arranged at the tail end of the through channel 321 on the first supporting frame 31, the through channel 321 of the lifting sliding block 32 can completely exceed the limit baffle 33 under the driving of the lifting cylinder, and the feeding end of the feeding channel 22 is correspondingly matched with the discharging end of the vibration disc 21;
The manipulator mechanism 4 includes a manipulator 41, and a photographing device 42 for photographing the appearance of a workpiece and a gripping device 43 for gripping the workpiece in the through passage 321 are fixedly provided on the manipulator 41.
The second positioning mechanism 5 comprises a second supporting frame 51, a driving rack 52 and positioning blocks 53, wherein the second supporting frame 51 is fixedly arranged on the workbench 1, the driving rack 52 which is driven by a driving device to linearly slide on the second supporting frame 51 is arranged on the second supporting frame 51, the positioning blocks 53 comprise driven gear parts 531 and positioning parts 532 which are connected into a whole and are used for positioning and placing workpieces, the driven gear parts 531 are rotatably arranged on the second supporting frame 51, the driven gear parts 531 are 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 slide block 32, the position relationship among the positioning blocks 53 corresponds to the position relationship among the through channels 321, and the grabbing device 43 on the manipulator 41 is used for grabbing and transferring the workpieces in the through channels 321 to the positioning parts 532;
The sorting mechanism 6 comprises a qualified collecting hopper 61, a disqualified collecting hopper 62, a first blowing module 63, a second blowing module 64 and a third blowing module 65 arranged on the positioning blocks 53, wherein one side of the second support frame 51, which is positioned on each positioning block 53, is correspondingly provided with the first blowing module 63, and the other side of the second support frame 51, which is positioned on each positioning block 53, is correspondingly provided with the second blowing module 64;
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 is connected with a first blowing pipe capable of blowing out compressed air, the second blowing module 64 comprises a second fixed body fixedly connected to the second support frame 51, a second blowing port is arranged on the second fixed body and is connected with a second blowing pipe capable of blowing out compressed air, the third blowing module 65 comprises a third blowing port arranged on the positioning part 532 and is used for blowing out workpieces from the positioning part 532, the third blowing port is connected with a third blowing pipe capable of blowing out compressed air, the first blowing module 63 is used for blowing out workpieces separated from the positioning part 532 into the qualified collecting hopper 61, and the second blowing module 64 is used for blowing out workpieces separated from the positioning part 532 into the unqualified collecting hopper 62.
One manipulator mechanism 4 corresponds to one second positioning mechanism 5, one second positioning mechanism 5 corresponds to one sorting mechanism 6, 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 formed in the feeding channels 22 of the two sets of feeding mechanisms 2, two feeding levels are formed in the lifting sliding blocks 32 and correspond to the feeding mechanisms 2 one by one, a plurality of penetrating channels 321 which correspond to the feeding grooves in the corresponding feeding channels 22 one by one are formed in each feeding level, two groups of shooting devices 42 are arranged on the manipulator 41 and correspond to the two feeding levels one by one and are used for shooting workpieces in the penetrating channels 321 in the positions corresponding to the feeding levels, the grabbing devices 43 on the manipulator 41 are suckers capable of adsorbing the workpieces, a plurality of suckers are arranged on the manipulator 41, the number of the suckers is equal to that of the penetrating channels 321 in the lifting sliding blocks 32, and the suckers are matched with the penetrating channels 321 one by one.
The manipulator 41 is a manipulator capable of rotating by 360 degrees, the free end of the manipulator is fixedly provided with a mounting plate 44, and the shooting device 42 and the grabbing device 43 are fixedly arranged on the mounting plate 44.
The driving device for driving the driving rack 52 to slide comprises a driving motor and an output gear 54, wherein 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 driving rack 52 is slidably arranged in the mounting groove 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 upper cover of the mounting groove is provided with a cover plate 55, and the cover plate 55 is provided with a through hole for the positioning part 532 of the positioning block 53 to extend out.
The driving motor is fixedly connected to the lower surface of the second supporting frame 51, and an output shaft of the driving motor extends into the mounting groove to be in transmission connection with the output gear 54.
The detection process for detecting the appearance of the workpiece in this embodiment is as follows:
S1, conveying workpieces into a through channel 321 of a lifting slide block 32 one by one through a feeding channel 22 by a vibration disc 21;
S2, lifting slide block 32 is driven by the lifting air cylinder to lift, so that penetrating channel 321 on lifting slide block 32 exceeds limit baffle 33, and one end of workpiece in penetrating channel 321 close to limit baffle 33 is exposed
S3, a manipulator 41 drives a shooting device 42 to shoot one end of a workpiece, which is close to the limit baffle 33, and appearance detection is carried out;
s4, after the detection is completed, the manipulator 41 drives the grabbing device 43 to grab the workpiece in the through channel 321, and the workpiece is placed on the positioning part 532 of the positioning block 53 of one positioning mechanism;
s5, an output gear 54 on the second positioning mechanism 5 drives a driving rack 52 to slide, the driving rack 52 drives a driven gear part 531, and a positioning block 53 rotates, so that a workpiece on a positioning part 532 is driven to rotate, the shooting device 42 shoots the workpiece at the moment, and meanwhile, the other manipulator 41 repeats the steps of S3 and S4 to realize the alternate operation of the two manipulators 41;
S6, after the detection is finished, if the workpiece on the positioning block 53 is qualified, the third blowing module 65 blows off the positioning part 532 and the first blowing module 63 blows into the qualified collecting hopper 61, and if the workpiece is unqualified, the third blowing module 65 blows off the positioning part 532 and the second blowing module 64 blows into the unqualified collecting hopper 62.
Example 2
Referring to fig. 4, the feeding channels 22 of the two sets of feeding mechanisms 2 are provided with a feeding groove, the lifting slide block 32 is provided with two feeding levels, the feeding levels are in one-to-one correspondence with the feeding mechanisms 2, and each feeding level is provided with two through channels 321 which are linearly arranged;
A sliding plate 34 which can slide back and forth along the linear arrangement direction of the through channel 321 under the drive of the driving device is arranged on the first supporting frame 31, and a lifting sliding block 32 which can slide up and down on the sliding plate 34 under the drive of a lifting cylinder is arranged on the sliding plate 34;
an optical fiber sensing head for sensing whether a workpiece exists in a through channel 321 which is currently in butt joint with the feed chute or not is fixedly arranged on the limit baffle 33 and positioned on the right opposite side of the feed chute;
The manipulator 41 is provided with two groups of shooting devices 42, the two groups of shooting devices 42 are respectively used for shooting workpieces in the through channels 321 at each feeding position, the grabbing device 43 on the manipulator 41 is a sucker capable of adsorbing the workpieces, the manipulator 41 is provided with a plurality of suckers, the number of the suckers is equal to that of the through channels 321 on the lifting slide block 32, and the suckers are in one-to-one correspondence with the through channels 321.
The driving device for driving the sliding plate 34 to slide back and forth is a driving air cylinder, one penetrating channel 321 on each feeding level is in butt joint with a corresponding feeding groove after the driving air cylinder stretches out, and the other penetrating channel 321 on each feeding level is in butt joint with the corresponding feeding groove after the driving air cylinder retracts.
Other technical scheme is the same as that of the embodiment 1.
The detection process for detecting the appearance of the workpiece in this embodiment is as follows:
S1, a vibration disc 21 of a feeding mechanism 2 feeds workpieces into a corresponding through channel 321 which is in butt joint with the feeding channel 22 at the moment at the feeding position one by one through the feeding channel 22, when the optical fiber sensing head senses the workpieces, the cylinder is driven to work, the other through channel 321 at the feeding position is caused to be in butt joint with the feeding channel 22, and when the optical fiber sensing head senses the workpieces, a lifting command is sent to the lifting cylinder;
S2, lifting slide block 32 is driven by the lifting air cylinder to lift, so that penetrating channel 321 on lifting slide block 32 exceeds limit baffle 33, and one end of workpiece in penetrating channel 321 close to limit baffle 33 is exposed
S3, a manipulator 41 drives a shooting device 42 to shoot one end of a workpiece, which is close to the limit baffle 33, and appearance detection is carried out;
s4, after the detection is completed, the manipulator 41 drives the grabbing device 43 to grab the workpiece in the through channel 321, and the workpiece is placed on the positioning part 532 of the positioning block 53 of one positioning mechanism;
s5, an output gear 54 on the second positioning mechanism 5 drives a driving rack 52 to slide, the driving rack 52 drives a driven gear part 531, and a positioning block 53 rotates, so that a workpiece on a positioning part 532 is driven to rotate, the shooting device 42 shoots the workpiece at the moment, and meanwhile, the other manipulator 41 repeats the steps of S3 and S4 to realize the alternate operation of the two manipulators 41;
S6, after the detection is finished, if the workpiece on the positioning block 53 is qualified, the third blowing module 65 blows off the positioning part 532 and the first blowing module 63 blows into the qualified collecting hopper 61, and if the workpiece is unqualified, the third blowing module 65 blows off the positioning part 532 and the second blowing module 64 blows into the unqualified collecting hopper 62.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (10)
1. The appearance intelligent detection system based on the mechanical arm is provided with a workbench (1), and is characterized in that a feeding mechanism (2), a first positioning mechanism (3) and a mechanical arm mechanism (4) are arranged on the workbench (1), and the feeding mechanism (2) is a vibration disc (21) and a feeding channel (22);
The first positioning mechanism (3) comprises a first supporting frame (31) fixedly arranged on the workbench (1), a lifting sliding block (32) capable of sliding up and down on the first supporting frame (31) under the driving of a lifting cylinder is arranged on the first supporting frame (31), a through channel (321) for a workpiece to enter is arranged on the lifting sliding block (32), a limit baffle (33) for blocking the workpiece is fixedly arranged at the tail end of the through channel (321) on the first supporting frame (31), the through channel (321) of the lifting sliding 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), and the feeding end of the feeding channel (22) is correspondingly matched with the discharge end of the vibration 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);
the mechanical arm positioning device comprises a first positioning mechanism (5), wherein the first positioning mechanism (5) comprises a first support frame (51), a driving rack (52) and positioning blocks (53), the first support frame (51) is fixedly arranged on a workbench (1), the driving rack (52) which is driven by a driving device to linearly slide on the first support frame (51) is arranged on the first support frame (51), the positioning blocks (53) comprise driven gear parts (531) and positioning parts (532) which are connected into a whole and are used for positioning workpieces, the driven gear parts (531) are rotatably arranged on the first support frame (51), the driven gear parts (531) are in transmission fit with the driving rack (52), the number of the positioning blocks (53) is equal to the number of through channels (321) on a lifting slider (32), the position relation between the positioning blocks (53) corresponds to the position relation between the through channels (321), and the grabbing device (43) on the mechanical arm (41) is used for grabbing the workpieces in the through channels (321) and transferring the workpieces to the positioning parts (532).
2. The intelligent detection system based on the appearance of the mechanical arm according to claim 1 is characterized by further comprising a sorting mechanism (6), wherein the sorting mechanism (6) comprises a qualified collecting hopper (61), a disqualified collecting hopper (62), a first blowing module (63), a second blowing module (64) and a third blowing module (65) arranged on a positioning block (53), one side of each positioning block (53) of the second support frame (51) is correspondingly provided with one first blowing module (63), the other side of each positioning block (53) of the second support frame (51) is correspondingly provided with one second blowing module (64), and the qualified collecting hopper (61) and the disqualified collecting hopper (62) are respectively arranged on a workbench (1) and are respectively arranged on 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 formed in the first fixed body and connected with a first blowing pipe capable of blowing out compressed air, the second blowing module (64) comprises a second fixed body fixedly connected to the second support frame (51), a second blowing port is formed in the second fixed body and connected with a second blowing pipe capable of blowing out compressed air, the third blowing module (65) comprises a third blowing port which is arranged on the positioning part (532) and used for blowing out a workpiece from the positioning part (532), the third blowing port is connected with a third blowing pipe capable of blowing out compressed air, the first blowing module (63) is used for blowing out a workpiece separated from the positioning part (532) into a qualified hopper (61), and the second blowing module (64) is used for blowing out a workpiece unqualified hopper (62) separated from the positioning part (532).
3. The intelligent detection system based on the appearance of the manipulator according to claim 2 is characterized by comprising two manipulator mechanisms (4), two second positioning mechanisms (5) and two sorting mechanisms (6), wherein 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.
4. The intelligent appearance detection system based on the mechanical arm is characterized by comprising two sets of feeding mechanisms (2), wherein at least two feeding grooves are arranged on a feeding channel (22) of each feeding mechanism (2), two feeding positions are arranged on a lifting sliding block (32), the feeding positions are in one-to-one correspondence with the feeding grooves on the feeding mechanisms (2), a plurality of through channels (321) in one-to-one correspondence with the feeding grooves on the corresponding feeding channels (22) are arranged on each feeding position, two groups of shooting devices (42) are arranged on the mechanical arm (41), the two groups of shooting devices (42) are in one-to-one correspondence with the two feeding positions and are used for shooting workpieces in the through channels (321) at the corresponding feeding positions, the grabbing devices (43) on the mechanical arm (41) are suckers capable of adsorbing the workpieces, the number of suckers is equal to that of the through channels (321) on the lifting sliding block (32), and the suckers are in one-to-one correspondence with the through channels (321).
5. The intelligent detection system based on the appearance of the mechanical arm according to claim 1,2 or 3 is characterized by comprising two sets of feeding mechanisms (2), wherein a feeding channel is arranged on a feeding channel (22) of each feeding mechanism (2), two feeding levels are arranged on a lifting sliding block (32), the feeding levels correspond to the feeding mechanisms (2) one by one, and a plurality of through channels (321) which are linearly arranged are arranged on each feeding level;
A sliding plate (34) which can slide back and forth along the direction of the linear arrangement of the through channels (321) under the drive of the driving device is arranged on the first supporting frame (31), and a lifting sliding block (32) which can slide up and down on the sliding plate (34) under the drive of a lifting cylinder is arranged on the sliding plate (34);
an optical fiber sensing head for sensing whether a workpiece exists in a through channel (321) which is in butt joint with the feeding chute at present is fixedly arranged on the limiting baffle plate (33) and positioned on the right opposite side of the feeding chute;
The manipulator (41) is provided with two groups of shooting devices (42), the two groups of shooting devices (42) are respectively used for shooting workpieces in the through channels (321) at each feeding position, the grabbing devices (43) on the manipulator (41) are suckers capable of adsorbing the workpieces, the manipulator (41) is provided with a plurality of suckers, the number of the suckers is equal to that of the through channels (321) on the lifting sliding blocks (32), and the suckers are in one-to-one correspondence with the through channels (321).
6. The intelligent detection system for appearance based on manipulator according to claim 4, wherein the feeding channel (22) is provided with two feeding grooves.
7. The intelligent detection system based on the appearance of the mechanical arm according to claim 5, wherein two through channels (321) are arranged on each feeding level, a driving device for driving the sliding plate (34) to slide back and forth is a driving cylinder, after the driving cylinder stretches out, one through channel (321) on each feeding level is in butt joint with a corresponding feeding groove, and after the driving cylinder stretches back, the other through channel (321) on each feeding level is in butt joint with the corresponding feeding groove.
8. The intelligent appearance detection system based on the manipulator according to claim 3 is characterized in that the manipulator (41) is a manipulator capable of rotating by 360 degrees, a mounting plate (44) is fixedly arranged at the free end of the manipulator, and the shooting device (42) and the grabbing device (43) are fixedly arranged on the mounting plate (44).
9. The intelligent detection system based on the appearance of the manipulator according to claim 2 is characterized in that a driving device for driving the driving rack (52) to slide comprises a driving motor and an output gear (54), wherein 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 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 upper cover of the mounting groove is provided with a cover plate (55), and the cover plate (55) is provided with a through hole from which the positioning part (532) of the positioning block (53) can extend.
10. The intelligent detection system based on the appearance of the mechanical arm according to claim 9, wherein the driving motor is fixedly connected to the lower surface of the second supporting frame (51), and an output shaft of the driving motor extends into the mounting groove to be in transmission connection with the output gear (54).
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| CN112427340B (en) * | 2020-12-03 | 2022-08-19 | 东莞诚信电子塑胶有限公司 | Automatic detection equipment |
| CN113335928B (en) * | 2021-08-05 | 2021-11-05 | 常州微亿智造科技有限公司 | Electronic cigarette shell testing machine |
| CN115922319B (en) * | 2022-11-24 | 2025-11-18 | 臻越自动化技术（上海）有限公司 | A snap-fit mounting device |
| CN118698897A (en) * | 2024-07-08 | 2024-09-27 | 联钢精密科技(中国)有限公司 | A vibrating plate feeding detection device based on automatic sorting |
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