CN112985507A

CN112985507A - Robot vision positioning device

Info

Publication number: CN112985507A
Application number: CN202110258588.0A
Authority: CN
Inventors: 郑喜贵; 宋海涛; 吕刚磊; 陈林林; 杨红波
Original assignee: Zhengzhou University of Science and Technology
Current assignee: Zhengzhou University of Science and Technology
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2021-06-18

Abstract

The invention relates to a robot visual positioning device, which sequentially and accurately controls the quality of spherical metal parts by arranging a weight detection device, a diameter detection device and a roundness detection device, wherein eight groups of clamping rods are used for clamping the spherical parts in a bearing device in the roundness detection device to enable the spherical parts to be always in a position concentric with a fixed ring, then four groups of threaded cylinders are adopted to be matched with sleeves to move a detection probe to the surface of a sphere, the small movement of the fixed rod is reflected by the current change in a first circuit after the stroke amplification of a first gear and a second gear, so that the three-dimensional modeling of the spherical technical parts is constructed on a display screen, the visual positioning effect is realized, and the aim of accurately controlling the external shape of the spherical parts is fulfilled. The detection efficiency of accurate control is high, and extensive applicability, and can carry out accurate appearance quality control to spherical surface, and the practicality is strong.

Description

Robot vision positioning device

Technical Field

The invention belongs to the technical field of mechanical automation equipment, and particularly relates to a robot vision positioning device.

Background

Machine vision is being widely used in more and more fields as a rapidly developing and emerging discipline. In the past, the human eye has typically been used to identify, track, and analyze objects. Nowadays, due to the development of visual recognition technology, cameras and computers can be used to replace the human eye to achieve a higher degree of automation of production. The visual techniques applied in the current industrial production can be roughly divided into two categories: quality control and auxiliary production. The quality control is to replace manual work to detect the size, appearance and the like of the product and identify defective products, and the equipment is widely used in home and abroad automatic production lines. The auxiliary production refers to providing a motion execution basis for a robot by using a vision technology, and a two-dimensional positioning technology based on monocular vision is widely applied at present. However, most production stations capable of two-dimensional visual positioning can be replaced by mechanical positioning, so that the cost and complexity are simpler than those of visual positioning, and visual positioning has to be used only in few occasions. In the production process, most of the situations needing positioning need to give three-dimensional coordinates, namely the position of the measured object relative to the robot is uncertain. However, such positioning needs have high technical threshold, and the technology is not widely applied despite the technology.

Although the existing visual positioning device can perform basic quality control effect on a product, it is not very satisfactory when performing accurate quality control on some parts with higher precision, especially some metal spherical parts need to perform accurate detection on appearance quality and product size, so that the parts meet the standard use requirements, for example, in some precise scientific instruments and aerospace industries, the requirements on such parts are extremely strict, the quality control on these metal spherical parts with higher precision exists in the prior art, the problems of poor accurate control effect, low automation degree of mechanical detection and low general applicability exist in the prior art, especially for roundness detection of spherical parts, the prior art has no corresponding technology to perform accurate detection control temporarily, and therefore, a robot visual positioning device is urgently needed to complete the work of performing accurate quality control on such parts, so as to achieve the purpose of high-efficiency production and manufacture.

Disclosure of Invention

Aiming at the problems, the invention provides a robot vision positioning device, which solves the problems of poor effect of accurate control, low automation degree of mechanical detection, low general applicability and no better roundness detection device in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme that the robot vision positioning device comprises a rack, wherein a weight detection device, a diameter detection device and a roundness detection device which are used for carrying out quality control on metal spherical parts are installed on the rack, the weight detection device conveys the metal spherical parts with qualified weight to the diameter detection device, the diameter detection device conveys the metal spherical parts with qualified diameter to the roundness detection device, the metal spherical parts are finally collected after being detected by the roundness detection device, the parts are mechanically controlled, and the weight detection device, the diameter detection device and the roundness detection device are electrically connected with a controller installed on the rack;

the roundness detection device comprises a fixing ring arranged on a rack, four groups of sleeves are rotationally connected to the fixing ring along the radial uniform distribution, the sleeves are in threaded fit with a threaded cylinder which is connected to the fixing ring along the radial sliding direction of the fixing ring, the threaded cylinder is internally provided with a fixing rod which extends towards the center of the fixing ring along the axial sliding fit and is not separated from the fixing ring, the rear end of the fixing rod is connected with a first rack which is arranged in the threaded cylinder, the first rack is meshed with a first gear which is rotationally connected in the threaded cylinder, the first gear is coaxially connected with a second gear, the second gear is meshed with a second rack which is in sliding fit in the threaded cylinder, the radius of the second gear is larger than that of the first gear, the rear end of the first rack is connected with a first spring which is connected between the inner bottom surface of the threaded cylinder, and the threaded cylinder is internally provided with a resistance coil, the second rack on install a cylindricality section of thick bamboo, a cylindricality section of thick bamboo sliding fit resistance coil complex electrically conductive column cap, electrically conductive column cap and resistance coil form first circuit, electrically conductive column cap and cylindricality section of thick bamboo between be connected with the second spring, sleeve coaxial coupling third gear, four group's third gears all mesh with the fluted disc of rotating the connection outside solid fixed ring, fluted disc and the fourth gear of rotating the connection in the frame mesh mutually, the frame on install first motor, the output shaft and the fourth gear coaxial coupling of first motor, solid fixed ring lower extreme connect a supporting device, supporting and propelling movement are gone out to the detection part that diameter detection device flows out to the supporting device, solid fixed ring's the left and right sides is installed the centre gripping rotary device, satisfies the appearance of centre gripping rotary device to the part and fixes a position and transposition, the supporting device, the clamping and rotating device, the four groups of first circuits, the first motor and the controller are electrically connected;

the rack is connected with a plurality of groups of storage boxes.

Preferably, the clamping and rotating device comprises a fixed block arranged on the frame, the fixed block is provided with a T-shaped groove, the T-shaped groove is internally matched with two groups of T-shaped blocks respectively provided with two sides of the fixed ring in a sliding way, the T-shaped groove is internally connected with a lead screw in a rotating way, the lead screw is in threaded fit with the two groups of T-shaped blocks, the two groups of T-shaped blocks and the lead screw have opposite screw thread turning directions, the frame is provided with a second motor, an output shaft of the second motor is in transmission connection with one shaft end of the lead screw through a belt, the upper end of the T-shaped block is connected with a U-shaped frame, the U-shaped frame is respectively provided with an inclined cylinder inclining towards the central direction in the front-back direction of one side of the fixed ring, the central position between the two groups of inclined cylinders on the front-back same side and on the same horizontal plane as the center of the fixed ring, the central, the inclined cylinder is in sliding fit with a clamping rod, the end part ball of the clamping rod is hinged with a magnetic ball matched with the metal part to be tested, a sixth spring is connected between the clamping rod and the inner bottom surface of the inclined cylinder, a piezoelectric sensor which is triggered by matching with the clamping rod is arranged on the inner bottom surface of the inclined cylinder, one side of the T-shaped block facing the center of the fixed ring is provided with a rectangular cylinder which can pass through the fixed ring, a telescopic rod is in sliding fit with the rectangular cylinder, a third spring is connected between the telescopic rod and the inner bottom surface of the rectangular cylinder, a third motor is arranged at the end part of the telescopic rod at one side, an electromagnet is installed on an output shaft of the third motor, two groups of belt pulleys are rotatably connected at the end part of the telescopic rod at the other side, a rubber belt matched with a part to be detected is wound between the two groups of belt pulleys, the rotating shaft of one group of belt pulleys is in transmission connection with the output shaft of a fourth motor arranged on the telescopic rod on the corresponding side through a belt;

and the second motor, the third motor, the fourth motor, the electromagnet and the piezoelectric sensor are electrically connected with the controller.

Preferably, the supporting device include the bearing section of thick bamboo of fixed mounting in solid fixed ring bottom, the bearing section of thick bamboo in vertical sliding connection bearing seat, bearing seat bottom and bearing section of thick bamboo in be connected with the fourth spring between the bottom surface, bearing seat upper end fixed mounting along controlling the fixed arc board that the side was laid, bearing seat upper end open flutedly, install the fifth motor in the recess, an output shaft coaxial coupling swinging arms of fifth motor, a curved rod that extends along the fore-and-aft direction is connected to the swinging arms upper end, the fifth motor and the controller between electric connection.

Preferably, the diameter detection device comprises a storage box arranged on the frame, the upper end of the storage box is rotatably connected with two groups of baffles which are obliquely arranged, the baffles are obliquely arranged towards the center direction, the distance between the baffles is gradually increased from left to right, the other end of each baffle is rotatably connected with a rotating pin, the rotating pin is in threaded fit with the side wall of the storage box, a partition plate is arranged in the middle of the storage box, the lower end of a right cavity of the storage box is provided with a feed opening, the feed opening is connected with an intermittent feeding device to detect and supply parts to be detected in the right cavity of the storage box, the lower end discharge opening of the intermittent feeding device is connected with an oblique slideway, the end part of the oblique slideway is connected with a horizontal slideway arranged on the frame, the upper end of the horizontal slideway is provided with a notch, and an L-shaped connecting plate arranged at the upper end of the, the end part of the connecting plate is rotatably connected with a trigger plate arranged in the notch, a fifth spring is connected between the trigger plate and the connecting plate, a top plate matched with the trigger plate is installed on the connecting plate, the length of the lower end of the trigger plate extending into the horizontal slideway is adjustable, an armature is installed on the trigger plate, a magnet matched with the armature for use is installed on the top plate, a blanking outlet is formed in the lower end of the horizontal slideway, an electromagnetic switch door is installed at the position of the blanking outlet, a trigger is connected to the rear end of the connecting plate, when the top plate is separated from the trigger plate, the electromagnetic switch door is driven by the trigger to be opened and then closed, the end part of the horizontal slideway is connected with an inclined blanking channel, and a part to be detected moves into the roundness detection device through the blanking channel;

the intermittent feeding device, the trigger, the electromagnetic switch door and the controller are electrically connected, and the rack is provided with a waste bin arranged below the feed opening.

Preferably, the intermittent feeding device comprises a vertical slide fixedly connected to the lower end of a feed opening of the storage box, a cylinder is fixedly mounted at the lower end of the vertical slide, through holes matched with corresponding side channels are formed in the upper end and the lower end of the cylinder respectively, the lower end of the cylinder is connected with an inclined slide, a dividing disc is matched in the cylinder in a rotating mode, a plurality of groups of dividing grooves radially distributed are uniformly distributed in the edge of the dividing disc along the circumferential direction, the dividing grooves are used for containing parts to be detected, the dividing disc is driven to rotate intermittently through a sixth motor mounted on the rack, and the sixth motor is electrically connected with the controller.

Preferably, the vertical slide of lower extreme of trigger plate cooperate an extension board, one side of extension board connect the cooperation board of a vertical sliding fit on trigger plate, the cooperation board on the vertical setting of screw-thread cooperation and rotate the threaded pin of connection on trigger plate, constitute adjustable length's trigger plate structure.

Preferably, the weight detection device comprises a rectangular disc which is rotatably connected to the rack, the weight detector is mounted at the bottom of the rectangular disc, rectangular through holes are formed in the left side and the right side of the rectangular disc, a metal ball to be detected with qualified weight is conveyed to the diameter detection device through the rectangular through hole in the right side, a material storage box mounted on the rack is arranged on the left side of the rectangular through hole in the left side, a rotating shaft of the rectangular disc is coaxially connected with an output shaft of a seventh motor mounted on the rack, and the seventh motor and the weight detector are electrically connected with the controller.

Preferably, the screw thread section of thick bamboo outside along the axial open have the cross-section be the spacing groove of rectangle, solid fixed ring in-connection have with spacing groove complex L shape gag lever post, the gag lever post can only carry out the ascending removal of screw thread section of thick bamboo axial direction along the spacing groove.

Preferably, the rubber belt is connected with a plurality of groups of anti-skidding rubber blocks, and magnets are connected between adjacent rubber blocks.

The invention has the beneficial effects that: the invention carries out accurate quality control on spherical metal parts in sequence by arranging a weight detection device, a diameter detection device and a roundness detection device, uses eight groups of clamping rods in the roundness detection device to clamp the spherical parts in the bearing device so that the spherical parts are always in a position concentric with a fixed ring, then moves a detection probe to the surface of a sphere by adopting the matching of four groups of threaded cylinders and sleeves, amplifies the stroke of a first gear and a second gear, and reflects the tiny movement of a fixed rod through the current change in a first circuit, thereby constructing three-dimensional modeling of the spherical technical parts on a display screen, analyzing the qualified condition of the parts and finally making judgment to realize the visual positioning effect and achieve the aim of accurately controlling the external shape of the spherical parts, the invention has the advantages of ingenious design, high automation degree and high detection efficiency of accurate control, the spherical surface appearance quality control system has the advantages of being wide in applicability, capable of accurately controlling the appearance quality of the spherical surface, high in practicability and suitable for popularization and use.

Drawings

Fig. 1 is a perspective view of the first stereoscopic structural diagram of the present invention.

Fig. 2 is a perspective view of the present invention.

Fig. 3 is a front view of the present invention.

Fig. 4 is a perspective view of the roundness detection apparatus according to the present invention.

Fig. 5 is a perspective view of the roundness detection apparatus according to the second embodiment of the present invention.

Fig. 6 is a perspective view of a fixing ring and a connecting portion thereof in the roundness detecting apparatus of the present invention.

Fig. 7 is a perspective view of the threaded cylinder and the connection part thereof according to the present invention.

Fig. 8 is a cross-sectional view of the threaded cylinder and its internal structure of the present invention.

Fig. 9 is a perspective view of the internal device of the screw cylinder of the present invention.

Fig. 10 is a perspective view of the second rack and its connection part according to the present invention.

Figure 11 is a perspective view of a portion of the support apparatus of the present invention.

FIG. 12 is a partial cross-sectional view of one of the U-shaped plates and its attachment portion of the present invention.

Fig. 13 is a perspective view of the connecting portion of another set of U-shaped plates according to the present invention.

Fig. 14 is a partial perspective view of the diameter detecting device according to the present invention.

FIG. 15 is a perspective view showing the structure of the intermittent feeder and its upper and lower connecting portions according to the present invention.

Fig. 16 is a perspective view of an index plate according to the present invention.

Fig. 17 is a partial perspective view of the diameter detecting device of the present invention.

FIG. 18 is a sectional view showing a partial structure of a diameter measuring device according to the present invention.

Fig. 19 is an enlarged view of the portion a in fig. 18 according to the present invention.

Fig. 20 is a perspective view of the rectangular plate of the present invention.

Reference numerals: 1. a frame; 2. a fixing ring; 3. a sleeve; 4. a threaded barrel; 5. fixing the rod; 6. a first rack; 7. a first gear; 8. a second gear; 9. a second rack; 10. a first spring; 11. a resistance coil; 12. a cylindrical barrel; 13. a conductive stud; 14. a second spring; 15. a third gear; 16. a fluted disc; 17. a fourth gear; 18. a first motor; 19. a display screen; 20. a storage box; 21. a fixed block; a T-shaped slot; 23. a T-shaped block; 24. a lead screw; 25. a second motor; 26. a U-shaped frame; 27. a tilting cylinder; 28. a clamping rod; 29. a magnetic ball; 30. a rectangular cylinder; 31. a telescopic rod; 32. a third spring; 33. a third motor; 34. an electromagnet; 35. a belt pulley; 36. a rubber belt; 37. a fourth motor; 38. a bearing cylinder; 39. a bearing seat; 40. fixing the arc plate; 41. a groove; 42. a fifth motor; 43. a swing lever; 44. an arcuate bar; 45. a material storage box; 46. a baffle plate; 47. a rotation pin; 48. inclining the slideway; 49. horizontal slide 50, gap; 51. a connecting plate; 52. a trigger plate; 53. a fifth spring; 54. a top plate; 55. a discharging outlet; 56. electromagnetic opening and closing of the door; 57. a blanking channel; 58. a waste bin; 59. a vertical channel; 60. a cylinder; 61. an index plate; 62. an indexing groove; 63. a sixth motor; 64. an extension plate; 65. a mating plate; 66. a threaded pin; 67. a rectangular disc; 68. a weight detector; 70. a material storage box; 71. a seventh motor; 72. a limiting groove; 73. a limiting rod; 74. a rubber block; 75. a sixth spring; 76. and a fourth spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 20 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 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.

In one embodiment, a robot vision positioning device comprises a frame 1, wherein a weight detection device, a diameter detection device and a roundness detection device for performing quality control on metal spherical parts are installed on the frame 1, the metal spherical parts often need to be detected for appearance quality and product size so as to meet the use requirements of standards, for example, some precise scientific instruments and aerospace industry have severe requirements on the parts, the weight detection device conveys metal spherical parts with qualified weight to the diameter detection device, the diameter detection device conveys metal spherical parts with qualified diameter to the roundness detection device, the metal spherical parts are finally collected after being detected by the roundness detection device, and the parts are mechanically controlled in quality, and the weight detection device, the diameter detection device and the roundness detection device are electrically connected with a controller installed on the frame 1, the method comprises the following steps that a metal spherical part is detected in three steps, firstly, the weight of the metal spherical part is detected, the integral density of the part is ensured to reach the standard, then, after the weight is detected, the diameter of the part is detected and screened within a proper weight range and within a control range, and finally, the integral appearance of the spherical part is detected, so that the integral structure of the spherical part on a rack 1 has a structure, the integral three-dimensional modeling of the spherical part is constructed, which part of the spherical part is protruded or sunken can be clearly seen, and therefore, whether the part reaches the standard is visually positioned, the purpose of intelligent judgment is achieved, the detection and screening work is completed, and the quality control purpose is achieved;

the roundness detection device comprises a fixing ring 2 arranged on a rack 1, wherein four groups of sleeves 3 are uniformly and rotatably connected on the fixing ring 2 along the radial direction, the four groups of sleeves 3 are rotatably installed towards the upper left direction, the lower left direction, the upper right direction and the lower right direction, a thread cylinder 4 which is connected on the fixing ring 2 in a sliding manner along the radial direction of the fixing ring 2 is in thread fit with the sleeves 3, a limit groove 72 with a rectangular cross section is axially arranged on the outer side of the thread cylinder 4, two groups of limit grooves 72 are circumferentially arranged on the outer side of the limit groove 72, an L-shaped limit rod 73 which is matched with the limit groove 72 is connected in the fixing ring 2, the limit rod 73 can only move along the limit groove 72 in the axial direction of the thread cylinder 4, so that the rotation of the thread cylinder 4 is limited, the thread cylinder 4 is internally matched with a fixing rod 5 which extends towards the center of the, the fixing rod 5 is not separated in the direction of the threaded cylinder 4, only a limit stop is required to be arranged at the end part of the threaded cylinder 4, the rear end of the fixing rod 5 is connected with a first rack 6 arranged in the threaded cylinder 4, the first rack 6 is meshed with a first gear 7 which is rotatably connected in the threaded cylinder 4, the first gear 7 is arranged in the threaded cylinder 4 by virtue of a support at the bottom of the threaded cylinder 4, the first gear 7 is coaxially connected with a second gear 8, the second gear 8 is meshed with a second rack 9 which is in sliding fit in the threaded cylinder 4, the second rack 9 is in sliding fit along the axial direction of the threaded cylinder 4, an L-shaped limit strip is arranged at the rear end of the second rack 9, a limit chute which is matched with the second rack is arranged in the threaded cylinder 4, so that the second rack can only move along the direction of the limit strip, the radius of the second gear 8 is larger than the radius of the first gear 7, the stroke amplification function is achieved, because the variable fluctuation movement of the fixed rod 5 on the part to be detected is not obvious, the stroke amplification function of the first rack 6, the first gear 7, the second gear 8 and the second rack 9 can be adopted to amplify the movement of the fixed rod 5, a first spring 10 is connected between the rear end of the first rack 6 and the inner bottom surface of the threaded barrel 4, a resistance coil 11 is installed in the threaded barrel 4, the resistance coil 11 is installed on the inner wall of the threaded barrel 4, a cylindrical barrel 12 is installed on the second rack 9, a conductive column head 13 matched with the resistance coil 11 is in sliding fit in the cylindrical barrel 12, the conductive column head 13 and the resistance coil 11 form a first circuit, the matching of the conductive column head 13 and the resistance coil 11 enables the movement of the second rack 9 to be clearly reflected through the change of current in the first circuit, the change of the current is accurate and reliable, the micro displacement change can be displayed, and the device is particularly suitable for detecting the roundness of the outer side of a part to be detected, the second spring 14 is connected between the conductive column head 13 and the cylindrical barrel 12, the conductive column head 13 is always contacted with the resistance coil 11 under the action of the second spring 14, the sleeve 3 is coaxially connected with the third gear 15, the four groups of the third gear 15 are all meshed with the fluted disc 16 which is rotationally connected outside the fixed ring 2, the fluted disc 16 is meshed with the fourth gear 17 which is rotationally connected on the rack 1, the rack 1 is provided with the first motor 18, the output shaft of the first motor 18 is coaxially connected with the fourth gear 17, the fourth gear 17 drives the fluted disc 16 to rotate under the driving of the first motor 18, the four groups of the third gear 15 are driven to rotate under the driving of the fluted disc 16, and the sleeve 3 rotates along with the fourth gear 17, the sleeve 3 rotates, the rotation of the threaded cylinder 4 is limited, so that the threaded cylinder 4 can only move along the radial direction of the fixing ring 2, the detection position is adjusted until the currents in four groups of first circuits after adjustment are all at the initial position, the positions with resistance values of a certain specific value can be set, the change of the currents in the first circuits can be clearly reflected to the change condition of the excircle degree of the part to be detected, so that whether the quality of the part reaches the standard or not can be automatically judged, the lower end of the fixing ring 2 is connected with a supporting device, the supporting device supports and pushes out the detection part flowing out of the diameter detection device, the supporting device can support the part to be detected and can select the detection part after the quality judgment of the four groups of first circuits, and the detection part is pushed into the storage box 20 on the front side when the quality is qualified, the unqualified parts are pushed into a storage box 20 at the rear side, the left side and the right side of the fixing ring 2 are provided with clamping and rotating devices which can position and rotate the appearance of the parts, the clamping and rotating devices clamp the to-be-detected device to ensure that the center of the to-be-detected part is always consistent with the center of the fixing ring 2, the to-be-detected part rotates along the horizontal axial direction by virtue of the clamping and rotating devices, so that four groups of fixing rods 5 detect the roundness by virtue of a first circuit, then the transposition in the longitudinal direction is carried out to determine the roundness at different positions, so as to carry out integral modeling, and subsequently, the qualification or not is judged, the four groups of first circuits are electrically connected with a display screen 19 arranged on the rack 1, the current condition in each circuit can be displayed from the display screen 19, so as to reflect the roundness condition of, the supporting device, the clamping and rotating device, the four groups of first circuits, the first motor 18 and the controller arranged on the frame 1 are electrically connected;

the rack 1 is connected with a plurality of groups of storage boxes 20 for containing qualified parts to be detected or unqualified parts to be detected, when the detection device is used, firstly, the quality of metal parts to be detected is controlled by a weight detection device and a diameter detection device, the metal parts with unqualified weight and the metal parts with unqualified diameter are screened out, the qualified parts enter a bearing device of a roundness detection device to be detected, then a controller controls a clamping and rotating device to work, so that the parts to be detected are clamped from the bearing device, after complete clamping, the controller controls a first motor 18 to work, the fourth gear 17 can be driven by the driving of the first motor 18 to drive a fluted disc 16 to rotate, the four groups of third gears 15 are driven by the fluted disc 16 to rotate, a sleeve 3 rotates along with the toothed disc, and the sleeve 3 rotates, because the rotation of the threaded cylinder 4 is limited, the threaded cylinder 4 can only move along the radial direction of the fixed ring 2, the detection position is adjusted until the currents in the four groups of first circuits after adjustment are all at the initial position, the resistance value of the four groups of first circuits can be set to be the position with a certain specific value, then the clamping and rotating device is controlled by the controller to rotate and shift the part to be detected, so that the four groups of first circuits generate the change of the currents, in the process of modeling detection, the tiny displacement change of the fixed rod 5 is amplified by the matching of the first rack 6, the first gear 7, the second gear 8 and the second rack 9, so that the current change in the first circuit is more obvious, and the change of the currents in the four groups of first circuits can clearly reflect the change condition of the excircle degree of the part to be detected at different positions, carry out three-dimensional modeling on display screen 19 after the analysis through the controller again, thereby whether up to standard of quality of this part is judged to the automation, after the detection is accomplished, controller control centre gripping rotary device is released and is waited the part of detecting, then up to standard part is then promoted it to qualified storage tank 20 through the supporting device this moment, unqualified part then by the propelling movement to the storage tank 20 of unqualified product in, realize automatic visual positioning operation, high durability and convenient use, the precision of detection is high, degree of automation is high, and is suitable for being generalized to use.

In the second embodiment, on the basis of the first embodiment, the clamping and rotating device includes a fixed block 21 installed on the frame 1, the fixed block 21 is provided with a T-shaped groove 22, the T-shaped groove 22 is in sliding fit with two sets of T-shaped blocks 23 respectively provided with two sides of the fixed ring 2, the T-shaped groove 22 is rotatably connected with a lead screw 24 in threaded fit with the two sets of T-shaped blocks 23, the directions of the two sets of T-shaped blocks 23 and the lead screw 24 in the threaded direction are opposite, so that the two sets of T-shaped blocks 23 move or move away from the center direction under the rotation of the lead screw 24, the frame 1 is provided with a second motor 25, an output shaft of the second motor 25 is in transmission connection with one shaft end of the lead screw 24 through a belt, the rotation of the second motor 25 can enable the lead screw 24 to rotate, the rotation of the lead screw 24 enables the two sets of T-shaped blocks 23 to move or move, the upper end of the T-shaped block 23 is connected with a U-shaped frame 26, the U-shaped frame 26 is respectively provided with an inclined cylinder 27 which is inclined towards the central direction in the front-back direction of one side of the fixing ring 2 facing the U-shaped frame 26, the inclined cylinder 27 inclines towards the center in the front-back direction, the central position between two groups of inclined cylinders 27 which are positioned at the front-back same side and the center of the fixing ring 2 are positioned on the same horizontal plane, the central position between two groups of inclined cylinders 27 which are positioned at the upper-lower same side and the center of the fixing ring 2 are positioned on the same vertical plane, the arrangement aims to ensure that the clamping rod 28 is always positioned at the central position of the fixing ring 2 after clamping the sphere to be detected, the inclined cylinder 27 is internally and slidably matched with a clamping rod 28, the end ball of the clamping rod 28 is hinged with a magnetic ball 29 matched with a metal part to be detected, the magnetic ball, a sixth spring 75 is connected between the clamping rod 28 and the inner bottom surface of the inclined cylinder 27, a piezoelectric sensor which is triggered by the clamping rod 28 in a matching way is installed on the inner bottom surface of the inclined cylinder 27, the four groups of clamping rods 28 on the left and right sides move towards the center after clamping a part to be detected, the sixth spring 75 is compressed until the clamping rods 28 trigger the piezoelectric sensor, the piezoelectric sensor drives the second motor 25 to stop working through the controller, and simultaneously drives the following mechanism to detect, a rectangular cylinder 30 which can penetrate through the fixing ring 2 is installed on one side of the T-shaped block 23 facing the center of the fixing ring 2, a telescopic rod 31 is in sliding fit with the rectangular cylinder 30, a third spring 32 is connected between the telescopic rod 31 and the inner bottom surface of the rectangular cylinder 30, the telescopic rod 31 moves towards the center along with the T-shaped block 23, in the moving process, the third spring 32 compresses to enable the structure connected to the telescopic rod 31 to be always in a contact state with the ball body to be detected, so that subsequent work is completed, the third motor 33 is installed at the end of the telescopic rod 31 at one side, the electromagnet 34 is installed at the output shaft of the third motor 33, the electromagnet 34 is controlled by the controller to drive the ball body to be detected to rotate along the horizontal axis when the ball body to be detected is adsorbed, the end of the telescopic rod 31 at the other side is rotatably connected with two groups of belt pulleys 35, two groups of belt pulleys 35 are wound with rubber belts 36 matched with parts to be detected, the rubber belts 36 are connected with multiple groups of anti-skid rubber blocks 74, magnets are connected between adjacent rubber blocks 74, the purpose of magnet setting is to enable the rubber belts 36 to be better attached to the ball body to be detected, and the rotating shafts of one group of belt pulleys 35 and the output shaft of the fourth motor 37 installed on the telescopic rod 31 at the corresponding side The fourth motor 37 on the telescopic rod 31 on the other side drives the two groups of belt pulleys 35 to rotate, and the ball to be detected is rotationally pushed along the longitudinal axis through the friction force between the rubber belt 36 and the ball to be detected;

the second motor 25, the third motor 33, the fourth motor 37, the electromagnet 34 and the piezoelectric sensor are all electrically connected with the controller, when the present embodiment is used, the controller controls the second motor 25 to work, so that the screw rod 24 rotates, the rotation of the screw rod 24 causes the two groups of T-shaped blocks 23 to move towards the central position or to move away from the central position, at this time, the four groups of clamping rods 28 clamp the sphere to be detected on the supporting device, along with the movement of the U-shaped frame 26, the sixth spring 75 contracts, the eight groups of clamping rods 28 lift the sphere to be detected until the piezoelectric sensor at the bottom is triggered, at this time, the controller drives the second motor 25 to stop working, at the same time, the controller controls the first motor 18 to drive the first circuit to be in the initial detection position, at this time, the electromagnet 34 is driven to adsorb the part to be detected, and the third motor 33 is rotated, the position of the part to be detected is changed, the roundness of the position is detected by the four groups of first circuits, after one circle of detection is carried out, the fourth motor 37 on the telescopic rod 31 on the other side works to drive the sphere to be detected to rotate along the transposition in the longitudinal direction, the sphere to be detected is rotated again by the cooperation of the electromagnet 34 and the third motor 33, so that the roundness conditions of different positions are measured, the integral roundness condition of the sphere to be detected is modeled, and the computer can conveniently carry out screening work.

Third embodiment, on the basis of the first or second embodiment, the supporting device includes a supporting cylinder 38 fixedly installed at the bottom of the fixing ring 2, a supporting seat 39 is vertically and slidably connected in the supporting cylinder 38, a fourth spring 76 is connected between the bottom of the supporting seat 39 and the inner bottom surface of the supporting cylinder 38, the fourth spring 76 plays a role of buffering protection, after the sphere to be detected falls on the supporting seat 39, an elastic buffering role is played, the upper end of the supporting seat 39 is fixedly installed with fixed arc plates 40 arranged along the left and right sides, the upper end of the supporting seat 39 is opened with a groove 41, a fifth motor 42 is installed in the groove 41, the fifth motor 42 is a self-locking motor, the output shaft of the fifth motor 42 is coaxially connected with a swinging rod 43, the upper end of the swinging rod 43 is connected with an arc rod 44 extending along the front-back direction, and the fifth motor 42 is electrically connected with the controller, after the part to be detected is modeled, the system can judge the roundness of the part, if the part is qualified, the fifth motor 42 can swing towards one side through the triggering of the controller, the detected ball body is pushed into a qualified sample box, and if the part is not qualified, the ball body is pushed into an unqualified sample box.

Fourth embodiment, on the basis of the first embodiment, the diameter detecting device includes a material storage box 45 installed on the frame 1, two sets of baffles 46 are rotatably connected to the upper end of the material storage box 45, the baffles 46 are inclined toward the center direction and gradually increase the distance from left to right for detecting spherical structures with different diameters, the other end of the baffle 46 is rotatably connected with a rotating pin 47, the rotating pin 47 is in threaded fit with the sidewall of the material storage box 45, the interval between the two ends of the baffle 46 is adjusted through the threaded fit between the rotating pin 47 and the sidewall of the material storage box 45, so as to change the detected diameter standard, a partition is provided in the middle of the material storage box 45, the structure is to screen out spherical parts with diameters smaller than the standard value, so that the spherical parts enter the material storage box 45 for collection, and the spherical parts with diameters larger than the standard value enter the intermittent feeding device through a discharging port at the lower end of the cavity of the material storage box 45, the lower end of the right cavity of the material storage box 45 is provided with a feed opening, the feed opening is connected with an intermittent feeding device to meet the requirement of detecting and supplying parts to be detected in the right cavity of the material storage box 45, the lower end discharge opening of the intermittent feeding device is connected with an inclined slide way 48, the inclined slide way 48 enables a sphere to be detected to have certain initial acceleration, the end part of the inclined slide way 48 is connected with a horizontal slide way 49 arranged on the frame 1, the upper end of the horizontal slide way 49 is provided with a notch 50, an L-shaped connecting plate 51 arranged on the upper end of the horizontal slide way 49 is arranged above the notch 50, the end part of the connecting plate 51 is rotatably connected with a trigger plate 52 arranged in the notch 50, a fifth spring 53 is connected between the trigger plate 52 and the connecting plate 51, after the trigger plate 52 is pushed, the fifth spring 53 plays a recovery role, and a top plate 54 matched with the trigger plate 52 is arranged on, the length of the lower end of the trigger plate 52 extending into the horizontal slide way 49 is adjustable, the trigger plate 52 is provided with an armature, the top plate 54 is provided with a magnet matched with the armature for use, the magnet is matched with the armature to enable the trigger plate 52 to be more stable when reaching the position of the top plate 54, the lower end of the horizontal slide way 49 is provided with a blanking outlet 55, the position of the blanking outlet 55 is provided with an electromagnetic switch door 56, the rear end of the connecting plate 51 is connected with a trigger, when the top plate 54 is separated from the trigger plate 52, the electromagnetic switch door 56 is driven by the trigger to be opened and then closed, the end of the horizontal slide way 49 is connected with an inclined blanking channel 57, and a part to be detected moves into the roundness detection device through the blanking channel 57;

the intermittent feeding device, the trigger, the electromagnetic switch door 56 and the controller are electrically connected, the rack 1 is provided with a waste box 58 arranged below the feed opening, when a part to be detected is supplied into the horizontal slideway 49 through the intermittent feeding device, the radius of the part is larger than the standard size, the trigger plate 52 is pushed to swing, at the moment, attention needs to be paid to the fact that the distance between the lower bottom surface of the trigger plate 52 and the lower end surface in the horizontal slideway 49 can be adaptively adjusted, so that the part to be detected can adaptively adjust the standard size, once the trigger plate 52 is separated from the armature through a magnet, the trigger can be triggered to open the electromagnetic switch door 56 below, a ball with the diameter larger than the standard size flows out from the feed opening and flows into the waste box 58 to be collected, and the ball with the qualified size flows into the roundness detection device through the feed passage 57 to be collected.

Fifth embodiment, on the basis of the fourth embodiment, the intermittent feeding device includes a vertical slideway fixedly connected to the lower end of the feed opening of the material storage box 45, a cylinder 60 is fixedly installed at the lower end of the vertical slideway, through holes matched with corresponding side channels are respectively formed at the upper end and the lower end of the cylinder 60, so that the material can enter the cylinder 60 from the upper side and flow out from the cylinder 60 from the lower side, the lower end of the cylinder 60 is connected with an inclined slideway 48, an index plate 61 is rotatably matched in the cylinder 60, a plurality of groups of radially arranged index grooves 62 are uniformly distributed on the edge of the index plate 61 along the circumferential direction, the index grooves 62 are used for placing parts to be detected, the index plate 61 is intermittently driven to rotate by a sixth motor 63 installed on the frame 1, the sixth motor 63 is electrically connected with the controller, the sixth motor 63 is driven by the controller to intermittently rotate, when the indexing disc 61 rotates by a certain angle, the indexing groove 62 on the indexing disc 61 rotates by a certain moving angle, the part to be detected flowing out of the vertical channel 59 is transferred into the indexing groove 62, and along with the rotation of the indexing disc 61, the part to be detected enters the blanking channel 57 when the part to be detected rotates to the lower part, so that the purpose of intermittent feeding is achieved.

Sixth embodiment, on the basis of fourth or fifth embodiment, the vertical slide way of the lower end of the trigger plate 52 is matched with an extension plate 64, one side of the extension plate 64 is connected with a matching plate 65 which is vertically and slidably matched with the trigger plate 52, the matching plate 65 is screwed with a threaded pin 66 which is vertically arranged and rotatably connected to the trigger plate 52, so that the trigger plate 52 structure with adjustable length is formed, and the matching plate 65 is adjusted in the vertical direction by screwing the threaded pin 66, so that the distance of the standard diameter is adjusted adaptively.

Seventh embodiment, on the basis of the first embodiment, the weight detecting device includes a rectangular plate 67 rotatably connected to the frame 1, a weight detecting device 68 is installed at the bottom of the rectangular plate 67, rectangular through holes 69 are formed on the left and right sides of the rectangular plate 67, the lower ends of the rectangular through holes 69 on the left and right sides are higher than the bottom surface of the rectangular plate 67, but it is not desirable to set the weight detecting device too high, so as to prevent ball parts to be detected from flowing out of the rectangular through holes 69 when the rectangular plate 67 is inclined, the rectangular through holes 69 on the right side convey metal balls to be detected with qualified weight to the diameter detecting device, a storage box 70 installed on the frame 1 is disposed on the left side of the rectangular through hole 69 on the left side, the rotating shaft of the rectangular plate 67 is coaxially connected with the output shaft of a seventh motor 71 installed on the frame 1, the seventh motor 71 and the weight detecting device, after the ball to be detected is conveyed to the rectangular disc 67, the weight detector 68 can weigh the ball, after the weight standard is met, the controller can drive the seventh motor 71 to enable the rectangular disc 67 to rotate rightwards, the seventh motor 71 is a self-locking motor and pushes the ball to the diameter detection device on the right side, if the ball does not meet the quality standard requirement, the seventh motor 71 drives the rectangular disc 67 to rotate leftwards, and unqualified parts are pushed to the storage box 70 to be concentrated.

When the device is used, firstly, metal parts to be detected are conveyed to the rectangular disc 67, the weight detector 68 can weigh the metal parts, after the weight standard is met, the seventh motor 71 is driven by the controller to enable the rectangular disc 67 to rotate rightwards, the ball is pushed into the diameter detection device on the right side, if the weight standard is not met, the seventh motor 71 drives the rectangular disc 67 to rotate leftwards, and unqualified parts are pushed into the storage box 70 to be concentrated;

after qualified spheres are pushed to the two groups of baffles 46 of the diameter detection device, sphere parts with diameters smaller than the standard size are collected and concentrated on the left side of the storage box 45, spheres larger than the standard gear enter the intermittent feeding device through a feed opening at the lower end of a cavity of the storage box 45, a sixth motor 63 in the intermittent feeding device is driven by a controller to rotate intermittently, each time the spheres rotate for a certain angle, an indexing groove 62 on an indexing disc 61 rotates for a certain moving angle, parts to be detected flowing out of a vertical channel 59 are transferred into the indexing groove 62, the parts to be detected enter a feed channel 57 when the parts rotate to the lower part along with the rotation of the indexing disc 61 and then enter a horizontal slide way 49, the trigger plate 52 is pushed to swing if the radius of the parts is larger than the standard size, and once the trigger plate 52 is separated from an armature through a magnet, the trigger can open an electromagnetic switch door 56 below, the spheres with the diameter larger than the standard size flow out from the feed opening, flow into a waste box 58 for collection, and flow into a roundness detection device through a feed channel 57 for collection when the spheres with the qualified size flow;

after quality control is carried out by a weight detection device and a diameter detection device, metal parts with unqualified weight and metal parts with unqualified diameter are screened out, qualified parts enter a supporting device of a roundness detection device to be detected, a controller controls a clamping and rotating device to work, so that the parts to be detected are clamped from the supporting device, after complete clamping, the controller controls a first motor 18 to work, the fourth gear 17 drives a fluted disc 16 to rotate under the driving of the first motor 18, four groups of third gears 15 are driven to rotate under the driving of the fluted disc 16, a sleeve 3 rotates along with the rotation of the sleeve 3, and the rotation of the threaded cylinder 4 is limited, so that the threaded cylinder 4 can only move along the radial direction of a fixed ring 2 to adjust the detection position until the current in four groups of first circuits after adjustment is at the initial position, here, the resistance value of the part to be detected can be set to be a position with a certain specific value, then the clamping and rotating device is controlled by the controller to rotate and rotate the part to be detected, so that the four groups of first circuits generate current changes, in the process of modeling detection, the small displacement change of the fixed rod 5 is amplified through the matching of the first rack 6, the first gear 7, the second gear 8 and the second rack 9, so that the current change in the first circuit is more obvious, the current change of the four groups of first circuits can clearly reflect the change situation of the excircle degree of the part to be detected at different positions, then three-dimensional modeling is performed on the display screen 19 after analysis by the controller, so that whether the quality of the part reaches the standard or not is automatically judged, and after the detection is completed, the clamping and rotating device is controlled by the controller to release the part to be detected, then up to standard part this moment then promotes it to qualified storage tank 20 in through the supporting device, and unqualified part then is realized automatic visual positioning operation by the propelling movement to the storage tank 20 of unqualified product in, and convenient to use is reliable, and the precision that detects is high, and degree of automation is high, is fit for using widely.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A robot vision positioning device comprises a rack (1), wherein a weight detection device, a diameter detection device and a roundness detection device which are used for controlling the quality of metal spherical parts are installed on the rack (1), the weight detection device conveys the metal spherical parts with qualified weight to the diameter detection device, the diameter detection device conveys the metal spherical parts with qualified diameters to the roundness detection device, the metal spherical parts are finally collected after being detected to be qualified by the roundness detection device, the quality of the parts is controlled by mechanization, and the weight detection device, the diameter detection device and the roundness detection device are electrically connected with a controller installed on the rack (1);

the roundness detection device comprises a fixing ring (2) installed on a rack (1), wherein four groups of sleeves (3) are rotationally connected to the fixing ring (2) along the radial direction in an evenly distributed manner, the sleeves (3) are in internal thread fit with a thread cylinder (4) which is connected to the fixing ring (2) along the radial sliding direction of the fixing ring (2), the thread cylinder (4) is internally provided with a fixing rod (5) which extends towards the center of the fixing ring (2) along the axial direction in a sliding fit manner and meets the requirement of not disengaging, the rear end of the fixing rod (5) is connected with a first rack (6) which is arranged in the thread cylinder (4), the first rack (6) is meshed with a first gear (7) which is rotatably connected in the thread cylinder (4), the first gear (7) is coaxially connected with a second gear (8), and the second gear (8) is meshed with a second rack (9) which is in the thread cylinder (4) in a sliding fit manner, the radius of second gear (8) is greater than the radius of first gear (7), the rear end of first rack (6) connect and be connected with first spring (10) between screw cylinder (4) the bottom surface in, screw cylinder (4) in install resistance coil (11), second rack (9) on install cylindricality section of thick bamboo (12), cylindricality section of thick bamboo (12) interior sliding fit resistance coil (11) complex electrically conductive column cap (13), electrically conductive column cap (13) and resistance coil (11) form first circuit, electrically conductive column cap (13) and cylindricality section of thick bamboo (12) between be connected with second spring (14), sleeve (3) coaxial coupling third gear (15), four groups third gear (15) all mesh with rotation connection fluted disc (16) outside solid fixed ring (2), fluted disc (16) mesh with fourth gear (17) of rotation connection on frame (1), the automatic detection device is characterized in that a first motor (18) is mounted on the rack (1), an output shaft of the first motor (18) is coaxially connected with a fourth gear (17), the lower end of the fixing ring (2) is connected with a supporting device, the supporting device supports and pushes out detection parts flowing out of the diameter detection device, clamping and rotating devices are mounted on the left side and the right side of the fixing ring (2) to position and rotate the appearance of the parts, four groups of first circuits are electrically connected with a display screen (19) mounted on the rack (1), and the supporting device, the clamping and rotating devices, the four groups of first circuits, the first motor (18) and a controller mounted on the rack (1) are electrically connected;

the rack (1) is connected with a plurality of groups of storage boxes (20).

2. The robot visual positioning device according to claim 1, wherein the clamping and rotating device comprises a fixed block (21) mounted on the frame (1), a T-shaped groove (22) is formed in the fixed block (21), two sets of T-shaped blocks (23) respectively arranged at two sides of the fixed ring (2) are arranged in the T-shaped groove (22) in a sliding fit manner, a lead screw (24) in threaded fit with the two sets of T-shaped blocks (23) is rotationally connected in the T-shaped groove (22), the direction of the thread direction of the two sets of T-shaped blocks (23) and the lead screw (24) is opposite, a second motor (25) is mounted on the frame (1), the output shaft of the second motor (25) is in transmission connection with one shaft end of the lead screw (24) through a belt, a U-shaped frame (26) is connected to the upper end of the T-shaped block (23), and the U-shaped frame (26) is respectively mounted in the forward and backward directions of one side of the U-shaped frame (26) facing the fixed ring ( The center position between two groups of inclined cylinders (27) which are positioned at the same side in the front and back direction and the center of the fixing ring (2) are positioned on the same horizontal plane, the center position between two groups of inclined cylinders (27) which are positioned at the same side in the upper and lower directions and the center of the fixing ring (2) are positioned on the same vertical plane, the inclined cylinders (27) are in sliding fit with a clamping rod (28), the end part ball of the clamping rod (28) is hinged with a magnetic ball (29) matched with a metal part to be tested, a sixth spring (75) is connected between the clamping rod (28) and the inner bottom surface of each inclined cylinder (27), the inner bottom surface of each inclined cylinder (27) is provided with a piezoelectric sensor matched and triggered with the clamping rod (28), one side of the T-shaped block (23) facing the center of the fixing ring (2) is provided with a rectangular cylinder (30) capable of penetrating through the fixing ring (2), and the rectangular cylinders (30) are in sliding fit with, a third spring (32) is connected between the telescopic rod (31) and the inner bottom surface of the rectangular cylinder (30), a third motor (33) is installed at the end part of the telescopic rod (31) at one side, an electromagnet (34) is installed at an output shaft of the third motor (33), two groups of belt pulleys (35) are rotatably connected to the end part of the telescopic rod (31) at the other side, a rubber belt (36) matched with a part to be detected is wound between the two groups of belt pulleys (35), and a rotating shaft of one group of belt pulleys (35) is in transmission connection with an output shaft of a fourth motor (37) installed on the telescopic rod (31) at the corresponding side through a belt;

the second motor (25), the third motor (33), the fourth motor (37), the electromagnet (34) and the piezoelectric sensor are electrically connected with the controller.

3. A robotic visual positioning device as claimed in claim 1 or 2, the supporting device comprises a supporting cylinder (38) fixedly arranged at the bottom of the fixing ring (2), a bearing seat (39) is vertically connected in the bearing cylinder (38) in a sliding way, a fourth spring (76) is connected between the bottom of the bearing seat (39) and the inner bottom surface of the bearing cylinder (38), the upper end of the bearing seat (39) is fixedly provided with a fixed arc plate (40) which is distributed along the left side and the right side, the upper end of the bearing seat (39) is provided with a groove (41), a fifth motor (42) is arranged in the groove (41), the output shaft of the fifth motor (42) is coaxially connected with a swinging rod (43), an arc-shaped rod (44) extending along the front-back direction is connected to the upper end of the swinging rod (43), and the fifth motor (42) is electrically connected with the controller.

4. The robot vision positioning device of claim 1, wherein the diameter detection device comprises a storage box (45) installed on the frame (1), the upper end of the storage box (45) is rotatably connected with two groups of obliquely arranged baffles (46), the baffles (46) are obliquely arranged towards the center direction and gradually increase the distance from left to right, the other end of the baffle (46) is rotatably connected with a rotating pin (47), the rotating pin (47) is in threaded fit with the side wall of the storage box (45), a baffle is arranged in the middle of the storage box (45), the lower end of a right chamber of the storage box (45) is provided with a feed opening, the feed opening is connected with an intermittent feeding device to detect and supply parts to be detected in the right chamber of the storage box (45), and a discharge opening at the lower end of the intermittent feeding device is connected with an oblique slide way (48), the utility model discloses a horizontal slide (49) of installing on frame (1) is connected to slope slide (48) end connection one, horizontal slide (49) upper end open jaggedly (50), breach (50) top put connecting plate (51) of installing the L shape in horizontal slide (49) upper end, connecting plate (51) tip rotate and be connected with trigger plate (52) of arranging in breach (50), trigger plate (52) and connecting plate (51) between be connected with a fifth spring (53), connecting plate (51) on install with trigger plate (52) complex roof (54), trigger plate (52) lower extreme extend to the adjustable length in horizontal slide (49), trigger plate (52) on install armature, roof (54) on install the magnet that uses with armature cooperation, horizontal slide (49) lower extreme open and have unloading export (55), an electromagnetic switch door (56) is installed at the position of the blanking outlet (55), the rear end of the connecting plate (51) is connected with a trigger, when the top plate (54) is separated from the trigger plate (52), the electromagnetic switch door (56) is driven by the trigger to be opened and then closed, the end part of the horizontal slideway (49) is connected with an inclined blanking channel (57), and a part to be detected moves into the roundness detection device through the blanking channel (57);

intermittent type feedway, trigger, electromagnetic switch door (56) and controller between electric connection, frame (1) on install waste material case (58) of arranging the feed opening below in.

5. A robot visual positioning device according to claim 4, characterized in that the intermittent feeding device comprises a vertical slideway fixedly connected with the lower end of the feed opening of the storage box (45), the lower end of the vertical slideway is fixedly provided with a cylinder (60), the upper end and the lower end of the cylinder (60) are respectively provided with a through hole matched with the corresponding side channel, the lower end of the cylinder (60) is connected with the inclined slideway (48), the cylinder (60) is matched with an index plate (61) in a rotating way, a plurality of groups of index grooves (62) which are distributed radially are uniformly distributed on the edge of the index plate (61) along the circumferential direction, the indexing groove (62) is used for placing a part to be detected, the indexing disc (61) is driven to rotate intermittently by a sixth motor (63) installed on the rack (1), and the sixth motor (63) is electrically connected with the controller.

6. A robot visual positioning device according to claim 4 or 5, characterized in that the lower vertical slideway of the trigger plate (52) is matched with an extension plate (64), one side of the extension plate (64) is connected with a matching plate (65) which is vertically matched with the trigger plate (52) in a sliding way, and the matching plate (65) is matched with a threaded pin (66) which is vertically arranged and is rotatably connected with the trigger plate (52) in a threaded way to form a trigger plate (52) structure with adjustable length.

7. The robot visual positioning device according to claim 1, wherein the weight detection device comprises a rectangular disc (67) rotatably connected to the frame (1), a weight detector (68) is mounted at the bottom of the rectangular disc (67), rectangular through holes (69) are formed in the left side and the right side of the rectangular disc (67), qualified metal balls to be detected are conveyed to the diameter detection device through the rectangular through holes (69) in the right side, a storage box (70) mounted on the frame (1) is arranged on the left side of the rectangular through holes (69) in the left side, a rotating shaft of the rectangular disc (67) is coaxially connected with an output shaft of a seventh motor (71) mounted on the frame (1), and the seventh motor (71) and the weight detector (68) are electrically connected with the controller.

8. The robot visual positioning device according to claim 1, wherein a limiting groove (72) with a rectangular cross section is axially formed in the outer side of the threaded cylinder (4), an L-shaped limiting rod (73) matched with the limiting groove (72) is connected in the fixing ring (2), and the limiting rod (73) can only move in the axial direction of the threaded cylinder (4) along the limiting groove (72).

9. A robot visual positioning device according to claim 2, characterised in that a plurality of sets of anti-slip rubber blocks (74) are connected to the rubber belt (36), and magnets are connected between adjacent rubber blocks (74).