CN110940675A - Visual detection device and detection method for six-surface full-inspection machine of electric appliance product - Google Patents
Visual detection device and detection method for six-surface full-inspection machine of electric appliance product Download PDFInfo
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- CN110940675A CN110940675A CN202010005083.9A CN202010005083A CN110940675A CN 110940675 A CN110940675 A CN 110940675A CN 202010005083 A CN202010005083 A CN 202010005083A CN 110940675 A CN110940675 A CN 110940675A
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- 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
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- 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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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Abstract
The invention discloses a vision detection device and a detection method for a six-side full-inspection machine of an electric product, which structurally comprises an NG material storage box support frame, a jacking rotating device support frame, a bottom support plate, a jacking rotating device, a product placing platform, a mechanical claw, a mechanical arm, an NG material storage box, a material conveying belt and a support frame. The method has the advantages of high detection speed, high precision, good stability, low cost and small occupied space of equipment.
Description
Technical Field
The invention belongs to the technical field of electric appliance product detection equipment; in particular to a vision detection device and a detection method for a six-surface full inspection machine of an electric appliance product.
Background
In the production of complex electrical products, the defects such as missing installation, wrong installation, reverse installation, position deviation, damage, surface defects and the like of components are generated in the production process of the products due to the complex shapes of the electrical products, the errors affect the quality and performance of the products, and therefore the products need to be detected. The traditional technical multi-station shooting is performed on different surfaces, the shooting method is fixed, so that errors of several millimeters exist in product positioning, the effect of image consistency is difficult to achieve due to influences caused by a light source, particularly, images with good contrast are difficult to shoot for precision and high detection such as component damage and surface bump damage, and great detection difficulty exists for defect detection of products of the type.
Disclosure of Invention
The invention aims to provide a vision detection device and a vision detection method for a six-surface full inspection machine of an electric product, so as to solve the technical problem.
In order to realize the purpose, the visual detection device comprises an NG material storage box support frame, a jacking rotary device support frame, a bottom support plate, a jacking rotary device, a product placement platform, a mechanical claw, a mechanical arm, an NG material storage box, a material conveying belt and a support frame, wherein the support frame is respectively fixed at the lower sides of the front end and the rear end of the material conveying belt, the bottom support plate is arranged at the lower side of the material conveying belt, the bottom support plate is fixed on the side wall of the support frame, the NG material storage box is arranged at one side of the material conveying belt, the lower end of the NG material storage box is fixedly provided with the NG material storage box support frame, the NG material storage box is fixed on the upper end surface of the bottom support plate through the NG material storage box support frame, the product placement platform is arranged at the upper side of the material conveying belt, the jacking rotary device is fixed at the lower, jacking rotary device support frame is fixed in on the bottom sprag board, the product place the platform upside is located to the gripper, the gripper rotates and is fixed in on the arm, the arm is located the one side that the material transmission band is equipped with NG material case.
Further, the jacking rotating device comprises a jacking shell, a jacking motor, a driven pulley, a belt, a driving pulley, a rotating motor, a supporting shaft, a threaded rotating shaft and a jacking base, wherein the jacking motor is fixed at the lower end of the inner side of the jacking shell, the threaded rotating shaft is arranged at the inner side of the jacking shell, the threaded rotating shaft is rotatably connected with an output shaft of the jacking motor, the jacking base is embedded in the side wall of the jacking shell and is slidably connected with the jacking shell, the part of the jacking base embedded in the side wall of the jacking shell is in threaded fit contact with the threaded rotating shaft, the supporting shaft is rotatably fixed on the jacking base, the driven pulley is fixedly arranged at the lower end of the supporting shaft, a product placing platform is fixed at the lower end of the supporting shaft, the rotating motor is fixed on the jacking base, the rotating motor is arranged, the driving belt pulley and the driven belt pulley are in transmission connection through a belt.
Further, product place the platform includes telescopic link mount, telescopic link, alternately folding rod, rotation connecting rod, place the platform pivot, cardboard, place the platform and cross rod axis of rotation, the cardboard rotates through the place the platform pivot and is fixed in the place the platform both sides, place the platform pivot one end is embedded in place the platform, and the other end pierces through place the platform and rotates connecting rod one end fixed connection, the rotation connecting rod other end rotates with alternately folding rod upper end to be connected, alternately folding rod lower extreme is fixed in on the back shaft lateral wall, terminal surface fixed connection under back shaft upper end and the place the platform, alternately folding rod crosspoint is located to cross rod axis of rotation one end, and the other end rotates with the telescopic link upper end to be connected, the telescopic link is fixed in on the back shaft lateral wall through.
Furthermore, the gripper comprises a clamping jaw, a clamping jaw driving motor, a clamping jaw base, a camera mounting shell, first bevel gears, a gripper connecting frame, second bevel gears, two driving gears, a driving shaft, third bevel gears, a camera and fourth bevel gears, the clamping jaw is embedded on the lower end face of the clamping jaw base, the clamping jaw is in sliding connection with the clamping jaw base, the clamping jaw is respectively arranged on the left side and the right side of the lower end face of the clamping jaw base, the driving gears are rotationally fixed on the clamping jaw base through rotating shafts, the two driving gears are respectively arranged on the left side and the right side of the clamping jaw base and meshed with the side walls of the clamping jaw, the two driving gears are respectively fixedly connected with the two second bevel gears through rotating shafts, the two second bevel gears are respectively meshed with the two first bevel gears, the two first bevel gears are respectively fixed, the drive shaft is embedded in the clamping jaw base, the third bevel gear is sleeved on the drive shaft, the clamping jaw driving motor is embedded in the clamping jaw base, the fourth bevel gear is sleeved on an output shaft of the clamping jaw driving motor and meshed with the third bevel gear, the camera mounting shell is fixed on the upper end face of the clamping jaw base, the mechanical jaw connecting frame is arranged on the upper side of the camera mounting shell, the mechanical jaw connecting frame is fixedly connected with the left side wall and the right side wall of the camera mounting shell, the camera is arranged in the camera mounting shell, the camera of the camera penetrates through the clamping jaw base downwards and is arranged on the lower end face of the clamping jaw base, the camera of the camera is located between the two clamping jaws, and the mechanical jaw connecting frame is connected with the mechanical arm in a rotating mode.
Further, the mechanical arm comprises a mechanical claw mounting head, a first mechanical arm base, a second mechanical arm, a third mechanical arm, a mechanical arm connecting base, a third mechanical arm base and a first mechanical arm, wherein a mechanical claw mounting head motor is arranged in the mechanical claw mounting head, an output shaft of the mechanical claw mounting head motor is fixedly connected with the upper end of a mechanical claw connecting frame, the mechanical claw mounting head is rotatably connected with the head end of the first mechanical arm through a mechanical arm bearing, the tail end of the first mechanical arm is rotatably connected with the head end of the first mechanical arm base through a mechanical arm bearing, the tail end of the first mechanical arm base is rotatably connected with the head end of the second mechanical arm through a mechanical arm bearing, the tail end of the second mechanical arm is rotatably connected with the head end of the third mechanical arm through a mechanical arm bearing, and the tail end of the third mechanical arm is rotatably connected with, the lower end of the third mechanical arm base is connected with the mechanical arm connecting base through a mechanical arm bearing and is rotationally connected with the mechanical arm connecting base, and the mechanical claw mounting head motor and the mechanical arm bearing are servo motors.
Further, the material transmission band includes drive roller, first driving band, fixed wall, driven voller and second driving band, the fixed wall is equipped with two altogether, two fixed wall bilateral symmetry each other is fixed in on the support frame, the drive roller rotates and is fixed in between two fixed walls, and is located two fixed wall head ends, the driven voller rotates and is fixed in between two fixed walls, and is located two fixed wall ends, first driving band and second driving band all overlap on drive roller and driven voller, first driving band overlaps in drive roller and driven voller left end, the second driving band overlaps in drive roller and driven voller right-hand member.
Further, material transmission band and jacking motor, rotating electrical machines, clamping jaw driving motor all are servo motor, material transmission band, jacking motor, rotating electrical machines, clamping jaw driving motor and the first motor of mechanical gripper installation, arm bearing, telescopic link all are connected with external power supply through control panel.
The invention provides a vision detection method for a six-surface full inspection machine of an electric appliance product, which comprises the following steps of:
1) placing the product on a material conveying belt, and starting the equipment through a control panel;
2) when the product reaches the product placing platform, the product is shortened, the crossed folding rods are pushed to fold, two ends of the crossed folding rods are separated, the rotating connecting rods are driven to rotate, and the product is clamped by the clamping plates at the moment;
3) the jacking motor rotates in the positive direction to drive the threaded rotating shaft to rotate, and the threaded rotating shaft and the jacking base rotate relatively to move the jacking base upwards, so that a product is pushed to move close to the mechanical claw;
4) at the moment, the camera on the mechanical claw shoots the points to be detected on the front surface of the product for multiple times, and then shoots the detection points on the left side surface and the right side surface for multiple times;
5) after the left side face and the right side face are shot, the cross folding rods are stretched to push the cross folding rods to unfold, the two ends of the cross folding rods are close to each other to drive the rotating connecting rods to rotate, the product is released by the clamping plates at the moment, the rotating motor slowly rotates for 180 degrees, and the front side face and the rear side face of the product are shot by the camera;
6) after two side shoots in front and back, clamping jaw driving motor starts, drives drive shaft and drive gear and rotates to drive the clamping jaw and remove, thereby the side about the centre gripping product overturns 180 about the product, then the camera openly needs the point that detects to shoot many times.
Furthermore, in the shooting process, the computer synchronously processes data, when shooting is finished, a detection result is obtained, the mechanical claw and the mechanical arm place qualified products on the material conveying belt to continue to operate, and place unqualified products in the NG material storage box.
The invention has the beneficial effects that: the invention relates to a non-contact full-intelligent defect detection method based on machine vision, which solves the problem that multiple surfaces of complex electrical products are detected simultaneously all the time. The method has the advantages of high detection speed, high precision, good stability, low cost and small occupied space of equipment. The effect of robot in the system, snatch, action cooperation such as removal upset in the testing process, detect classification etc. after finishing, the integral type accomplishes the frock that does not need the intermediate link and shifts, the time has been saved, each is taken before through the secondary location, it is more accurate to have carried out the angle of snatching of rectifying of horizontal position and axial angle before, the uniformity of shooing the product like this is higher, the mechanism is simple, snatch with low costs, remove, shoot the function of focusing, the upset, the categorised action make full use of the robot, the complexity of mechanism has been retrencied greatly. Firstly, the stability of the whole device is guaranteed, and secondly, the cost of the whole mechanism is greatly reduced. The mechanism of the invention skillfully detects all detection points on six surfaces of various similar electrical products in one work station, occupies small space and has strong applicability.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the overall structure of a six-side full inspection machine vision inspection device for an electrical product according to the present invention;
FIG. 2 is a schematic structural diagram of a jacking rotary device of a six-surface full inspection machine vision inspection device for an electrical product according to the present invention;
FIG. 3 is a schematic structural diagram of a product placement platform of the six-surface full inspection machine visual inspection device for an electrical product according to the present invention;
FIG. 4 is a schematic structural diagram of a gripper of a six-surface full-inspection machine vision inspection device for an electrical product according to the present invention;
FIG. 5 is a schematic structural diagram of a mechanical arm of a six-surface full inspection machine vision inspection device for an electrical product according to the present invention;
fig. 6 is a schematic structural diagram of a material conveying belt of the six-side full-inspection machine visual inspection device for the electrical product.
Detailed Description
Referring to fig. 1-6, a vision inspection device and a vision inspection method for six-side full inspection machine of electrical products, comprising a NG material storage box support frame 1, a jacking rotary device support frame 2, a bottom support plate 3, a jacking rotary device 4, a product placement platform 5, a gripper 6, a mechanical arm 7, an NG material storage box 8, a material conveying belt 9 and a support frame 10, characterized in that the support frame 10 is respectively fixed at the lower side of the front end and the rear end of the material conveying belt 9, the bottom support plate 3 is arranged at the lower side of the material conveying belt 9, the bottom support plate 3 is fixed on the side wall of the support frame 10, the NG material storage box 8 is arranged at one side of the material conveying belt 9, the NG material storage box support frame 1 is fixed at the lower end of the NG material storage box 8, the NG material storage box 8 is fixed on the upper end surface of the bottom support plate 3 through, 5 lower extremes of product place the platform are fixed with jacking rotary device 4, and jacking rotary device 4 passes material transmission band 9 and is fixed in on jacking rotary device support frame 2, and jacking rotary device support frame 2 is fixed in on the bottom sprag board 3, and 5 upsides of product place the platform are located to gripper 6, and gripper 6 rotates and is fixed in on arm 7, and arm 7 is located one side that material transmission band 9 was equipped with NG material case 8.
As shown in fig. 2, the jacking rotation device 4 comprises a jacking housing 41, a jacking motor 42, a driven pulley 43, a belt 44, a driving pulley 45, a rotation motor 46, a support shaft 47, a threaded rotation shaft 48 and a jacking base 49, wherein the jacking motor 42 is fixed at the lower end of the inner side of the jacking housing 41, the threaded rotation shaft 48 is arranged at the inner side of the jacking housing 41, the threaded rotation shaft 48 is rotatably connected with the output shaft of the jacking motor 42, the jacking base 49 is embedded in the side wall of the jacking housing 41, the jacking base 49 is slidably connected with the jacking housing 41, the part of the jacking base 49 embedded in the side wall of the jacking housing 41 is in threaded fit contact with the threaded rotation shaft 48, the support shaft 47 is rotatably fixed on the jacking base 49, the driven pulley 43 is fixedly installed at the lower end of the support shaft 47, a product, and the rotating motor 46 is arranged on one side of the supporting shaft 47, the output shaft of the rotating motor 46 is provided with a driving belt pulley 45, and the driving belt pulley 45 and the driven belt pulley 43 are in transmission connection through a belt 44.
As shown in fig. 3, the product placement platform 5 includes a telescopic rod fixing frame 51, a telescopic rod 52, a cross folding rod 53, a rotating connecting rod 54, place the platform pivot 55, cardboard 56, place the platform 57 and cross bar axis of rotation 58, cardboard 56 rotates through place the platform pivot 55 and is fixed in place the platform 57 both sides, place the platform pivot 55 one end is embedded in place the platform 57, the other end pierces through place the platform 57 and rotates connecting rod 54 one end fixed connection, it rotates with the cross folding rod 53 upper end to rotate the connecting rod 54 other end and is connected, cross folding rod 53 lower extreme is fixed in on the back shaft 47 lateral wall, terminal surface fixed connection under back shaft 47 upper end and place the platform 57, cross folding rod 53 crosspoint is located to cross bar axis of rotation 58 one end, the other end rotates with telescopic link 52 upper end to be connected, telescopic link 52 is fixed in on the back shaft 47 lateral wall through.
As shown in fig. 4, the gripper 6 includes a gripper 61, a gripper driving motor 62, a gripper base 63, a camera mounting housing 64, a first bevel gear 65, a gripper connecting frame 66, a second bevel gear 67, a driving gear 68, a driving shaft 69, a third bevel gear 610, a camera 611 and a fourth bevel gear 612, the gripper 61 is embedded on the lower end surface of the gripper base 63, the gripper 61 is slidably connected with the gripper base 63, the gripper 61 is respectively disposed on the left and right sides of the lower end surface of the gripper base 63, the driving gears 68 are rotationally fixed on the gripper base 63 through a rotating shaft, the two driving gears 68 are totally disposed, the two driving gears 68 are respectively disposed on the left and right sides of the gripper base 63 and are meshed with the side walls of the gripper 61, the two driving gears 68 are respectively fixedly connected with the two second bevel gears 67 through a rotating shaft, the two second bevel gears 67 are respectively meshed with the two first bevel gears 65, the, the driving shaft 69 is embedded in the clamping jaw base 63, the third bevel gear 610 is sleeved on the driving shaft 69, the clamping jaw driving motor 62 is embedded in the clamping jaw base 63, the fourth bevel gear 612 is sleeved on an output shaft of the clamping jaw driving motor 62, the fourth bevel gear 612 is meshed with the third bevel gear 610, the camera mounting shell 64 is fixed on the upper end face of the clamping jaw base 63, the gripper connecting frame 66 is arranged on the upper side of the camera mounting shell 64, the gripper connecting frame 66 is fixedly connected with the left side wall and the right side wall of the camera mounting shell 64, the camera 611 is arranged in the camera mounting shell 64, the camera of the camera 611 penetrates through the clamping jaw base 63 downwards and is arranged on the lower end face of the clamping jaw base 63, the camera of the camera 611 is located between the two clamping jaws 61, and the gripper connecting frame 66 is rotatably connected with the mechanical.
As shown in fig. 5, the robot arm 7 includes a gripper mounting head 71, a first robot arm base 72, a second robot arm 73, a third robot arm 74, a robot arm connecting base 75, a third robot arm base 76 and a first robot arm 77, a gripper mounting head motor is provided in the gripper mounting head 71, an output shaft of the gripper mounting head motor is fixedly connected with an upper end of the gripper connecting frame 66, the gripper mounting head 71 is rotatably connected with a head end of the first robot arm 77 through a gripper arm bearing, a tail end of the first robot arm 77 is rotatably connected with a head end of the first robot arm base 72 through a gripper arm bearing, a tail end of the first robot arm base 72 is rotatably connected with a head end of the second robot arm 73 through a gripper arm bearing, a tail end of the second robot arm 73 is rotatably connected with a head end of the third robot arm 74 through a gripper arm bearing, a tail end of the third robot arm 74 is rotatably, the lower end of the third mechanical arm base 76 is rotatably connected with the mechanical arm connecting base 75 through a mechanical arm bearing, and the mechanical claw mounting head motor and the mechanical arm bearing are all servo motors.
As shown in fig. 6, the material conveying belt 9 includes two driving rollers 91, two first driving rollers 92, two fixing walls 93, two driven rollers 94 and two second driving rollers 95, the two fixing walls 93 are fixed to the supporting frame 10 in bilateral symmetry, the driving rollers 91 are rotatably fixed between the two fixing walls 93 and located at the head ends of the two fixing walls 93, the driven rollers 94 are rotatably fixed between the two fixing walls 93 and located at the tail ends of the two fixing walls 93, the first driving rollers 92 and the second driving rollers 95 are both sleeved on the driving rollers 91 and the driven rollers 94, the first driving rollers 92 are sleeved at the left ends of the driving rollers 91 and the driven rollers 94, and the second driving rollers 95 are sleeved at the right ends of the driving rollers 91 and the driven rollers 94.
The material conveying belt 9, the jacking motor 42, the rotating motor 46 and the clamping jaw driving motor 62 are all servo motors, the material conveying belt 9, the jacking motor 42, the rotating motor 46, the clamping jaw driving motor 62, the mechanical jaw mounting head motor, the mechanical arm bearing and the telescopic rod 52 are all connected with an external power supply through a control panel, the control panel is the prior art, and can adopt a 6AV6545-0BA15-2AX0 control panel produced by Siemens.
The working steps and the principle of the invention are as follows:
1) placing the product on a material conveyor belt 9, starting the apparatus by means of a control panel;
2) when the product reaches the product placing platform 5, the product is shortened, the cross folding rod 53 is pushed to fold, two ends of the cross folding rod 53 are separated, the rotating connecting rod 54 is driven to rotate, and the product is clamped by the clamping plate 56;
3) the jacking motor 42 rotates positively to drive the threaded rotating shaft 48 to rotate, the threaded rotating shaft 48 and the jacking base 49 rotate relatively to enable the jacking base 49 to move upwards, and therefore a product is pushed to move close to the mechanical claw 6;
4) at the moment, the camera 611 on the mechanical claw 6 shoots the points to be detected on the front surface of the product for multiple times, and then shoots the detection points on the left side and the right side for multiple times;
5) after the left side and the right side are photographed, the folding rods 53 are extended to push the folding rods 53 to be unfolded, the upper ends of the folding rods 53 are close to each other to drive the rotating connecting rods 54 to rotate, the product is released by the clamping plates 56 at the moment, the rotating motor 46 rotates slowly for 180 degrees, and the camera 611 photographs the front side and the rear side of the product;
6) after the front side and the rear side are shot, the clamping jaw driving motor 62 is started to drive the driving shaft 69 and the driving gear 68 to rotate, so that the clamping jaw 61 is driven to move, the left side and the right side of the product are clamped, the product is turned over by 180 degrees up and down, and then the camera 611 shoots the points needing to be detected on the front side of the product for multiple times;
in the shooting process, the computer synchronously processes data, when shooting is finished, a detection result is obtained, the mechanical claw 6 and the mechanical arm 7 place qualified products on the material conveying belt 9 to continue running, and unqualified products are placed in the NG material storage box 8.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. A vision detection device of a six-side full-inspection machine for electrical products comprises an NG material storage box support frame (1), a jacking rotary device support frame (2), a bottom support plate (3), a jacking rotary device (4), a product placing platform (5), a mechanical claw (6), a mechanical arm (7), an NG material storage box (8), a material conveying belt (9) and a support frame (10), and is characterized in that the support frame (10) is respectively fixed at the lower sides of the front end and the rear end of the material conveying belt (9), the bottom support plate (3) is arranged at the lower side of the material conveying belt (9), the bottom support plate (3) is fixed on the side wall of the support frame (10), the NG material storage box (8) is arranged at one side of the material conveying belt (9), the NG material storage box support frame (1) is fixed at the lower end of the NG material storage box (8), and the NG material storage box (8) is fixed on the upper end surface of the bottom support plate, material transmission band (9) upside is located in product place platform (5), product place platform (5) lower extreme is fixed with jacking rotary device (4), jacking rotary device (4) pass material transmission band (9) be fixed in on jacking rotary device support frame (2), jacking rotary device support frame (2) are fixed in on bottom sprag board (3), product place platform (5) upside is located in gripper (6), gripper (6) rotate be fixed in on arm (7), one side that material transmission band (9) were equipped with NG material case (8) is located in arm (7).
2. The vision inspection device of six-sided full inspection machine of electrical product according to claim 1, characterized in that the jacking rotary device (4) comprises a jacking housing (41), a jacking motor (42), a driven pulley (43), a belt (44), a driving pulley (45), a rotary motor (46), a support shaft (47), a threaded rotary shaft (48) and a jacking base (49), the jacking motor (42) is fixed at the lower end of the inner side of the jacking housing (41), the threaded rotary shaft (48) is arranged at the inner side of the jacking housing (41), the threaded rotary shaft (48) is rotatably connected with the output shaft of the jacking motor (42), the jacking base (49) is embedded in the side wall of the jacking housing (41), the jacking base (49) is slidably connected with the jacking housing (41), the part of the jacking base (49) embedded in the side wall of the jacking housing (41) is in threaded fit contact with the threaded rotary shaft (48), support shaft (47) rotate be fixed in on jacking base (49), support shaft (47) lower extreme fixed mounting has driven pulley (43), support shaft (47) lower extreme is fixed with product place the platform (5), rotating electrical machines (46) are fixed in on jacking base (49), and rotating electrical machines (46) locate support shaft (47) one side, be equipped with driving pulley (45) on rotating electrical machines (46) output shaft, driving pulley (45) and driven pulley (43) are through belt (44) transmission connection.
3. The vision inspection device for six-sided full inspection machines of electrical products as claimed in claim 1, wherein the product placement platform (5) comprises a telescopic rod fixing frame (51), a telescopic rod (52), a cross folding rod (53), a rotating connecting rod (54), a placement platform rotating shaft (55), a clamping plate (56), a placement platform (57) and a cross rod rotating shaft (58), the clamping plate (56) is rotatably fixed on two sides of the placement platform (57) through the placement platform rotating shaft (55), one end of the placement platform rotating shaft (55) is embedded in the placement platform (57), the other end penetrates through the placement platform (57) and is fixedly connected with one end of the rotating connecting rod (54), the other end of the rotating connecting rod (54) is rotatably connected with the upper end of the cross folding rod (53), the lower end of the cross folding rod (53) is fixed on the side wall of the supporting shaft (47), the supporting shaft (47) upper end and the placing platform (57) lower end face are fixedly connected, the cross folding rod (53) cross point is arranged at one end of the cross rod rotating shaft (58), the other end of the cross rod rotating shaft is rotatably connected with the upper end of the telescopic rod (52), and the telescopic rod (52) is fixed on the side wall of the supporting shaft (47) through a telescopic rod fixing frame (51).
4. The vision detection device of the six-sided full-automatic inspection machine of the electric product according to claim 1, wherein the mechanical claw (6) comprises a clamping jaw (61), a clamping jaw driving motor (62), a clamping jaw base (63), a camera mounting shell (64), a first bevel gear (65), a mechanical claw connecting frame (66), a second bevel gear (67), a driving gear (68), a driving shaft (69), a third bevel gear (610), a camera (611) and a fourth bevel gear (612), the clamping jaw (61) is embedded in the lower end face of the clamping jaw base (63), the clamping jaw (61) is connected with the clamping jaw base (63) in a sliding manner, the clamping jaw (61) is respectively arranged on the left side and the right side of the lower end face of the clamping jaw base (63), the driving gear (68) is rotationally fixed on the clamping jaw base (63) through a rotating shaft, and the two driving gears (68) are arranged, the two driving gears (68) are respectively arranged on the left side and the right side of the clamping jaw base (63) and meshed with the side walls of the clamping jaws (61), the two driving gears (68) are respectively fixedly connected with the two second bevel gears (67) through rotating shafts, the two second bevel gears (67) are respectively meshed with the two first bevel gears (65), the two first bevel gears (65) are respectively fixed at the two ends of a driving shaft (69), the driving shaft (69) is embedded in the clamping jaw base (63), the third bevel gear (610) is sleeved on the driving shaft (69), the clamping jaw driving motor (62) is embedded in the clamping jaw base (63), the fourth bevel gear (612) is sleeved on an output shaft of the clamping jaw driving motor (62), the fourth bevel gear (612) is meshed with the third bevel gear (610), and the camera mounting shell (64) is fixed on the upper end face of the clamping jaw base (63), camera installation shell (64) upside is located in gripper link (66), and gripper link (66) and camera installation shell (64) left and right sides lateral wall fixed connection, camera (611) are located in camera installation shell (64), the camera of camera (611) pierces through clamping jaw base (63) downwards and locates on clamping jaw base (63) terminal surface down, and the camera of camera (611) is located between two clamping jaws (61), gripper link (66) rotate with arm (7) and are connected.
5. The vision inspection device for six-sided full inspection machines of electric products as claimed in claim 1, wherein said mechanical arm (7) comprises a mechanical claw mounting head (71), a first mechanical arm base (72), a second mechanical arm (73), a third mechanical arm (74), a mechanical arm connecting base (75), a third mechanical arm base (76) and a first mechanical arm (77), said mechanical claw mounting head motor is arranged in said mechanical claw mounting head (71), said mechanical claw mounting head motor output shaft is fixedly connected with the upper end of the mechanical claw connecting frame (66), said mechanical claw mounting head (71) is rotatably connected with the head end of the first mechanical arm (77) through a mechanical arm bearing, the tail end of said first mechanical arm (77) is rotatably connected with the head end of the first mechanical arm base (72) through a mechanical arm bearing, the tail end of said first mechanical arm base (72) is rotatably connected with the head end of the second mechanical arm (73) through a mechanical arm bearing, the end of second arm (73) is rotated through arm bearing and third arm (74) head end and is connected, the end of third arm (74) is rotated through arm bearing and third arm base (76) upper end and is connected, third arm base (76) lower extreme is connected base (75) through arm bearing and arm and is rotated and be connected, the first motor of installation of gripper and arm bearing all are servo motor.
6. The vision inspection device for six-sided full inspection machine of electrical product according to claim 1, wherein the material conveying belt (9) comprises two driving rollers (91), two first driving belts (92), two fixed walls (93), two driven rollers (94) and two second driving belts (95), the two fixed walls (93) are fixed on the supporting frame (10) in bilateral symmetry, the driving rollers (91) are rotationally fixed between the two fixed walls (93) and located at the head ends of the two fixed walls (93), the driven rollers (94) are rotationally fixed between the two fixed walls (93) and located at the tail ends of the two fixed walls (93), the first driving belts (92) and the second driving belts (95) are both sleeved on the driving rollers (91) and the driven rollers (94), the first driving belts (92) are sleeved at the left ends of the driving rollers (91) and the driven rollers (94), the second driving belt (95) is sleeved at the right ends of the driving roller (91) and the driven roller (94).
7. The vision inspection device for six-sided full inspection machines of electrical products as claimed in claim 1, wherein the material conveying belt (9) and the jacking motor (42), the rotating motor (46), and the clamping jaw driving motor (62) are all servo motors, and the material conveying belt (9), the jacking motor (42), the rotating motor (46), the clamping jaw driving motor (62) and the mechanical jaw mounting head motor, the mechanical arm bearing, and the telescopic rod (52) are all connected with an external power source through a control panel.
8. A vision detection method for a six-surface full inspection machine of an electric appliance product is characterized in that the product is placed on a material conveying belt (9), and equipment is started through a control panel;
when the product reaches the product placing platform (5), the product is shortened, the cross folding rod (53) is pushed to fold, two ends of the cross folding rod (53) are separated, the rotating connecting rod (54) is driven to rotate, and the product is clamped by the clamping plate (56);
the jacking motor (42) positively rotates to drive the threaded rotating shaft (48) to rotate, the threaded rotating shaft (48) and the jacking base (49) generate relative rotation to enable the jacking base (49) to move upwards, and therefore a product is pushed to move close to the mechanical claw (6);
at the moment, a camera (611) on the mechanical claw (6) shoots points needing to be detected on the front surface of the product for multiple times, and then shoots detection points on the left side surface and the right side surface for multiple times;
after the left side and the right side are photographed, the two sides are stretched, the crossed folding rod (53) is pushed to be unfolded, the two ends of the crossed folding rod (53) are close to each other, the rotating connecting rod (54) is driven to rotate, the product is released by the clamping plate (56), the rotating motor (46) rotates slowly for 180 degrees, and the front side and the rear side of the product are photographed by the camera (611);
after the front side and the rear side are shot, the clamping jaw driving motor (62) is started to drive the driving shaft (69) and the driving gear (68) to rotate, so that the clamping jaw (61) is driven to move, the left side and the right side of a product are clamped, the product is turned over by 180 degrees from top to bottom, and then the camera (611) shoots the front point of the product for multiple times.
9. The vision inspection method for six-sided full inspection machines of electrical products according to claim 8, characterized in that in the shooting process, the computer processes data synchronously, when the shooting is finished, a detection result is obtained, the mechanical claw (6) and the mechanical arm (7) put qualified products on the material conveying belt (9) to continue to operate, and unqualified products are put in the NG material storage box (8).
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