CN114020555A - A take terminal detection device of vision robot for quick-witted incasement portion detects - Google Patents
A take terminal detection device of vision robot for quick-witted incasement portion detects Download PDFInfo
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- CN114020555A CN114020555A CN202111294424.XA CN202111294424A CN114020555A CN 114020555 A CN114020555 A CN 114020555A CN 202111294424 A CN202111294424 A CN 202111294424A CN 114020555 A CN114020555 A CN 114020555A
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- G06F11/22—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing
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Abstract
The invention relates to the technical field of automatic detection, in particular to a tail end detection device with a visual robot for detecting the interior of a case, which comprises: base, visual identification mechanism and probe centre gripping telescopic machanism, visual identification mechanism include mount pad, thick bat camera, accurate bat camera, thick bat light source and accurate bat light source, and probe centre gripping telescopic machanism is including cylinder axial drive subassembly, Z that connect gradually to the unsteady subassembly of buffering, forced induction subassembly and the unsteady subassembly of probe centre gripping. The invention overcomes the defects of the traditional manual detection, has accurate positioning, high efficiency, adjustable position speed and posture flexibility, stable and reliable action and convenient and rapid recording and analysis of the inspection result; the modularized assembly structure is adopted for stable connection, the service life is long, the maintenance is convenient, the weight is light, and the space is compact; the detection environment and diversified detection and inspection requirements of the narrow space inside the case can be accurately realized by configuring the slender probe clamping telescopic assembly and then assisting visual identification and posture calibration.
Description
Technical Field
The invention relates to the field of automatic detection, in particular to a tail end detection device with a visual robot for detecting the interior of a case.
Background
The detection requirements in the case are wide, and are particularly common in the industries of communication, computers and instruments, and mainly include screw locking detection (whether screws are missed, installed in place or not and twisted), label defect detection (whether labels are pasted, aligned, correct in orientation or not and damaged or not), component assembly detection (whether components are missed or not and installed in place or not and whether plug-in components are fastened in place or not), plug connector detection (whether plug connectors have defect-free performance indexes, whether plug connectors are normally connected or not, whether resistance/current/voltage/standing wave ratio/plug loss/phase and the like are normal or not), traditional manual detection easily generates visual fatigue and easily fails to detect and detect errors, the detection difficulty of the plug-in connectors in narrow space inside the case is higher under the conditions of multiple detection items and complicated operation and record, and the detection method is useless for fine and refined operation detection.
Disclosure of Invention
The invention provides an automatic robot tail end belt vision detection device for detecting the interior of a case, which can adapt to a narrow space in the case and effectively detect defects in the case, and aims to solve at least one technical problem.
The technical scheme for solving the technical problems is as follows:
a terminal detection device of robot with vision for detecting the inside of a case comprises:
the robot comprises a base connected with the tail end of a robot, wherein a flange adapter column used for being connected with a flange at the tail end of the robot is arranged on the base, and the lower end of the flange adapter column is fixedly connected with the base;
the vision recognition mechanism is arranged on one side of the base and comprises a mounting seat, a rough shooting camera, a fine shooting camera, a rough shooting light source arranged corresponding to the rough shooting camera and a fine shooting light source arranged corresponding to the fine shooting camera, the lower end of the mounting seat is fixedly connected with the side face of the base, the rough shooting camera, the fine shooting camera and the rough shooting light source are all arranged on one side, away from the base, of the mounting seat, and the fine shooting light source is arranged at the lower end of the fine shooting camera;
a probe centre gripping telescopic machanism for the fixed probe of surveying of centre gripping, probe centre gripping telescopic machanism is including cylinder axial drive assembly, Z that connect gradually to the unsteady subassembly of buffering, forced induction subassembly and probe centre gripping subassembly that floats, cylinder axial drive assembly pass through the cylinder mounting panel with base fixed connection.
The invention has the beneficial effects that: the invention carries out automatic detection and inspection on the interior of the case through the visual sense at the tail end of the robot, overcomes the defects of the traditional manual detection, and has the advantages of accurate positioning, high efficiency, adjustable position speed and posture flexibility, stable and reliable action, strong self-adaption and expansibility, and convenient and rapid recording and analysis of inspection results; the modular assembly structure is adopted for combined connection, the matching is accurate and stable, the service life is long, the disassembly, the replacement and the maintenance are convenient, the main body is light in weight and compact in space, the structural strength is ensured, and the processing cost is reduced; by visual identification and posture calibration, relevant defect identification, abnormal inspection, positioning and detection inspection guiding in the case can be accurately realized; the configuration is slender, and the probe clamping and stretching assembly can meet the detection environment and diversified detection and inspection requirements in the narrow space in the case, replaces the manual work, and improves the automation level of detection.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the cylinder axial driving assembly comprises a transmission cylinder, a floating joint, a telescopic main shaft, a rotation stopping pressure sleeve, a main shaft bushing, a linear bearing and a tail connecting piece, the transmission cylinder is fixedly connected with the base through the cylinder mounting plate, the transmission cylinder is in transmission connection with the telescopic main shaft through the floating joint, the upper end of the floating joint is connected with the lower end of the transmission cylinder, the lower end of the floating joint is connected with the upper end of the telescopic main shaft, the rotation stopping pressure sleeve is sleeved outside the top end of the telescopic main shaft, one side of the rotation stopping pressure sleeve is fixedly connected with the base, the linear bearing and the main shaft bushing are sleeved outside the telescopic main shaft, the linear bearing is arranged between the main shaft bushing and the rotation stopping pressure sleeve, and the tail connecting piece is fixedly arranged at the lower end of the telescopic main shaft, the lower end of the tail connecting piece is fixedly connected with the top end of the Z-direction buffering floating assembly.
The beneficial effect of adopting the further scheme is that: the cylinder axial drive assembly is provided with the transmission cylinder, so that power can be provided for driving the probe for detection, and the linear bearing is adopted to realize smooth axial telescopic motion of the telescopic main shaft, so that the precision is high.
Furthermore, the transmission cylinder is provided with a speed regulating valve for regulating the telescopic speed and a magnetic induction switch for sensing whether the telescopic position is in place.
The beneficial effect of adopting the further scheme is that: the speed regulating valve can adjust the stretching speed, and the magnetic induction switch can perceive the stretching position, can be convenient for control the stretching of transmission cylinder.
Furthermore, the Z-direction buffering floating assembly comprises a floating bushing, a floating Z shaft and a buffer spring, the top end of the floating bushing is fixedly connected with the tail connecting piece, the floating bushing is provided with a guide hole, the top end of the floating Z shaft is connected with the guide hole in a sliding mode, the buffer spring is sleeved outside the floating Z shaft, the top end of the buffer spring is fixedly connected with the lower end of the floating bushing, the lower end of the buffer spring is fixedly connected with the lower end of the floating Z shaft, and the lower end of the floating Z shaft is connected with the pressure sensing assembly.
The beneficial effect of adopting the further scheme is that: the buffer spring can play a role in buffering the floating Z shaft in the Z direction, and can ensure the floating Z shaft and the floating bush to float and displace in the axial direction relatively.
Furthermore, the pressure sensing assembly comprises a pressure sensor, an upper plate, a lower plate and a transition piece, the pressure sensor is arranged between the upper plate and the lower plate, the transition piece is arranged between the upper plate and the floating Z shaft, the lower side of the transition piece is fixedly connected with the upper plate, the lower end of the floating Z shaft is provided with a slot, the top end of the transition piece is arranged in the slot, a locking screw is arranged on the side wall of the slot, and the lower plate is fixedly connected with the top end of the probe clamping floating assembly.
The beneficial effect of adopting the further scheme is that: the upper plate and the lower plate can play an effective fixing role for the pressure sensor, so that the pressure sensor can accurately measure pressure information, and the probe retraction protection can be realized by matching the pressure early warning value with a control system when the pressure is too large.
Furthermore, the probe clamping floating assembly comprises probe clamping blocks, an XY plane floating piece and a line passing column, the top end of the line passing column is fixedly connected with the lower plate, the lower end of the line passing column is fixedly connected with the top end of the XY plane floating piece, the two probe clamping blocks are arranged on the lower side of the XY plane floating piece, the two probe clamping blocks are arranged on the opposite side wall surfaces of the two probe clamping blocks and are provided with locking through grooves used for locking probes, line passing holes are formed in the side wall of the line passing column, and one end of each line passing hole penetrates through the line passing column and the XY plane floating piece in sequence and is communicated with the locking through grooves.
The beneficial effect of adopting the further scheme is that: the probe clamping block can clamp and fix the probe, and the XY plane floating piece can adapt to the eccentric deflection of the probe when the probe has small eccentric deflection, so that the adaptability and the reliability of the probe detection plugging action are improved.
Furthermore, a plurality of wire binding grooves are formed in the wall surface of one side, away from each other, of each probe clamping block.
The beneficial effect of adopting the further scheme is that: the wire binding groove can be used for fixing two probe clamping blocks in a wire binding mode conveniently, and the probes are clamped and fixed.
Furthermore, a parallel calibration component used for calibrating parallelism between the base and a case reference surface is arranged on the base and comprises a parallel calibration column and a calibration section bar, the parallel calibration column is perpendicular to the calibration section bar, the lower end of the parallel calibration column is fixedly connected with the middle part of the upper side wall of the calibration section bar, the top end of the parallel calibration column is fixedly connected with the lower side wall of the base, and a calibration surface attached to the case reference surface is arranged on the lower side of the calibration section bar.
The beneficial effect of adopting the further scheme is that: the parallel calibration component can better calibrate the position relation between the visual identification positioning component and the probe clamping telescopic component and the tested case, so that the detection and inspection inside the case can be realized more accurately.
Further, the rough shooting camera and the precise shooting camera are correspondingly provided with camera position calibration pieces, after the rough shooting camera or the lens of the precise shooting camera is detached, the top end of the camera position calibration rod is coaxially connected with the rough shooting camera or the precise shooting camera and used for calibrating the position of the rough shooting camera or the precise shooting camera.
The beneficial effect of adopting the further scheme is that: the camera position calibration piece can calibrate the visual photographing positions of the rough photographing camera and the fine photographing camera, and the visual detection is more accurate.
Further, the precision shooting light source is an annular light source with a lens avoiding hole arranged in the middle, the annular light source is coaxial with the precision shooting camera, and the rough shooting light source is a point light source.
The beneficial effect of adopting the further scheme is that: the fine shooting light source is set to be an annular light source, so that sufficient illumination can be ensured during visual detection of the fine shooting camera, the rough shooting light source has good light condensation effect by adopting a point light source, and the visual detection is more accurate.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is an exploded view of the probe-holding telescopic mechanism of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a base; 11. a flange transfer column;
2. a visual recognition mechanism; 21. a mounting seat; 22. roughly shooting a camera; 23. a fine shooting camera; 24. roughly shooting a light source; 25. a fine shooting light source;
3. the probe clamping and telescoping mechanism; 31. a cylinder axial drive assembly; 32. a Z-direction buffering floating assembly; 33. a pressure sensing assembly; 34. the probe clamps the floating assembly; 35. a cylinder mounting plate;
311. a transmission cylinder; 312. a floating joint; 313. a rotation stopping pressure sleeve; 314. a linear bearing; 315. a main shaft bushing; 316. a telescopic main shaft; 317. a tail connector; 318. a speed regulating valve; 319. a magnetic induction switch;
321. a floating liner; 322. a floating Z axis; 323. a buffer spring;
331. an upper plate; 332. a lower plate; 333. a pressure sensor; 334. a transition piece;
341. a wire passing column; 342. an XY plane float; 343. a probe clamping block; 344. a wire binding groove;
4. a parallel calibration component; 41. parallel calibration columns; 42. calibrating the section bar;
5. a camera position index.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
As shown in fig. 1 and 2, the present embodiment provides an end detecting device with a vision robot for detecting inside of a chassis, including: the robot comprises a base 1 connected with the tail end of a robot, wherein a flange adapter column 11 used for being connected with a flange at the tail end of the robot is arranged on the base 1, and the lower end of the flange adapter column 11 is fixedly connected with the base 1; the vision recognition mechanism 2 is arranged on one side of the base 1, the vision recognition mechanism 2 comprises a mounting seat 21, a rough shooting camera 22, a fine shooting camera 23, a rough shooting light source 24 corresponding to the rough shooting camera 22 and a fine shooting light source 25 corresponding to the fine shooting camera 23, the lower end of the mounting seat 21 is fixedly connected with the side surface of the base 1, the rough shooting camera 22, the fine shooting camera 23 and the rough shooting light source 24 are arranged on one side of the mounting seat 21, which is far away from the base 1, and the fine shooting light source 25 is arranged at the lower end of the fine shooting camera 23; the probe clamping and telescoping mechanism 3 is used for clamping and fixing a probe for detection, the probe clamping and telescoping mechanism 3 comprises an air cylinder axial driving assembly 31, a Z-direction buffering floating assembly 32, a pressure sensing assembly 33 and a probe clamping floating assembly 34 which are sequentially connected, and the air cylinder axial driving assembly 31 is fixedly connected with the base 1 through an air cylinder mounting plate 35.
It should be noted that, the upper and lower ends of the flange adapter column 11 are both fixedly provided with a connecting flange, the two connecting flanges are fixedly connected with the flange adapter column 11 to form an i-shaped cylinder, the upper side wall surface of the connecting flange at the top end of the flange connecting column is provided with a circular groove, when the flange adapter column is assembled with the tail end of a robot, the tail end flange surface of the robot is attached to the bottom surface of the circular groove, and then the connecting flange at the top end of the flange adapter column is fixedly connected with the connecting flange by a via screw, the circular groove is coated on the outer side of the tail end of the robot, thereby realizing reliable connection and spacing, in order to reduce the output of the tail end of the robot, the flange adapter column is made into a hollow structure, the base 1 and the mounting base 21 are both provided with lightening holes, in order to ensure the stability of the mounting base 21 connected on the base 1, a reinforcing rib is arranged between the mounting base 21 and the base 1, the lower end of the mounting base 21 is vertically and fixedly connected with one side of the base 1, one end of each reinforcing rib is fixedly connected with the mounting seat 21, and the other end of each reinforcing rib is fixedly connected with the upper side wall of the base 1.
It should be further noted that the rough photographing camera 22 and the fine photographing camera 23 are mounted on the mounting base 21 in parallel, mounting pieces are respectively arranged on the mounting base 21 corresponding to the rough photographing camera 22 and the fine photographing camera 23, a plurality of mounting holes are vertically formed in the mounting pieces, the rough photographing camera 22 and the fine photographing camera 23 are fixed on the mounting pieces through screws, a rough photographing lens is arranged at the lower end of the rough photographing camera 22, and a fine photographing lens is arranged at the lower end of the fine photographing camera 23; the rough photographing camera 22 is preferably an industrial area-array camera, a zooming rough photographing lens is selected according to working distance and visual field collocation, after an image in the case is collected by the rough photographing camera 22, preliminary identification and positioning of the positions and the profiles of materials such as screws, labels, components, plug-in connectors and the like in the case and obvious characteristic abnormity and defect inspection can be realized by matching with a visual algorithm of profile identification, gray level identification and depth learning, preliminary positioning is carried out on an area needing accurate identification and detection, and the tail end of the robot is guided to reach an appointed position after operation and calibration through correlation with the robot; the precise shooting camera 23 is preferably a high-resolution industrial area-array camera, a telecentric precise shooting lens with proper precision is matched according to the working distance and the visual field, after the precise shooting camera 23 collects images in the case, the precise shooting camera is matched with visual algorithms such as contour recognition, gray scale recognition, depth learning, image and form processing, and the like, so that the precise recognition and positioning of the positions and contours of materials such as screws, labels, components, plug-in connectors and the like in the case and the precise detection and the detection of more precise characteristic abnormity and defects can be realized, and the tail end of the robot and a tail end probe are guided to accurately reach a specified position through the correlation operation calibration with the robot.
Preferably, the cylinder axial driving assembly 31 comprises a transmission cylinder 311, a floating joint 312, a telescopic main shaft 316, the rotary stopping device comprises a rotary stopping pressure sleeve 313, a main shaft bushing 315, a linear bearing 314 and a tail connecting piece 317, wherein a transmission cylinder 311 is fixedly connected with a base 1 through a cylinder mounting plate 35, the transmission cylinder 311 is in transmission connection with a telescopic main shaft 316 through a floating joint 312, the upper end of the floating joint 312 is connected with the lower end of the transmission cylinder 311, the lower end of the floating joint 312 is connected with the upper end of the telescopic main shaft 316, the rotary stopping pressure sleeve 313 is sleeved on the outer side of the top end of the telescopic main shaft 316, one side of the rotary stopping pressure sleeve 313 is fixedly connected with the base 1, the linear bearing 314 and the main shaft bushing 315 are sleeved outside the telescopic main shaft 316, the linear bearing 314 is arranged between the main shaft bushing 315 and the rotary stopping pressure sleeve 313, the tail connecting piece 317 is fixedly arranged at the lower end of the telescopic main shaft 316, and the lower end of the tail connecting piece 317 is fixedly connected with the top end of a Z-direction buffering floating assembly 32.
It should be noted that the floating joint 312 is a pneumatic element, so as to ensure that the telescopic function can be smoothly realized when the transmission cylinder 311 and the telescopic spindle 316 are timely slightly eccentric or deflected, the telescopic spindle 316 is a long and thin die steel shaft which is subjected to heat treatment and has improved wear resistance, the top end of the telescopic spindle 316 is fixedly connected with the lower end of the floating joint 312 through a screw, it can be understood that the telescopic spindle 316 can realize the telescopic function under the action of the cylinder, because one side of the rotation stopping pressing sleeve 313 is fixedly connected with the base 1, the telescopic spindle 316 can slide along the axial direction of the rotation stopping pressing sleeve 313, in order to avoid the rotation of the telescopic spindle 316 relative to the rotation stopping pressing sleeve 313, the rotation stopping pressing sleeve 313 is internally provided with a rotation stopping flat position hole, and the top end of the telescopic spindle 316 is provided with a flat structure matched with the rotation stopping flat position hole; the linear bearing 314 is arranged between the rotation stopping pressure sleeve 313 and the main shaft bushing 315, the main shaft bushing 315 is provided with a bearing hole, the linear bearing 314 is arranged in the bearing hole, the lower end of the telescopic main shaft 316 sequentially penetrates through the rotation stopping pressure sleeve 313 and the linear bearing 314 and then extends out of the lower end of the main shaft bushing 315, and the top end of the main shaft bushing 315 is fixedly connected with the base 1; the side of the tail connector 317 is provided with a binding hole for fixing the probe cable and the pressure sensor 333 cable.
Preferably, the transmission cylinder 311 is provided with a speed regulating valve 318 for regulating the telescopic speed, and a magnetic induction switch 319 for sensing whether the telescopic position is in place.
Preferably, the Z-direction buffering floating assembly 32 includes a floating bushing 321, a floating Z-axis 322 and a buffering spring 323, the top end of the floating bushing 321 is fixedly connected to the tail connector 317, the floating bushing 321 is provided with a guide hole, the top end of the floating Z-axis 322 is slidably connected to the guide hole, the buffering spring 323 is sleeved outside the floating Z-axis 322, the top end of the buffering spring 323 is connected to the lower end of the floating bushing 321, the lower end of the buffering spring 323 is connected to the lower portion of the floating Z-axis 322, and the lower end of the floating Z-axis 322 is connected to the pressure sensing assembly 33.
It should be noted that, in order to prevent the floating bushing 321 from rotating relative to the floating Z-axis 322, a rotation stopping hole is provided on the sidewall of the floating bushing 321, a rotation stopping nail is provided in the rotation stopping hole, or the top end of the floating Z-axis 322 is provided with a prism shape in sliding fit with the guide hole, the floating bushing 321 is sleeved outside the top end of the floating Z-axis 322, and the floating Z-axis 322 is in vertical sliding fit with the guide hole of the floating bushing 321; a screw hole is formed in the end face of the top end of the floating Z shaft 322, and a plug screw is locked in the screw hole to enable the floating Z shaft 322 and the floating bushing 321 to slide in a closed-loop matching mode; buffer spring 323 suit is floated between Z bush and the Z axle 322 that floats, when adopting probe insertion quick-witted incasement portion to survey, and buffer spring 323 compresses gradually, and the terminal action that can ensure probe insertion quick-witted incasement is steady reliable to compressed effort final transfer to probe, certainly through setting up different insertion height, can produce different buffer spring 323 compression volume, and buffer spring 323 can play the flexible regulation of inserting the dynamics.
Preferably, the pressure sensing assembly 33 includes a pressure sensor 333, an upper plate 331, a lower plate 332, and a transition piece 334, the pressure sensor 333 is disposed between the upper plate 331 and the lower plate 332, the transition piece 334 is disposed between the upper plate 331 and the floating Z-axis 322, a lower side of the transition piece 334 is fixedly connected to the upper plate 331, a slot is disposed at a lower end of the floating Z-axis 322, a top end of the transition piece 334 is disposed in the slot, a locking screw is disposed on a sidewall of the slot, and the lower plate 332 is fixedly connected to a top end of the probe clamping floating assembly 34.
It should be noted that the pressure sensor 333 is preferably a miniature cylindrical button type precision pressure sensor 333, the pressure sensor 333 can sense the pressure of the probe during plugging in real time, and can cooperate with a robot control system to realize retraction protection of the probe when the pressure is too high by setting a pressure early warning value, the upper side of the pressure sensor 333 is a base end, which is connected with the upper plate 331 through a screw, and the lower side of the pressure sensor 333 is a deformation sensing end, which is fixedly connected with the lower plate 332 through a screw.
Preferably, the probe clamping floating assembly 34 includes probe clamp blocks 343, XY plane floating member 342 and wire passing column 341, the top end of the wire passing column 341 is fixedly connected with the lower plate 332, the lower end of the wire passing column 341 is fixedly connected with the top end of the XY plane floating member 342, two probe clamp blocks 343 are provided, and the two probe clamp blocks 343 are oppositely disposed at the lower side of the XY plane floating member 342, profile-modeling locking through grooves for locking the probes are provided on the opposite side wall surfaces of the two probe clamp blocks 343, wire passing holes are provided on the side wall of the wire passing column 341, and one end of each wire passing hole sequentially penetrates through the wire passing column 341 and the XY plane floating member 342 and then is communicated with the locking through groove.
Preferably, the two probe clamp blocks 343 are semi-circular truncated cone-shaped, the locking through grooves on the opposite side wall surfaces of the two probe clamp blocks 343 are semi-cylindrical, the two locking through grooves can be enclosed to form cylindrical profile holes for fixing probes, the wire passing column 341 and the XY plane floating part 342 are both arranged to be hollow inside, the wire passing hole is communicated with the inside of the wire passing column 341, the probes extend into the wire passing column 341 through the wire holes and then penetrate through the XY plane floating part 342 to be clamped and fixed by the two probe clamp blocks 343, the top end of the XY plane floating part 342 is fixedly connected with the lower end of the wire passing column 341, the two semi-circular truncated cone-shaped probe clamp blocks 343 are formed to be fixedly connected with the lower end of the XY plane floating part 342 after being truncated cone-shaped, the XY plane floating part 342 is provided with a sliding block and a return spring in two directions of an X axis and a Y axis, when the probes penetrate through the XY plane floating part 342 and have a small eccentric deflection, the return spring can push the sliding block to float and reset in the opposite direction of the corresponding eccentric deflection, at the moment, the auxiliary correction of the plugging position of the probe can be realized by matching with a guide angle between the probe and the butt plug, and the adaptability and the reliability of plugging action are improved.
Preferably, all be provided with a plurality of wiring groove 344 on the lateral wall face that two probe clamp blocks 343 deviate from each other, a plurality of wiring groove 344 set up along probe clamp block 343's length direction interval, and the wiring groove 344 that corresponds on two probe clamp blocks 343 can enclose and close the annular, and the embedding steel is pricked the silk and is tied up two probe clamps tightly to it is fixed to carry out the centre gripping to the probe.
Preferably, the base 1 is provided with a parallel calibration component 4 for calibrating parallelism between the base 1 and a chassis reference surface, the parallel calibration component 4 comprises a parallel calibration column 41 and a calibration section bar 42, the parallel calibration column 41 and the calibration section bar 42 are vertically arranged, the lower end of the parallel calibration column 41 is fixedly connected with the middle part of the upper side wall of the calibration section bar 42, the top end of the parallel calibration column 41 is fixedly connected with the lower side wall of the base 1, and the lower side of the calibration section bar 42 is provided with a calibration surface attached to the chassis reference surface.
It should be noted that, the upper and lower ends of the parallel calibration column 41 are finished to be parallel to each other, a calibration installation position is arranged on the lower side wall of the base 1 corresponding to the parallel calibration column 41, the upper and lower surfaces of the calibration section 42 are both finished to be parallel to each other, the lower side wall of the calibration section 42 is a calibration surface attached to the chassis reference surface, the lower end of the parallel calibration column 41 is vertically and fixedly connected to the middle of the calibration section 42, during parallel calibration, the robot moves to drive the calibration surface of the calibration section 42 to be close to the reference surface of the chassis, and then the parallelism between the bottom surface of the base 1 and the chassis reference surface is adjusted through a feeler gauge, thereby better ensuring the position relationship between the visual recognition mechanism 2 and the probe clamping and telescoping mechanism 3 and the chassis reference surface.
Preferably, the rough photographing camera 22 and the fine photographing camera 23 are correspondingly provided with a camera position calibration piece 5, and after the lens of the rough photographing camera 22 or the fine photographing camera 23 is detached, the top end of the camera position calibration piece 5 is coaxially connected with the rough photographing camera 22 or the fine photographing camera 23 and is used for calibrating the position of the rough photographing camera 22 or the fine photographing camera 23.
It should be noted that, it is threaded connection to take a rough shot camera 22 and rough shot camera lens, it is threaded connection to take a fine shot camera 23 and fine shot camera lens, the top of camera position calibration piece 5 is provided with the screw thread post with rough shot camera 22 or fine shot camera 23 threaded connection, camera position calibration piece 5 is slender column, the lower extreme is the pinpoint form, when the camera position calibration is regular, take off the camera lens, installation camera position calibration piece 5, the robot drives the pinpoint motion of 5 lower extremes of camera position calibration piece, thereby the position of roughly shooting camera 22 and fine shot camera 23 is calibrated.
Preferably, the fine photographing light source 25 is an annular light source with a lens avoiding hole in the middle, the annular light source is coaxial with the fine photographing camera 23, and the rough photographing light source 24 is a point light source.
It should be noted that, a horizontal mounting bar hole and a vertical mounting bar hole are arranged on the mounting base 21 and used for adjusting the mounting position of the rough-beating light source 24, the rough-beating light source 24 is fixed on the mounting base 21 through a position adjusting screw, and meanwhile, when the position adjusting screw is locked, the rough-beating light source 24 is adjusted to a preset angle first and then the position adjusting screw is locked.
In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplicity of description, and do not indicate or imply that the system or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
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 (10)
1. A take terminal detection device of vision robot for quick-witted incasement portion detects which characterized in that includes:
the robot comprises a base (1) connected with the tail end of a robot, wherein a flange adapter column (11) used for being connected with a flange at the tail end of the robot is arranged on the base (1), and the lower end of the flange adapter column (11) is fixedly connected with the base (1);
the visual recognition mechanism (2) is arranged on one side of the base (1), the visual recognition mechanism (2) comprises a mounting seat (21), a rough shooting camera (22), a fine shooting camera (23), a rough shooting light source (24) arranged corresponding to the rough shooting camera (22) and a fine shooting light source (25) arranged corresponding to the fine shooting camera (23), the lower end of the mounting seat (21) is fixedly connected with the side surface of the base (1), the rough shooting camera (22), the fine shooting camera (23) and the rough shooting light source (24) are arranged on one side, deviating from the base (1), of the mounting seat (21), and the fine shooting light source (25) is arranged at the lower end of the fine shooting camera (23);
a probe centre gripping telescopic machanism (3) for the fixed probe of surveying of centre gripping, probe centre gripping telescopic machanism (3) float subassembly (32), forced induction subassembly (33) and probe centre gripping including cylinder axial drive subassembly (31), Z that connect gradually to buffering and subassembly (34) floats, cylinder axial drive subassembly (31) through cylinder mounting panel (35) with base (1) fixed connection.
2. The visual robot tail end detection device for the cabinet interior detection according to claim 1, wherein the cylinder axial driving assembly (31) comprises a transmission cylinder (311), a floating joint (312), a telescopic spindle (316), a rotation stopping pressure sleeve (313), a spindle bushing (315), a linear bearing (314) and a tail connecting piece (317), the transmission cylinder (311) is fixedly connected with the base (1) through the cylinder mounting plate (35), the transmission cylinder (311) is in transmission connection with the telescopic spindle (316) through the floating joint (312), the upper end of the floating joint (312) is connected with the lower end of the transmission cylinder (311), the lower end of the floating joint (312) is connected with the upper end of the telescopic spindle (316), the rotation stopping pressure sleeve (313) is sleeved outside the top end of the telescopic spindle (316), one side of the rotation stopping pressure sleeve (313) is fixedly connected with the base (1), the linear bearing (314) and the main shaft bushing (315) are sleeved outside the telescopic main shaft (316), the linear bearing (314) is arranged between the main shaft bushing (315) and the rotation stopping pressure sleeve (313), the tail connecting piece (317) is fixedly arranged at the lower end of the telescopic main shaft (316), and the lower end of the tail connecting piece (317) is fixedly connected with the top end of the Z-direction buffering floating assembly (32).
3. The end detection device with vision robot for the inside detection of the case as claimed in claim 2, characterized in that the transmission cylinder (311) is provided with a speed regulating valve (318) for regulating the telescopic speed and a magnetic induction switch (319) for sensing whether the telescopic position is in place or not.
4. The visual robot end detection device for the inside detection of the chassis of claim 2, wherein the Z-direction buffering floating assembly (32) comprises a floating bushing (321), a floating Z-axis (322) and a buffer spring (323), the top end of the floating bushing (321) is fixedly connected with the tail connector (317), the floating bushing (321) is provided with a guide hole, the top end of the floating Z-axis (322) is slidably connected with the guide hole, the buffer spring (323) is sleeved outside the floating Z-axis (322), the top end of the buffer spring (323) is connected with the lower end of the floating bushing (321), the lower end of the buffer spring (323) is connected with the lower end of the floating Z-axis (322), and the lower end of the floating Z-axis (322) is connected with the pressure sensing assembly (33).
5. The visual robot end detection device for the inside detection of the chassis of claim 4, wherein the pressure sensing component (33) comprises a pressure sensor (333), an upper plate (331), a lower plate (332), and a transition piece (334), the pressure sensor (333) is disposed between the upper plate (331) and the lower plate (332), the transition piece (334) is disposed between the upper plate (331) and the floating Z-axis (322), the lower side of the transition piece (334) is fixedly connected with the upper plate (331), the lower end of the floating Z-axis (322) is provided with a slot, the top end of the transition piece (334) is disposed in the slot, the side wall of the slot is provided with a locking screw, and the lower plate (332) is fixedly connected with the top end of the probe clamping floating component (34).
6. The end detection device with vision robot for the inside detection of the cabinet as claimed in claim 5, characterized in that the probe clamping floating assembly (34) comprises a probe clamping block (343), an XY plane floating piece (342) and a wire passing column (341), the top end of the wire passing column (341) is fixedly connected with the lower plate (332), the lower end of the wire passing column (341) is fixedly connected with the top end of the XY plane floating piece (342), two probe clamping blocks (343) are arranged, and the two probe clamping blocks (343) are oppositely arranged at the lower side of the XY plane floating piece (342), locking through grooves for locking the probes are arranged on the opposite side wall surfaces of the two probe clamping blocks (343), a wire passing hole is formed in the side wall of the wire passing column (341), and one end of the wire passing hole penetrates through the wire passing column (341) and the XY plane floating piece (342) in sequence and then is communicated with the locking through groove.
7. The end detection device with vision for the inside of the case of claim 6, wherein a plurality of wire binding grooves (344) are formed in the side wall surfaces of the two probe clamping blocks (343) which face away from each other.
8. The visual robot tail end detection device for detecting the inside of a case according to any one of claims 1 to 7, wherein a parallel calibration component (4) for calibrating parallelism between the base and a case reference surface is arranged on the base (1), the parallel calibration component (4) comprises a parallel calibration column (41) and a calibration profile (42), the parallel calibration column (41) and the calibration profile (42) are arranged perpendicularly, the lower end of the parallel calibration column (41) is fixedly connected with the middle part of the upper side wall of the calibration profile (42), the top end of the parallel calibration column (41) is fixedly connected with the lower side wall of the base (1), and the lower side of the calibration profile (42) is provided with a calibration surface attached to the case reference surface.
9. The visual robot tail end detection device for the chassis interior detection according to any one of claims 1 to 7, wherein the rough photographing camera (22) and the fine photographing camera (23) are correspondingly provided with a camera position calibration piece (5), and after a lens of the rough photographing camera (22) or the fine photographing camera (23) is detached, a top end of the camera position calibration piece (5) is coaxially connected with the rough photographing camera (22) or the fine photographing camera (23) for calibrating a position of the rough photographing camera (22) or the fine photographing camera (23).
10. The tail end detection device with the visual robot for the case interior detection according to any one of claims 1 to 7, wherein the precise shooting light source (25) is an annular light source with a lens avoiding hole in the middle, the annular light source is coaxial with the precise shooting camera (23), and the rough shooting light source (24) is a point light source.
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| CN202111294424.XA CN114020555A (en) | 2021-11-03 | 2021-11-03 | A take terminal detection device of vision robot for quick-witted incasement portion detects |
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| CN202111294424.XA CN114020555A (en) | 2021-11-03 | 2021-11-03 | A take terminal detection device of vision robot for quick-witted incasement portion detects |
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