CN113375553B - Visual detection system - Google Patents
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- CN113375553B CN113375553B CN202110615072.7A CN202110615072A CN113375553B CN 113375553 B CN113375553 B CN 113375553B CN 202110615072 A CN202110615072 A CN 202110615072A CN 113375553 B CN113375553 B CN 113375553B
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- 238000001514 detection method Methods 0.000 title abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 17
- 239000011324 bead Substances 0.000 claims description 12
- 238000011179 visual inspection Methods 0.000 claims description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
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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
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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Abstract
The invention discloses a visual detection system, which belongs to the technical field of industrial robot grabbing and is used for controlling the movement of an industrial robot so as to realize the clamping and placing of parts, wherein the industrial robot comprises a robot body and a manipulator, and the visual detection system comprises a camera and a control system; the camera is installed on a manipulator of the industrial robot, the control system comprises a computer, an image acquisition card and a vision sensor, one end of the vision sensor and one end of the image acquisition card are respectively in wireless communication connection with the computer, and the other end of the vision sensor and the other end of the image acquisition card are respectively in wireless communication connection with the camera; the spare part includes the cylinder and connects the flange at cylinder top periphery, and the computer is used for controlling the manipulator from top to bottom and presss from both sides the flange to place the spare part in the assigned position. The invention can accurately control the movement of the industrial robot to realize the clamping and placing of the parts, can clamp and place the parts from top to bottom, and is suitable for clamping and placing cylindrical parts with flanges at the tops.
Description
Technical Field
The invention relates to the technical field of industrial robot grabbing, in particular to a visual detection system.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
Currently, many factories begin to use industrial robots to pick and place parts so that parts can be placed from one location to another designated location. When industrial robot snatchs and places spare part, need accurate reliable visual detection system, just can reach better snatching and placing the purpose, however traditional visual detection system observes the motion condition of robot through the naked eye usually, consequently hardly in time discovers the type and the size of barrier, and can't in time detect out the distance between robot and the barrier, can't realize that the robot is automatic to cross the barrier. In addition, no matter what shape and type of the part, the manipulator of the existing industrial robot is clamped from the side part of the part through the manipulator with the clamping hands arranged on the left side and the right side, so that a large space is needed in the clamping and placing process of the manipulator, and the clamping and placing cannot be performed from the two sides of the part. And parts with different shapes and types are preferably operated by different mechanical arms, so that the parts can be better clamped and placed.
In view of this, the invention provides a novel visual inspection system, which can precisely control the movement of an industrial robot to realize the clamping and placing of parts, and meanwhile, provides a novel mechanical arm of the industrial robot to clamp parts which are cylindrical and have flanges at the top.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a visual detection system which can accurately control the movement of an industrial robot so as to realize the clamping and placing of parts and can clamp and place the parts from top to bottom.
In order to achieve the purpose, the invention provides the following technical scheme:
a visual detection system is used for controlling the movement of an industrial robot to realize the clamping and placing of parts, wherein the industrial robot comprises a robot body and a manipulator, and comprises a camera and a control system;
the camera is installed on the manipulator of the industrial robot, the control system comprises a computer, an image acquisition card and a vision sensor, one end of the vision sensor and one end of the image acquisition card are in wireless communication connection with the computer respectively, and the other end of the vision sensor and the other end of the image acquisition card are in wireless communication connection with the camera respectively;
the part comprises a cylinder and flanges connected to the periphery of the top of the cylinder, and the computer is used for controlling the manipulator to clamp the flanges from top to bottom so as to place the part at a specified position.
More preferably: the manipulator comprises an end head, a central body, a gripper, a sleeve, a vertical spring, a positioning mechanism and a motor;
the gripper comprises a gripping block and a connecting spring, the gripping block is positioned on the outer side below the end head, the gripping block is rotatably connected to the outer surface of the central body and is used for hooking the flanges from two opposite sides of the cylinder so as to lift the cylinder and the flanges, the connecting spring is positioned below the joint of the gripping block and the central body, one end of the connecting spring is connected with the central body, the other end of the connecting spring is connected with the gripping block, and the bottom surface of the central body is used for contacting with the top surface of the part;
a cavity and a slot are arranged in the end head, the sleeve is sleeved on the surface of the central body and is positioned in the cavity and the slot, the lower end of the vertical spring is fixed with the sleeve, and the upper end of the vertical spring is fixed with the top in the cavity;
the top of the central body is inserted into the slot, the positioning mechanism is used for limiting and fixing the central body so as to limit and fix the central body in the slot, and the motor is positioned above the slot and is used for driving the central body to rotate.
More preferably: the central body comprises a positioning part, a connecting column and a contact part which are arranged from top to bottom in sequence;
the grabbing block is rotatably connected to the contact part, the contact part is located below the end head and is used for contacting with the top surface of the part, the sleeve is sleeved on the outer surface of the connecting column, and the sleeve is located between the positioning part and the contact part;
the vertical springs are located on two opposite sides of the outer portion of the connecting column and located in the cavity, the sleeve comprises a cylindrical portion and a tight supporting portion connected to the bottom of the cylindrical portion, a lower mounting hole is formed in the tight supporting portion, an upper mounting hole is formed in the top of the inner portion of the cavity, the upper end of each vertical spring is fixed in the upper mounting hole, and the lower end of each vertical spring is fixed in the lower mounting hole.
More preferably: the positioning mechanism comprises a positioning ball, a blind hole and a resisting spring;
the blind hole is formed in the side wall of the slot, the abutting spring is located in the blind hole, one end of the abutting spring is fixed to the bottom in the blind hole, and the other end of the abutting spring is fixed to the abutting spring;
the positioning ball is matched with the positioning hole and used for bouncing into the positioning hole so as to enable the positioning part to be fixed in the slot in a limiting mode, a limiting part is arranged on one side, close to the abutting spring, of the positioning ball, and a flange used for limiting the limiting part to be separated from the blind hole is arranged at the position of the blind hole.
More preferably: the blind hole side wall is provided with a sliding groove, the limiting part is embedded in the sliding groove and is in sliding fit with the sliding groove, and the length direction of the sliding groove is the same as the axial direction of the blind hole.
More preferably: the locating bead is an electromagnet, and the locating part is made of an iron material.
More preferably: the end head comprises a connecting rod and an operating head connected to the lower end of the connecting rod, the motor is located in the connecting rod, and the slot is located in the operating head;
the top of the positioning part is provided with a positioning groove, a main shaft is fixed on the motor output shaft, the upper end of the main shaft is connected with the motor output shaft, the lower end of the main shaft extends downwards into the slot and is used for being inserted into the positioning groove, and the main shaft is matched with the positioning groove;
the positioning groove is a rectangular groove or an elliptical groove.
More preferably: snatch the piece including snatching a body, hitching portion and rake, the hitching portion is located snatch a body bottom and be used for catching the flange, the rake is located snatch a body upper portion and be close to support tight portion one side, the operating head lower extreme is located the rake with support between the tight portion, operating head lower extreme surface be provided with be used for with the inclined plane of rake contact.
More preferably: the positioning mechanism is provided with two, and two the positioning mechanism symmetry sets up the relative both sides of location portion.
More preferably: the grabbing block is at least provided with two grabbing blocks, and the motor is a stepping motor.
In conclusion, the invention has the following beneficial effects: when the industrial robot clamps and places the parts, the parts need to be accurately positioned, and the preset effect can be achieved. Therefore, the invention installs a camera for real-time monitoring on the manipulator of the industrial robot, and acquires images and videos through an image acquisition card and a visual sensor and analyzes and processes the images and videos so as to control the robot to complete the clamping and placing work of parts through computer control.
The during operation, earlier through the accurate location of camera, then through computer control industrial robot motion, so that industrial robot is located directly over the spare part, at this moment control manipulator pushes down again, push down again after contact portion and spare part top contact, so that the central body, the tongs rebound, the main shaft will be inserted and establish in the slot this moment, owing to snatch a body and rotate and connect on the contact portion, and the operating head clamp is snatching between a body upper portion inboard and the sleeve, it passes through connecting spring with the contact portion to snatch a body lower part, consequently, when contact portion and spare part top contact continue to push down again, it will revolute the axle rotation to snatch a body, so that the part that hooks up removes to being close to the spare part direction, thereby catch on the flange. After the hooking part hooks the flange tightly, the motor is started to drive the central body and the hand grip to rotate to a certain angle through the main shaft, and at the moment, the positioning beads are just aligned with the positioning holes, so that the positioning beads are automatically bounced into the positioning holes to be limited and fixed, and the central body is limited to move downwards. Preferably, for some parts with heavier mass, after the positioning beads are bounced into the positioning holes, the positioning beads can be electrified, so that the positioning beads are magnetically connected with the positioning parts, and the limiting and fixing capacity of the positioning parts is enhanced. At the moment, the mechanical arm can lift the part and place the part at the designated position, and then the gripper is released. When the hand grip is loosened, only the motor needs to be started, so that the central body and the hand grip are driven by the main shaft to rotate reversely to the starting position, the positioning balls retract into the blind hole, the central body does not have the limiting and fixing effect, the hand grip is naturally loosened under the action of gravity and a vertical spring when the mechanical hand moves upwards, and parts are placed at the designated position.
The clamping and placing device can accurately control the movement of the industrial robot to clamp and place the parts, can clamp and place the parts from top to bottom, is suitable for clamping and placing cylindrical parts with flanges at the tops, and has strong pertinence.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment, which is mainly used for embodying an architecture diagram of a visual inspection system;
fig. 2 is a schematic sectional view of an embodiment, mainly used for embodying the structure of a manipulator of an industrial robot;
FIG. 3 is a schematic cross-sectional view of an embodiment, primarily used to embody a mounting structure for a gripping block;
fig. 4 is a schematic sectional view of the embodiment, which is mainly used for embodying the mounting structure of the positioning mechanism.
In the figure, 1, a camera; 21. an image acquisition card; 22. a vision sensor; 23. a computer; 31. a connecting rod; 32. an operating head; 41. a cylinder; 42. a flange; 511. grabbing a block body; 512. a hook-up portion; 513. an inclined portion; 52. a rotating shaft; 53. a connecting spring; 6. a central body; 61. a contact portion; 62. connecting columns; 63. a positioning part; 64. positioning holes; 65. positioning a groove; 7. a bevel; 8. a positioning mechanism; 81. a positioning bead; 82. blind holes; 83. the spring is tightly propped; 84. a chute; 9. a sleeve; 91. a cylindrical portion; 92. a tightening part; 10. a vertical spring; 11. an upper mounting hole; 12. a cavity; 13. a motor; 14. a main shaft; 15. a slot; 16. and a lower mounting hole.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
Example (b): a vision inspection system, as shown in FIGS. 1-4, is used to control the movement of an industrial robot to achieve the gripping and placement of parts, the industrial robot including a robot body and a manipulator. The vision detection system comprises a camera 1 and a control system, wherein the camera 1 is installed on a manipulator of the industrial robot, and the industrial robot is a six-degree-of-freedom robot. The control system comprises a computer 23, an image acquisition card 21 and a vision sensor 22, wherein one end of the vision sensor 22 and one end of the image acquisition card 21 are respectively in wireless communication connection with the computer 23, and the other end of the vision sensor 22 and the other end of the image acquisition card 21 are respectively in wireless communication connection with the camera 1. The image acquisition card 21 is used for acquiring an environment image of the part shot by the camera 1 so as to calculate and analyze various obstacles clamped or placed on the part; the vision sensor 22 is used for acquiring part video data shot by the camera 1, and obtaining the distance between a manipulator of the industrial robot and an obstacle by using a three-dimensional reconstruction function; the computer 23 controls the robot to complete the part gripping and placing work according to the obstacles and the distance. Preferably, in order to improve the visual accuracy, a plurality of cameras 1 can be installed on a manipulator of the industrial robot, so that dead-angle-free monitoring is realized.
In the technical scheme, when the industrial robot clamps and places the parts, the parts need to be accurately positioned, and the preset effect can be achieved. For this purpose, the invention installs a camera 1 for real-time monitoring on the manipulator of the industrial robot, and acquires images and videos through an image acquisition card 21 and a vision sensor 22 and performs analysis processing, so as to control the robot to complete the clamping and placing work of parts through a computer 23.
Referring to fig. 1-4, the component parts include a cylindrical body 41 and a flange 42 attached around the top of the cylindrical body 41, the cylindrical body 41 having a cylindrical shape. The computer 23 is used for controlling the manipulator to clamp the flange 42 from top to bottom so as to place the component at a designated position. The manipulator comprises an end head, a central body 6, a gripper, a sleeve 9, a vertical spring 10, a positioning mechanism 8 and a motor 13. The end head comprises a connecting rod 31 and an operating head 32 integrally connected to the lower end of the connecting rod 31, and the camera 1 is installed outside the operating head 32. The operating head 32 is provided with a cavity 12 and a slot 15, the sleeve 9 is sleeved on the surface of the central body 6 and is positioned in the cavity 12 and the slot 15, the lower end of the vertical spring 10 is fixed with the sleeve 9, and the upper end of the vertical spring is fixed with the top in the cavity 12. The central body 6 is inserted into the slot 15 at the top, preferably, the central body 6 comprises a positioning portion 63, a connecting column 62 and a contact portion 61 which are integrally connected from top to bottom, and the positioning portion 63 is matched with the slot 15 and inserted into the slot 15.
Referring to fig. 1-4, the gripper comprises gripping blocks located outside and below the operating head 32 and pivotally connected to the outer surface of the central body 6 and adapted to catch the flanges 42 from opposite sides of the cylinder 41 to lift the cylinder 41, 42, and a connecting spring 53. The connecting spring 53 is located below the connecting position of the grabbing block and the central body 6, one end of the connecting spring 53 is connected with the central body 6, the other end of the connecting spring is connected with the grabbing block, and the bottom surface of the central body 6 is used for contacting with the top surface of a part. The vertical springs 10 are located on two opposite sides of the outer portion of the connecting column 62 and located in the cavity 12, the sleeve 9 comprises a cylindrical portion 91 and a tightly-supporting portion 92 connected to the periphery of the bottom of the cylindrical portion 91, the tightly-supporting portion 92 is located in the cavity 12 and is in up-and-down sliding fit with the side wall of the cavity 12, and the cylindrical portion 91 is located in the slot 15 and the cavity 12. The abutting portion 92 is provided with a lower mounting hole 16, the inner top of the cavity 12 is provided with an upper mounting hole 11, the upper end of the vertical spring 10 is fixed in the upper mounting hole 11, and the lower end of the vertical spring is fixed in the lower mounting hole 16. Snatch the piece and rotate to be connected on contact portion 61, contact portion 61 is located the end below and is used for contacting with spare part top surface, and the cover is established at spliced pole 62 surface to sleeve 9, and sleeve 9 is located between location portion 63 and contact portion 61.
Referring to fig. 1 to 4, preferably, the grip block includes a grip block body 511, a hooking portion 512, and an inclined portion 513. The hook 512 is located at the bottom of the grasping block body 511 and is used to hook the flange 42. The inclined part 513 is located on the upper part of the grabbing block body 511 close to the abutting part 92, the lower end of the operating head 32 is located between the inclined part 513 and the abutting part 92, and the outer surface of the lower end of the operating head 32 is provided with an inclined surface 7 for contacting with the inclined part 513. The contact portion 61 is fixed with a rotating shaft 52, the rotating shaft 52 penetrates through the grabbing block body 511, and the connecting spring 53 is located below the rotating shaft 52. The motor 13 is located above the slot 15 and is used for driving the central body 6 to rotate, and the motor 13 is a stepping motor 13. The motor 13 is located in the connecting rod 31, the slot 15 is located in the operating head 32, the positioning slot 65 is formed in the top of the positioning portion 63, and the spindle 14 is fixed on the output shaft of the motor 13. The upper end of the main shaft 14 is connected with an output shaft of the motor 13, the lower end of the main shaft extends downwards into the slot 15 and is used for being inserted into the positioning groove 65, and the main shaft 14 is matched with the positioning groove 65. The positioning slot 65 is a rectangular slot or an elliptical slot, so that when the main shaft 14 rotates, the positioning portion 63, the connecting column 62 and the contact portion 61 can drive the gripper to rotate coaxially together, and the central axis of the main shaft 14 coincides with the central axis of the central body 6. Preferably, at least two gripping blocks are arranged along the circumferential direction of the contact portion 61, and most preferably, four gripping blocks are arranged at equal intervals along the circumferential direction of the contact portion 61.
Referring to fig. 1-4, the positioning mechanism 8 is used to position and fix the central body 6, so that the central body 6 is positioned and fixed in the slot 15. The positioning part 63 has a positioning hole 64 on its surface, and the positioning mechanism 8 includes a positioning ball 81, a blind hole 82 and a resisting spring 83. The blind hole 82 is formed in the sidewall of the slot 15, the tightening spring 83 is located in the blind hole 82, one end of the tightening spring is fixed to the bottom of the blind hole 82, and the other end of the tightening spring 83 is fixed to the blind hole. The positioning ball 81 is matched with the positioning hole 64, the positioning ball 81 is used for bouncing into the positioning hole 64, so that the positioning part 63 is limited and fixed in the slot 15, a limiting part is arranged on one side, close to the abutting spring 83, of the positioning ball 81, and a flange used for limiting the limiting part to be separated from the blind hole 82 is arranged at the orifice of the blind hole 82. The positioning bead 81 is semi-elliptical and has an outer arc surface facing the insertion groove 15. The sliding groove 84 is formed in the side wall of the blind hole 82, the limiting part is embedded in the sliding groove 84 and is in sliding fit with the sliding groove 84, and the length direction of the sliding groove 84 is the same as the axial direction of the blind hole 82. The slide slots 84 are disposed on opposite sides of the side wall of the blind bore 82. The two positioning mechanisms 8 are provided, and the two positioning mechanisms 8 are symmetrically arranged on two opposite sides of the positioning portion 63. In order to improve the limit fixing function of the positioning portion 63, it is preferable that the positioning bead 81 is an electromagnet, and the positioning portion 63 is made of a ferrous material, so that when the electromagnet is powered on, the positioning bead 81 and the positioning portion 63 are magnetically connected.
In the above technical solution, during operation, the camera 1 is used for accurate positioning, then the computer 23 is used for controlling the movement of the industrial robot, so that the industrial robot is located right above the component, at this time, the manipulator is controlled to press down, when the contact portion 61 contacts with the top of the component, the manipulator presses down again, so that the central body 6 and the gripper move up, at this time, the main shaft 14 is inserted into the slot 15, because the grabbing block body 511 is rotatably connected to the contact portion 61, the operating head 32 is clamped between the inner side of the upper portion of the grabbing block body 511 and the sleeve 9, the lower portion of the grabbing block body 511 is connected with the contact portion 61 through the connecting spring 53, when the contact portion 61 contacts with the top of the component and then presses down, the grabbing block body 511 rotates around the rotating shaft 52, so that the hook portion 512 moves towards the direction close to the component, thereby hooking the flange 42. After the hooking portion 512 hooks the flange 42, the motor 13 is started to drive the central body 6 and the gripper to rotate to a certain angle through the main shaft 14, and at this time, the positioning ball 81 is just aligned with the positioning hole 64, so that the positioning ball 81 will automatically bounce into the positioning hole 64 for limiting and fixing, so as to limit the downward movement of the central body 6. Preferably, for some heavy components, after the positioning ball 81 is bounced into the positioning hole 64, the positioning ball 81 can be powered on, so that the positioning ball 81 is magnetically connected with the positioning portion 63, thereby enhancing the position-limiting fixing capability of the positioning portion 63. At the moment, the mechanical arm can lift the part and place the part at the designated position, and then the gripper is released. When the hand grip is loosened, only the motor 13 needs to be started, so that the central body 6 and the hand grip are driven by the main shaft 14 to rotate reversely to the starting position, the positioning balls 81 retract into the blind holes 82, at the moment, the central body 6 does not have the limiting and fixing effect, therefore, when the manipulator moves upwards, the hand grip is naturally loosened under the action of gravity and the vertical spring 10, and at the moment, parts are placed at the designated position.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that several improvements and modifications without departing from the principle of the present invention will occur to those skilled in the art, and such improvements and modifications should also be construed as within the scope of the present invention.
Claims (8)
1. The utility model provides a visual inspection system for control industrial robot motion to realize that the clamp of spare part gets and places, industrial robot includes robot body and manipulator, its characterized in that: comprises a camera (1) and a control system;
the camera (1) is installed on the manipulator of the industrial robot, the control system comprises a computer (23), an image acquisition card (21) and a vision sensor (22), one end of the vision sensor (22) and one end of the image acquisition card (21) are in wireless communication connection with the computer (23) respectively, and the other end of the vision sensor and the other end of the image acquisition card are in wireless communication connection with the camera (1) respectively;
the parts comprise a cylinder (41) and a flange (42) connected to the periphery of the top of the cylinder (41), and the computer (23) is used for controlling the manipulator to clamp the flange (42) from top to bottom so as to place the parts at a specified position;
the manipulator comprises an end head, a central body (6), a gripper, a sleeve (9), a vertical spring (10), a positioning mechanism (8) and a motor (13);
the gripper comprises a gripping block and a connecting spring (53), the gripping block is positioned on the outer side below the end head, the gripping block is rotatably connected to the outer surface of the central body (6) and used for hooking the flange (42) from two opposite sides of the cylinder (41) so as to lift the cylinder (41) and the flange (42), the connecting spring (53) is positioned below the joint of the gripping block and the central body (6), one end of the connecting spring (53) is connected with the central body (6), the other end of the connecting spring is connected with the gripping block, and the bottom surface of the central body (6) is used for contacting with the top surface of the part;
a cavity (12) and a slot (15) are arranged in the end head, the sleeve (9) is sleeved on the surface of the central body (6) and is positioned in the cavity (12) and the slot (15), the lower end of the vertical spring (10) is fixed with the sleeve (9), and the upper end of the vertical spring is fixed with the top in the cavity (12);
the top of the central body (6) is inserted into the slot (15), the positioning mechanism (8) is used for limiting and fixing the central body (6) so that the central body (6) is limited and fixed in the slot (15), and the motor (13) is positioned above the slot (15) and is used for driving the central body (6) to rotate;
the central body (6) comprises a positioning part (63), a connecting column (62) and a contact part (61) which are arranged from top to bottom in sequence;
the grabbing block is rotatably connected to the contact part (61), the contact part (61) is located below the end head and is used for being in contact with the top surface of the part, the sleeve (9) is sleeved on the outer surface of the connecting column (62), and the sleeve (9) is located between the positioning part (63) and the contact part (61);
the vertical spring (10) is located on two opposite sides of the outside of the connecting column (62) and is located in the cavity (12), the sleeve (9) comprises a cylindrical portion (91) and a tight supporting portion (92) connected to the bottom of the cylindrical portion (91), a lower mounting hole (16) is formed in the tight supporting portion (92), an upper mounting hole (11) is formed in the top of the cavity (12), the upper end of the vertical spring (10) is fixed in the upper mounting hole (11), and the lower end of the vertical spring is fixed in the lower mounting hole (16).
2. A visual inspection system according to claim 1, wherein: the surface of the positioning part (63) is provided with a positioning hole (64), and the positioning mechanism (8) comprises a positioning bead (81), a blind hole (82) and a pressing spring (83);
the blind hole (82) is formed in the side wall of the slot (15), the abutting spring (83) is located in the blind hole (82), one end of the abutting spring is fixed to the bottom in the blind hole (82), and the other end of the abutting spring is fixed to the abutting spring (83);
the positioning ball (81) is matched with the positioning hole (64), the positioning ball (81) is used for bouncing into the positioning hole (64) so that the positioning part (63) is limited and fixed in the slot (15), a limiting part is arranged on one side, close to the abutting spring (83), of the positioning ball (81), and a flange used for limiting the limiting part to be separated from the blind hole (82) is arranged at the orifice of the blind hole (82).
3. A visual inspection system according to claim 2, wherein: the blind hole (82) lateral wall has been seted up spout (84), spacing portion inlay in spout (84) and with spout (84) sliding fit, spout (84) length direction with blind hole (82) axial direction is the same.
4. A visual inspection system according to claim 2, wherein: the positioning beads (81) are electromagnets, and the positioning parts (63) are made of iron materials.
5. A visual inspection system according to claim 2, wherein: the end head comprises a connecting rod (31) and an operating head (32) connected to the lower end of the connecting rod (31), the motor (13) is positioned in the connecting rod (31), and the slot (15) is positioned in the operating head (32);
a positioning groove (65) is formed in the top of the positioning portion (63), a main shaft (14) is fixed on an output shaft of the motor (13), the upper end of the main shaft (14) is connected with the output shaft of the motor (13), the lower end of the main shaft extends downwards into the slot (15) and is inserted into the positioning groove (65), and the main shaft (14) is matched with the positioning groove (65);
the positioning groove (65) is a rectangular groove or an elliptical groove.
6. A visual inspection system according to claim 5, wherein: snatch the piece including snatching a body (511), hook-up portion (512) and rake (513), hook-up portion (512) are located snatch a body (511) bottom and be used for catching flange (42), rake (513) are located snatch a body (511) upper portion and be close to support tight portion (92) one side, operating head (32) lower extreme is located rake (513) with support between tight portion (92), operating head (32) lower extreme surface be provided with be used for with inclined plane (7) of rake (513) contact.
7. A visual inspection system according to claim 2, wherein: the number of the positioning mechanisms (8) is two, and the two positioning mechanisms (8) are symmetrically arranged on two opposite sides of the positioning part (63).
8. A visual inspection system according to claim 2, wherein: the grabbing block is at least provided with two grabbing blocks, and the motor (13) is a stepping motor.
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|---|---|
| CN113375553A (en) | 2021-09-10 |
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