CN111300456A - Robot tail end vision testing manipulator - Google Patents
Robot tail end vision testing manipulator Download PDFInfo
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- CN111300456A CN111300456A CN202010127624.5A CN202010127624A CN111300456A CN 111300456 A CN111300456 A CN 111300456A CN 202010127624 A CN202010127624 A CN 202010127624A CN 111300456 A CN111300456 A CN 111300456A
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- 238000012360 testing method Methods 0.000 title claims abstract description 58
- 239000000523 sample Substances 0.000 claims description 71
- 238000004891 communication Methods 0.000 claims description 2
- 230000001815 facial effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 101000857682 Homo sapiens Runt-related transcription factor 2 Proteins 0.000 description 3
- 102100025368 Runt-related transcription factor 2 Human genes 0.000 description 3
- 230000035515 penetration Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention discloses a robot tail end vision testing manipulator which comprises an image recognition system CCD, wherein the image recognition system CCD is connected with a program-controlled telecentric zoom lens, the lower end of the program-controlled telecentric zoom lens is correspondingly provided with a program-controlled RGB (red, green and blue) color light source, the outer side wall of the program-controlled telecentric zoom lens is fixedly connected with a lens flange, the outer side wall of the lens flange is fixedly connected with a tail end manipulator flange, and the tail end manipulator flange is fixedly connected with a robot tail end flange which is fixedly connected with the tail end of a robot; in the process of testing good stable electrical performance of each connector, a nondestructive contact connection test loop of the universality of the male pin test point and the female hole test point of each connector is realized.
Description
Technical Field
The invention relates to the technical field of vision testing, in particular to a robot tail end vision testing manipulator.
Background
The robot tail end vision testing manipulator is used for recognizing coordinates of connector detection points of cable network prefabricated wire harnesses and complete machine prefabricated wire harnesses of an electrical equipment control cabinet, and confirming and switching test probes and test point positions of a sounding connector male pin and a female hole.
And clamping a connector of the prefabricated cable network wiring harness in a positioning clamp of a test system, and carrying out CCD image recognition on the test system through a robot tail end vision test manipulator. And identifying the arrangement position coordinates of the male pins and the female holes of the ports of the cable connector. And the main control computer controls the test probe on the robot tail end test manipulator by combining the coordinate and the shape information of the test point and the predicted circuit connection relation. And the accurate probes are confirmed and switched, so that the accurate and stable electric signal test loop connection of the test points is realized, and the automatic test of various electric performance parameters of the cable is facilitated.
The conventional cable network prefabricated wire harness test system usually needs thousands of switch matrixes, and is well butted with all connectors of a cable network through a special cable and a special switching tool. The master control computer controls the switching of the switch matrix switch according to the predicted cable network circuit connection relation; a measurement loop is formed. And automatically testing the open-short circuit wiring relation, the on-resistance, the insulation resistance, the voltage resistance and other test items of the prefabricated cable network circuit. The communication of different cable network test loops is realized, and countless special connector switching tools are required to be accurately matched with the switching cables; and (4) plugging and connecting with a large force. The working difficulty and the labor intensity are increased, the investment cost and the management cost are increased, the testing efficiency is reduced, and the production benefit is reduced.
Disclosure of Invention
The present invention is directed to a robot end vision testing manipulator, so as to solve the problems set forth in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
terminal visual test manipulator of robot, including image recognition system CCD, image recognition system CCD is connected with programme-controlled heart of heart variable-power camera lens, the lower extreme correspondence of programme-controlled heart of heart variable-power camera lens is provided with programme-controlled RGB color light source, fixedly connected with camera lens flange on the lateral wall of programme-controlled heart variable-power camera lens, fixedly connected with end manipulator flange on the lateral wall of camera lens flange, fixedly connected with is used for the terminal flange of robot with the terminal fixed connection of robot on the end manipulator flange, first cylinder, second cylinder and third cylinder of fixedly connected with side by side on the end manipulator flange, the end that actuates of first cylinder, second cylinder and third cylinder is the board that links of public needle probe of fixed connection, Kelvin probe and female hole probe respectively, reaches public needle probe, Kelvin probe and female hole probe.
As a further scheme of the invention: the lens flange comprises a first arc-shaped plate and a second arc-shaped plate, and the first arc-shaped plate and the second arc-shaped plate are fixedly connected with the program-controlled telecentric zoom lens on the outer side wall through fixing bolts.
As a further scheme of the invention: the actuating ends of the first cylinder, the second cylinder and the third cylinder are respectively and fixedly connected with a first connecting plate, a second connecting plate and a third connecting plate, the first connecting plate is elastically connected with the male pin probe, the Kelvin probe is elastically connected with the second connecting plate, and the female hole probe is elastically connected with the third connecting plate.
As a further scheme of the invention: and the actuating ends of the first cylinder, the second cylinder and the third cylinder are L-shaped sliding table flanges.
As a further scheme of the invention: the utility model discloses a public probe is fixed with first sliding block on the public probe, the upper and lower both ends of first sliding block all are through first spring fixed connection on first even board.
As a further scheme of the invention: and the Kelvin probe is fixedly connected with a second sliding block, and the upper end and the lower end of the second sliding block are fixedly connected onto a second connecting plate through a second spring.
As a further scheme of the invention: female hole probe is last fixedly connected with third sliding block, the upper and lower both ends of third movable block all pass through third spring fixed connection on the third is even board.
Compared with the prior art, the invention has the beneficial effects that: the invention uses CCD image collection coordinate function and three program control probes to connect the male pin and the female hole on the end surface of the connector of each cable network, thus realizing accurate and stable test loop connection conveniently and quickly.
Positioning a connector of a male pin and a female hole of a prefabricated cable to be tested at the lower side of a robot tail end vision testing manipulator, wherein the robot tail end vision testing manipulator is fixedly connected with a master control computer and the tail end of a robot; an image recognition system CCD photographs and collects images and transmits the images to a computer image recognition software system; the three probes are connected with a cable network electrical performance testing system, a computer respectively controls the actions of the first cylinder, the second cylinder and the third cylinder, and the male pin probe, the Kelvin probe and the female hole probe respectively move downwards to present a working state when the first cylinder, the second cylinder and the third cylinder respectively act; when the robot accurately switches and controls the male pin probe, the Kelvin probe and the female hole probe to move downwards on the probe connector 'male pin' and 'female hole' according to the recognized coordinate and shape data and the predicted cable connection relation and test requirements, and accurate and stable electric signal test loop connection is realized. The robot tail end vision testing manipulator is in flexible buffer contact in the moving process of the male pin probe, the Kelvin probe and the female hole probe; the universal nondestructive penetration test loop is realized for the male pin and the female hole of the connector.
Drawings
FIG. 1 is a schematic view of a robot end vision testing manipulator;
FIG. 2 is an exploded view of a robot end vision testing robot;
FIG. 3 is a schematic diagram of the connection between the first connecting plate and the third connecting plate in the robot end vision testing manipulator;
in the figure: 1-image recognition system CCD, 2-program control telecentric zoom lens, 3-program control RGB color light source, 4-lens flange, 5-end manipulator flange, 6-robot end flange, 7-first cylinder, 8-second cylinder, 9-third cylinder, 10-pin probe, 11-Kelvin probe, 12-female hole probe, 13-first arc plate, 14-second arc plate, 15-fixing bolt hole, 16-first connecting plate, 17-second connecting plate, 18-third connecting plate, 19-first sliding block, 20-second sliding block, 21-third sliding block, 22-first spring, 23-second spring and 24-third spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, in the embodiment of the present invention, the robot end vision testing manipulator includes an image recognition system CCD1, the image recognition system CCD1 is connected to a program-controlled telecentric zoom lens 2, a program-controlled RGB color light source 3 is correspondingly disposed at a lower end of the program-controlled telecentric zoom lens 2, a lens flange 4 is fixedly connected to an outer side wall of the program-controlled telecentric zoom lens 2, an end manipulator flange 5 is fixedly connected to an outer side wall of the lens flange 4, a robot end flange 6 for fixedly connecting to a robot is fixedly connected to the end manipulator flange 5, a first cylinder 7, a second cylinder 8 and a third cylinder 9 are fixedly connected to the end manipulator flange 5 side by side, actuating ends of the first cylinder 7, the second cylinder 8 and the third cylinder 9 are respectively and fixedly connected to a connection plate of a male pin probe 10, a kelvin probe 11 and a female hole probe 12, and an actuating end of the male pin probe 10, a second cylinder, A kelvin probe 11 and a female bore probe 12; the robot tail end vision testing manipulator is connected with the master control computer and the robot; the image recognition system CCD1 signal is connected with the image recognition software system, and the three probe signals and the electrical property test system are connected with the master control computer, so that the automatic program control test is realized.
The lens flange 4 comprises a first arc-shaped plate 13 and a second arc-shaped plate 14, the first arc-shaped plate 13 and the second arc-shaped plate 14 are fixedly connected to the program-controlled telecentric zoom lens 2 on the outer side wall through bolts of fixing bolt holes 15. When the lens flange 4 needs to be fixedly connected to the outer side wall of the program-controlled telecentric zoom lens 2, a worker places the first arc-shaped plate 13 and the second arc-shaped plate 14 on the outer side wall of the program-controlled telecentric zoom lens 2, and then the worker tightens the bolt of the fixing bolt hole 15 on the first arc-shaped plate 13 and the second arc-shaped plate 14 on the outer side wall; the lens flange 4 is fixedly connected with the program-controlled telecentric zoom lens 2 on the outer side wall through the cooperation of the first arc-shaped plate 13, the second arc-shaped plate 14, the fixing bolt hole 15 and the bolt; when the lens flange 4 needs to be detached from the program-controlled telecentric zoom lens 2, the worker manually rotates the bolt of the fixing bolt hole 15, so that the first arc-shaped plate 13 and the second arc-shaped plate 14 can be detached from the outer side wall of the program-controlled telecentric zoom lens 2, and the lens flange 4 is detached from the program-controlled telecentric zoom lens 2.
The first cylinder 7, the second cylinder 8 and the third cylinder 9 are all sliding table cylinders, and the acting end is an L-shaped sliding table flange.
The actuating ends of the first cylinder 7, the second cylinder 8 and the third cylinder 9 are respectively and fixedly connected with a first connecting plate 16, a second connecting plate 17 and a third connecting plate 18, the first connecting plate 16 is elastically connected with the male pin probe 10, the Kelvin probe 11 is elastically connected with the second connecting plate 17, and the female hole probe 12 is elastically connected with the third connecting plate 18.
The male pin probe 10 is fixedly connected with a first sliding block 19, and the upper end and the lower end of the first sliding block 19 are fixedly connected to the first connecting plate 16 through a first spring 22.
The kelvin probe 11 is fixedly connected with a second sliding block 20, and the upper end and the lower end of the second sliding block 20 are fixedly connected to the second connecting plate 17 through a second spring 23.
The female hole probe 12 is fixedly connected with a third sliding block 21, and the upper end and the lower end of the third sliding block 21 are fixedly connected to a third phase connecting plate 18 through a third spring 24.
The male pin probe 10, the Kelvin probe 11 and the female hole probe 12 are in flexible buffer contact in the moving process due to the action of the first spring 22, the second spring 23 and the third spring 24; in the process of obtaining good and stable electrical performance, nondestructive contact probing test is realized on the male pin and the female hole of the cable connector.
When the device is used, a connector of a male pin and a female hole of a prefabricated cable to be tested is positioned and placed on the lower side of a vision testing manipulator at the tail end of a robot, and the vision testing manipulator at the tail end of the robot is used for being fixedly connected with a master control computer and the tail end of the robot; an image recognition system CCD photographs and collects images and transmits the images to a computer image recognition software system; the three probes are connected with a cable network electrical performance testing system, a computer respectively controls the actions of the first air cylinder 7, the second air cylinder 8 and the third air cylinder 9, and the male pin probe 10, the Kelvin probe 11 and the female hole probe 12 respectively move downwards to present a working state when the first air cylinder 7, the second air cylinder 8 and the third air cylinder 9 respectively act; when the robot accurately switches and controls the male probe 10, the Kelvin probe 11 and the female hole probe 12 to move downwards on the probe connector 'male probe' and 'female hole' according to the recognized coordinate and shape data and the predicted cable connection relation and test requirements, accurate and stable electric signal test loop connection is realized. The robot tail end vision test mechanical arm is in flexible buffer contact in the moving process of the male pin probe 10, the Kelvin probe 11 and the female hole probe 12; the universal nondestructive penetration test loop is realized for the male pin and the female hole of the connector.
"fixedly connected" as described in the present invention means that two parts connected to each other are fixed together, typically by welding, screwing or gluing; "rotationally coupled" means that two components are coupled together and capable of relative motion.
Although the present description is described in terms of embodiments, not every embodiment includes only a single embodiment, and such description is for clarity only, and those skilled in the art should be able to integrate the description as a whole, and the embodiments can be appropriately combined to form other embodiments as will be understood by those skilled in the art.
Therefore, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application; all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (7)
1. Terminal vision test manipulator of robot, including image recognition system CCD (1), image recognition system CCD (1) is connected with programme-controlled heart far away zoom lens (2), the lower extreme correspondence of programme-controlled heart far away zoom lens (2) is provided with programme-controlled RGB color light source (3), a serial communication port, fixedly connected with camera lens flange (4) on the lateral wall of programme-controlled heart far away zoom lens (2), fixedly connected with terminal manipulator flange (5) on the lateral wall of camera lens flange (4), fixedly connected with is used for terminal flange (6) of robot with terminal fixed connection of robot on terminal manipulator flange (5), terminal manipulator flange (5) facial make-up cable support (25), side by side first cylinder (7), second cylinder (8) and third cylinder (9) of fixedly connected with, first cylinder (7), The actuating ends of the second cylinder (8) and the third cylinder (9) are respectively and fixedly connected with a first connecting plate (16), a second connecting plate (17) and a third connecting plate (18) which are respectively and elastically connected with a male pin probe (10), a Kelvin probe (11) and a female hole probe (12), and the male pin probe (10), the Kelvin probe (11), the female hole probe (12), the image recognition system CCD (1), the program control RGB color light source (3) and the cable support (25) are all assembled and connected on the end manipulator flange (5).
2. The robot end vision testing manipulator of claim 1, characterized in that the lens flange (4) comprises a first arc-shaped plate (13) and a second arc-shaped plate (14), and the first arc-shaped plate (13) and the second arc-shaped plate (14) are fixedly connected with the program-controlled telecentric zoom lens (2) on the outer side wall through bolts of fixing bolt holes (15).
3. The robot end vision testing manipulator of claim 1, wherein the actuating ends of the first cylinder (7), the second cylinder (8) and the third cylinder (9) are fixedly connected with a first connecting plate (16), a second connecting plate (17) and a third connecting plate (18) respectively, the first connecting plate (16) is elastically connected with the male pin probe (10), the Kelvin probe (11) is elastically connected with the second connecting plate (17), and the female hole probe (12) is elastically connected with the third connecting plate (18).
4. The robot tail end vision test manipulator of claim 3, characterized in that the actuating ends of the first cylinder (7), the second cylinder (8) and the third cylinder (9) are all L-shaped sliding table flanges.
5. The robot end vision testing manipulator of claim 3, characterized in that a first sliding block (19) is fixedly connected to the male probe (10), and the upper and lower ends of the first sliding block (19) are fixedly connected to the first connecting plate (16) through a first spring (22).
6. The robot end vision testing manipulator according to claim 3, characterized in that a second sliding block (20) is fixedly connected to the Kelvin probe (11), and the upper and lower ends of the second sliding block (20) are fixedly connected to the second connecting plate (17) through a second spring (23).
7. The robot end vision testing manipulator of claim 3, characterized in that a third sliding block (21) is fixedly connected to the female hole probe (12), and the upper and lower ends of the third sliding block (21) are fixedly connected to a third connecting plate (18) through a third spring (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010127624.5A CN111300456A (en) | 2020-02-28 | 2020-02-28 | Robot tail end vision testing manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010127624.5A CN111300456A (en) | 2020-02-28 | 2020-02-28 | Robot tail end vision testing manipulator |
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| CN111300456A true CN111300456A (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010127624.5A Pending CN111300456A (en) | 2020-02-28 | 2020-02-28 | Robot tail end vision testing manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117963453A (en) * | 2024-03-28 | 2024-05-03 | 江苏冠宇机械设备制造有限公司 | Automobile manufacturing conveying line with test function |
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| CN203650513U (en) * | 2014-01-10 | 2014-06-18 | 北京机械工业自动化研究所 | Mechanical gripper and industrial robot for mounting circuit for electronic product |
| CN108169655A (en) * | 2018-02-02 | 2018-06-15 | 深圳市世坤科技实业有限公司 | A kind of image chip focuses heart test jack automatically |
| CN110497416A (en) * | 2019-09-16 | 2019-11-26 | 吉林科创电力有限公司 | A kind of trouble-shooter of switchgear |
| CN111190069A (en) * | 2020-02-27 | 2020-05-22 | 深圳市世坤科技实业有限公司 | Universal test system for cable network |
| CN213106876U (en) * | 2020-02-28 | 2021-05-04 | 深圳市世坤科技实业有限公司 | Robot tail end vision testing manipulator |
-
2020
- 2020-02-28 CN CN202010127624.5A patent/CN111300456A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100021051A1 (en) * | 2008-07-22 | 2010-01-28 | Recognition Robotics, Inc. | Automated Guidance and Recognition System and Method of the Same |
| CN203650513U (en) * | 2014-01-10 | 2014-06-18 | 北京机械工业自动化研究所 | Mechanical gripper and industrial robot for mounting circuit for electronic product |
| CN108169655A (en) * | 2018-02-02 | 2018-06-15 | 深圳市世坤科技实业有限公司 | A kind of image chip focuses heart test jack automatically |
| CN110497416A (en) * | 2019-09-16 | 2019-11-26 | 吉林科创电力有限公司 | A kind of trouble-shooter of switchgear |
| CN111190069A (en) * | 2020-02-27 | 2020-05-22 | 深圳市世坤科技实业有限公司 | Universal test system for cable network |
| CN213106876U (en) * | 2020-02-28 | 2021-05-04 | 深圳市世坤科技实业有限公司 | Robot tail end vision testing manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117963453A (en) * | 2024-03-28 | 2024-05-03 | 江苏冠宇机械设备制造有限公司 | Automobile manufacturing conveying line with test function |
| CN117963453B (en) * | 2024-03-28 | 2024-06-07 | 江苏冠宇机械设备制造有限公司 | Automobile manufacturing conveying line with test function |
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