CN114067452A - Storage drawer inspection mechanism and inspection robot - Google Patents
Storage drawer inspection mechanism and inspection robot Download PDFInfo
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- CN114067452A CN114067452A CN202111172524.5A CN202111172524A CN114067452A CN 114067452 A CN114067452 A CN 114067452A CN 202111172524 A CN202111172524 A CN 202111172524A CN 114067452 A CN114067452 A CN 114067452A
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- 238000007689 inspection Methods 0.000 title claims abstract description 102
- 230000007246 mechanism Effects 0.000 title claims abstract description 57
- 230000000007 visual effect Effects 0.000 claims description 19
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- 239000011159 matrix material Substances 0.000 claims description 5
- 230000007547 defect Effects 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 claims description 3
- 239000002356 single layer Substances 0.000 claims description 3
- 238000000605 extraction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention belongs to the field of logistics and discloses a storage drawer inspection mechanism which can accurately and efficiently inspect a large number of storage drawers without manual intervention so as to greatly ensure the operation of logistics storage work. The invention also discloses a storage drawer inspection robot comprising the storage drawer inspection mechanism, which can automatically, accurately and efficiently finish the inspection work of a plurality of storage drawers.
Description
Technical Field
The invention belongs to the field of logistics, and particularly relates to a storage drawer inspection mechanism and an inspection robot.
Background
The inspection work of the stored objects is an important component in the logistics storage, in order to improve the efficiency of the modern logistics storage, the stored objects are stored by adopting storage bits which are arranged in a matrix form along the vertical direction, and related personnel are required to inspect the storage bits regularly or irregularly, specifically, the inspection work comprises the steps of inspecting the number of the objects in the storage bits and inspecting the appearance integrity of some stored objects.
It can be seen that this kind of form of patrolling and examining not only makes corresponding manpower pay for huge because the work load is loaded down with trivial details, and patrols and examines efficiency and also obviously reduces along with the improvement of total memory space, also changes the mistake and leak phenomenon moreover to will influence the operation of logistics storage work.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the storage drawer inspection robot comprising the storage drawer inspection mechanism, which can automatically finish accurate and efficient inspection work on a plurality of storage drawers arranged in a matrix, thereby greatly ensuring the operation of logistics storage work.
In order to achieve the purpose, the invention provides the following technical scheme:
a storage drawer viewing mechanism, the storage drawer has a push surface, the push surface has a push position, characterized by comprising a base; and the inspection assembly is arranged on the base and comprises a positioning vision module facing the drawing and pushing surface, a drawing and pushing finger and an inspection vision module facing the drawing and pushing finger, wherein the positioning vision module is used for acquiring the horizontal distance between the positioning vision module and the drawing and pushing surface and is used as a spacing distance, the drawing and pushing finger is horizontally and movably arranged on the base and is used for moving to the drawing and pushing surface according to the spacing distance and drawing out or pushing the storage drawer through the drawing and pushing position, and the inspection vision module is used for inspecting the inside of the storage drawer.
Preferably, the present invention further comprises a control unit including a processing unit including a processor and a memory, the memory storing a processing program, the processor executing the processing program, wherein the processing program includes an extraction program, an inspection program, and a push program, the extraction program is started by a predetermined instruction or a predetermined signal when the base is located near the storage drawer and the end of the extraction finger is opposite to the extraction position level, the extraction program controls the extraction finger to move and extract the storage drawer from the initial position based on the interval distance, the inspection program controls the inspection visual module to inspect the inside of the storage drawer when the storage drawer is extracted by the predetermined distance, and the push program controls the extraction finger to push the storage drawer to the initial position after a predetermined time is delayed.
Furthermore, the drawing and pushing position is a drawing and pushing through hole, the drawing and pushing finger is used for drawing out or pushing the storage drawer by inserting the drawing and pushing position, the end part of the drawing and pushing finger facing the drawing and pushing position is used as a drawing and pushing end, the drawing and pushing end is provided with a pushing step, and when the drawing and pushing end pushes the storage drawer, the pushing step is abutted to the drawing and pushing surface.
Still further, the inspection assembly further comprises a buckling motor and a buckling finger mounted on an output shaft of the buckling motor, the buckling finger is rotatably disposed on the pulling and pushing end, and an included angle between the buckling finger and the pulling and pushing finger is 180 °, the processing program further comprises a buckling program and a restoring program, when the pulling and pushing finger is inserted into the pulling and pushing position, the buckling program controls the buckling motor to drive the buckling finger to rotate towards the surface of the pulling and pushing face relative to the pulling and pushing finger, so that the included angle between the buckling finger and the pulling and pushing finger is a predetermined angle, when the storage drawer is pulled out, the buckling finger abuts against the surface of the pulling and pushing face, when the storage drawer is pushed out, the restoring program controls the buckling motor to drive the buckling finger to rotate relative to the pulling and pushing finger, so that the included angle between the buckling finger and the pulling and pushing finger is 180 °.
Preferably, the inspection assembly further has a first ring light source and a second ring light source, the first ring light source is disposed around the exterior of the positioning vision module, and the second ring light source is disposed around the exterior of the inspection vision module.
Preferably, the storage drawer accommodates a plurality of storage items independent of each other, and the plurality of storage items are stacked in a single layer, and the inspection vision module is used for performing quantity inspection on the plurality of storage items and performing defect inspection on exposed surfaces of the storage items.
Furthermore, the storage drawer is provided with a cuboid outline and an inspection side which is opened to the outside and is positioned on one side of the pulling and pushing surface, the inspection visual module faces the inspection side, and the inspection visual module is positioned below the positioning visual module.
Furthermore, the inspection visual module and the positioning visual module are arranged vertically, the inspection visual module is horizontally movably arranged on the base, and the moving direction of the inspection visual module is parallel to the moving direction of the drawing and pushing finger.
A storage drawer inspection robot is used for inspecting a storage cabinet, the storage cabinet is formed by arranging a plurality of storage drawers in a matrix form along the vertical direction, and the robot is characterized by comprising a moving vehicle body used for moving; the lifting component is arranged on the movable vehicle body; and the storage drawer inspection mechanism is arranged on the lifting component, the storage drawer inspection mechanism is the storage drawer inspection mechanism, the lifting component is used for driving the storage drawer inspection mechanism to lift along the vertical direction, the control part is arranged on the moving vehicle body, and the moving vehicle body is provided with a two-wheel differential driving mechanism.
Further, the lifting assembly comprises a moving frame and a fixed frame which are vertically arranged, the fixed frame is vertically fixedly arranged on the moving vehicle body, the moving frame is vertically arranged and can be vertically movably arranged on the fixed frame, the moving frame and the fixed frame are connected through a gear rack mechanism, the processing program comprises a lifting program, the lifting program is started according to a preset instruction or a preset signal, and the lifting program drives the moving frame to lift through controlling the gear rack mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1. because the storage drawer inspection mechanism comprises the base and the inspection assembly arranged on the base, the inspection assembly comprises the positioning vision module facing the drawing surface, the drawing and pushing finger and the inspection vision module facing the drawing and pushing finger, the positioning vision module is used for acquiring the spacing distance between the positioning vision module and the drawing and pushing surface, the drawing and pushing finger is used for moving to the drawing and pushing surface according to the spacing distance and drawing out or pushing the storage drawer through the drawing and pushing position, and the inspection vision module is used for inspecting the inside of the storage drawer, the large number of storage drawers can be accurately and efficiently inspected without manual participation, and the operation of logistics storage work is greatly guaranteed.
2. The invention also comprises a control part which stores a processing program, the processing program comprises a drawing program, an inspection program and a pushing program, when the base is positioned near the storage drawer and the end part of the drawing finger is opposite to the drawing position, the drawing program is started through a preset instruction or a preset signal, the drawing program controls the drawing finger to move and draw out the storage drawer from the initial position based on the interval distance, when the storage drawer is drawn out for the preset distance, the inspection program controls the inspection visual module to inspect the inside of the storage drawer, and after the preset time is delayed, the pushing program controls the drawing finger to push the storage drawer to the initial position, so the invention can automatically finish the inspection work of the mass storage drawer through the preset program.
3. The drawing and pushing position is a drawing and pushing through hole, the drawing and pushing finger is used for drawing out or pushing the storage drawer by inserting the drawing and pushing position, the end part of the drawing and pushing finger facing the drawing and pushing position is used as a drawing and pushing end, the drawing and pushing end is provided with a pushing step, and when the drawing and pushing end pushes the storage drawer, the pushing step is abutted against the drawing and pushing surface, so that the drawing and pushing operation is simple and reliable, and the structure is simple.
4. Because the viewing assembly of the present invention further includes snap fingers rotatably disposed on the pull end, the included angle between the buckling finger and the drawing and pushing finger is 180 degrees, the processing program also comprises a buckling program and a restoring program, when the pulling and pushing finger is inserted into the pulling and pushing position, the buckling program controls the buckling motor to drive the buckling finger to rotate relative to the surface of the pulling and pushing finger towards the pulling and pushing surface, so that the included angle between the buckling finger and the pulling and pushing finger is a preset angle, when the storage drawer is pulled out, the buckling finger is abutted against the surface of the pulling and pushing surface, when the storage drawer is pushed, the restoring program controls the buckling motor to drive the buckling finger to rotate relative to the pulling and pushing finger, so that the included angle between the buckling finger and the pulling and pushing finger is 180 degrees, therefore, the invention enables the pulling and pushing buckle to hook and interfere with the pulling and pushing surface in the process of pulling out the storage drawer through program control, so that the pulling and pushing finger cannot be separated from the storage drawer due to accidental vibration in the process of pulling out the storage drawer.
5. Because the inspection visual module is horizontally movably arranged on the base, and the moving direction of the inspection visual module is parallel to the moving direction of the pulling and pushing finger, the inspection visual module can flexibly move, so that the inspection process is more efficient.
6. The storage drawer inspection robot comprises a moving vehicle body, a lifting assembly and the storage drawer inspection mechanism, wherein the lifting assembly is arranged on the moving vehicle body and used for driving the storage drawer inspection mechanism to lift along the vertical direction, the control part is arranged on the moving vehicle body, and the moving vehicle body is provided with a two-wheel differential driving mechanism.
7. The lifting assembly comprises a movable frame and a fixed frame which are vertically arranged, the fixed frame is vertically and fixedly arranged on the movable vehicle body, the movable frame is vertically arranged and can be vertically and movably arranged on the fixed frame, the movable frame and the fixed frame are connected through a gear rack mechanism, the processing program comprises a lifting program, the lifting program is started according to a preset instruction or a preset signal, and the lifting program drives the movable frame to lift through controlling the gear rack mechanism, so that the effective height range of the work of the lifting assembly is further improved.
Drawings
FIG. 1 is a schematic view of a storage drawer of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a storage drawer inspection robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of a mobile cart body according to an embodiment of the present invention;
FIG. 4 is a schematic view of a lift assembly of an embodiment of the present invention;
FIG. 5 is a schematic view of a storage drawer viewing mechanism according to an embodiment of the present invention.
In the figure: 100. the inspection robot comprises a storage drawer inspection robot, a storage drawer, A1, a drawing and pushing surface, A2, a drawing and pushing position, A3, an inspection side, B, a stored object, D, a drawing and pushing direction, 10, a moving vehicle body, 11, a two-wheel differential driving mechanism, 12, an AGV module, 13, a follow-up wheel, 20, a lifting assembly, 21, a fixed frame, 22, a moving frame, 23, a supporting frame, 30, a storage drawer inspection mechanism, 31, a base, 31a, a first installation part, 31B, a second installation part, 311, a drawing and pushing screw rod mechanism, 312, an inspection screw rod mechanism, 32, an inspection assembly, 321, a positioning vision module, 322, a first annular light source, 323, a drawing and pushing finger, 323a drawing and pushing end, 323B, a pushing step, 324, a buckling finger, 325, an inspection vision module, 326, a second annular light source, 33 and a control part.
Detailed Description
In order to make the technical means, the creation features, the achievement objects and the functions of the present invention easy to understand, the following embodiments are specifically described with reference to the accompanying drawings, and it is to be noted that the description of the embodiments is for assisting understanding of the present invention, but the present invention is not limited thereto.
The inspection object of the embodiment is a storage cabinet, the storage cabinet is composed of a plurality of storage drawers a shown in fig. 1 arranged in a matrix form along a vertical direction, for example, there are a plurality of water-proof flat layers in height, each of the flat layers has a plurality of storage drawers a, the storage drawers a have a rectangular parallelepiped outline, the direction of the drawing process is taken as a drawing and pushing direction D, there are a drawing and pushing surface a1 facing the outside of the storage cabinet and a viewing side A3 open to the outside and located at one side of the drawing and pushing surface a1, a plurality of mutually independent storage objects B are accommodated in the storage drawers a, and the plurality of storage objects B are stacked in a horizontally reversed single layer, the drawing and pushing surface a1 has a drawing and pushing position a2, specifically, the drawing and pushing position a2 is a drawing and pushing through hole horizontally arranged and in a long-waist shape, and the viewing sides A3 of all the storage drawers a are located at the same side.
As shown in fig. 2, the storage drawer inspection robot 100 in the present embodiment is used to inspect a storage cabinet.
The storage drawer inspection robot 100 includes a moving body 10, a lifting assembly 20, and a storage drawer inspection mechanism 30.
As shown in fig. 3, the moving vehicle body 10 is used for carrying and moving components other than itself, the moving vehicle body 10 has a two-wheel differential drive mechanism 11, so that the moving vehicle body can rotate automatically along a vertical axis, in this embodiment, the moving vehicle body 10 further has an AGV module 12 and a follower wheel 13, the AGV module 12 has an automatic navigation function, can automatically navigate and move along a preset route, and the follower wheel 13 can assist the moving vehicle body to move more smoothly.
As shown in fig. 4, the lifting assembly 20 is disposed on the moving vehicle body 10, the lifting assembly 20 is configured to drive the storage drawer viewing mechanism 30 to lift and lower along a vertical direction, the lifting assembly 20 includes a fixed frame 21 and a moving frame 22 both disposed vertically, the fixed frame 21 is vertically fixed on the moving vehicle body 10, the moving frame 22 is vertically disposed and vertically movably disposed on the fixed frame 21, the moving frame 22 and the fixed frame 21 are connected by a rack and pinion mechanism (not shown in the drawings), specifically, the moving frame 22 can be lifted or lowered relative to the fixed frame 21 by the rack and pinion mechanism, the storage drawer viewing mechanism 30 is lifted or lowered relative to the moving frame 22 by the rack and pinion mechanism, in this embodiment, the lifting assembly 20 further includes a supporting frame 23, the supporting frame 23 is configured to provide support for the fixed frame 21, and two ends of the supporting frame 23 are respectively fixed on the upper surfaces of the fixed frame 21 and the moving vehicle body 10, and both upper and lower ends of the fixed frame 21 and both upper and lower ends of the moving frame 22 are respectively provided with limit stop switches (not shown in the drawings) for respectively limiting the moving distance of the moving frame 22 and the moving distance of the storage drawer viewing mechanism 30.
As shown in fig. 5, the storage drawer inspection mechanism 30 is provided on the lifting member 20, and the storage drawer inspection mechanism 30 includes a base 31, an inspection member 32, and a control portion 33.
The base 31 is horizontally mounted on the moving frame 22, in this embodiment, the base 31 is a flat plate, two ends of the base 31 are respectively provided with vertical flanges, the extending directions of the two flanges are respectively vertical upwards and vertical downwards, a horizontal plate part is taken as a first mounting part 31a, and a downward plate part is taken as a second mounting part 31 b.
In the present embodiment, the lower surface of the first mounting portion 31a is provided with a drawing screw mechanism 311, the drawing screw mechanism 311 has a drawing moving slider (not shown in the drawings) driven to move along the drawing direction D, the surface of the second mounting portion 31b facing the outside of the lifting assembly 20 is provided with an inspection screw mechanism 312, and the inspection screw mechanism 312 has an inspection moving slider (not shown in the drawings) driven to move along the drawing direction D.
The inspection assembly 32 is disposed on the base 31, and the inspection assembly 32 includes a positioning vision module 321, a first ring light source 322, a pulling and pushing finger 323, a fastening motor (not shown), a fastening finger 324, an inspection vision module 325, and a second ring light source 326.
The positioning vision module 321 is disposed toward the drawing surface a1, the positioning vision module 321 is configured to obtain a horizontal distance between the positioning vision module 321 and the drawing surface a1 and is used as a spacing distance, the detection direction of the positioning vision module 321 is the drawing direction D, the first ring light source 322 is annularly disposed outside the positioning vision module 321, the first ring light source 322 is configured to illuminate the detection direction of the positioning vision module 321, and in this embodiment, the positioning vision module 321 and the first ring light source 322 are both mounted on the upper surface of the first mounting portion 31a through the same bracket.
The push-pull finger 323 is horizontally movably arranged on the base 31 in the push-pull direction D, and the push-pull finger 323 is used to move to the push-pull face a1 according to a spacing distance and to pull out or push out the storage drawer a by inserting the push-pull position a2, the end of the push-pull finger 323 facing the push-pull position a2 is taken as a push-pull end 323a, the push-pull end 323a has a push step 323b, when the push-pull end 323a pushes out the storage drawer a, the push step 323b abuts against the push-pull face a1, specifically, the push step 323b is arranged in the vertical direction, and the thinner part is closer to the push-pull face a1, in this embodiment, the push-pull finger 323 is mounted on the push-pull slider, the initial position of the push-pull end 323a corresponds to the positioning visual module 321, i.e. the spacing distance is the horizontal distance between the initial position of the push-pull end 323a and the push-pull face a 1.
The fastening finger 324 is mounted on an output shaft of the fastening motor, the fastening finger 324 is rotatably disposed on the drawing and pushing end 323a, and an included angle between the fastening finger 324 and the drawing and pushing finger 323 is 180 °, specifically, the output shaft of the fastening motor is horizontally disposed and perpendicular to the drawing and pushing direction D.
The inspection vision module 325 is horizontally movably disposed on the base 31, and a moving direction of the inspection vision module 325 is parallel to a moving direction of the push finger 323, the inspection vision module 325 is disposed toward the push finger 323, the inspection vision module 325 is used to inspect the inside of the storage drawer, specifically, the inspection vision module 325 is disposed toward the inspection side a3, for quantity inspection of a plurality of storage items B in the storage drawer a, and defect inspection of exposed surfaces of the storage items B, the inspection vision module 325 is located below the positioning vision module 321, and the probing directions of the inspection vision module 325 and the positioning vision module 321 are perpendicular to each other, the second ring light source 326 surrounds the outside of the inspection vision module 326, the second ring light source 326 is used to illuminate the probing direction of the inspection vision module 326, in this embodiment, the inspection vision module 325 and the second ring light source 326 are both mounted on the inspection motion block by the same bracket.
The control unit 33 is provided on the upper surface of the moving vehicle body 10, and the control unit 33 includes a processing unit including a processor and a memory, the memory storing a processing program, the processor executing the processing program, and the processing program including a lifting program (specifically, a lifting program and a lowering program), a fastening program, a pulling program, a viewing program, a pushing program, and a restoring program.
The lifting program is started according to a predetermined command or a predetermined signal, and the lifting program drives the movable frame to lift by controlling the rack and pinion mechanism, specifically, the lifting program respectively controls a plurality of sub-programs to respectively control the movable frame 22 to ascend or descend to a predetermined frame lifting height relative to the fixed frame 21, and controls the storage drawer inspection mechanism 30 to ascend or descend to a predetermined mechanism lifting height relative to the movable frame 22 through the rack and pinion mechanism, so that the base 31 is located near the storage drawer a and the end of the drawing finger 323 is horizontally opposite to the drawing position a 2.
When the base 31 is located near the storage drawer a and the end of the drawing finger 323 is horizontally opposite to the drawing position a2, the drawing program is started by a predetermined command or a predetermined signal, the drawing program controls the drawing finger 323 to move and draw out the storage drawer a from its initial position based on the interval distance, and when the drawing finger 323 is inserted into the drawing position a2, the buckling program controls the buckling motor to drive the buckling finger 324 to rotate relative to the drawing finger 323 toward the surface of the drawing surface a1, so that the included angle between the buckling finger 324 and the drawing finger 323 is a predetermined angle, specifically 100 °, so that when the storage drawer a is drawn out, the buckling finger 324 abuts against the surface of the drawing surface a1, when the storage drawer a is drawn out by the predetermined distance, the inspection program controls the inspection visual module 325 to inspect the inside of the storage drawer a, the inspection program executes and delays for a predetermined time, the drawing finger 323 controls the storage drawer a to be pushed to its initial position, when the storage drawer a is pushed, the restoring program controls the engaging motor to drive the engaging finger 324 to rotate back relative to the pulling finger 323, so as to finally restore the included angle between the engaging finger 324 and the pulling finger 323 to 180 °.
The above-described embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and changes can be made by those skilled in the art without inventive work within the scope of the appended claims.
Claims (10)
1. A storage drawer viewing mechanism, said storage drawer having a push surface with a push position, comprising:
a base; and
an inspection component arranged on the base, the inspection component comprises a positioning vision module facing the push-pull surface, a push-pull finger and an inspection vision module facing the push-pull finger,
the positioning visual module is used for acquiring the horizontal distance between the positioning visual module and the drawing and pushing surface and is used as a spacing distance, the drawing and pushing finger is horizontally and movably arranged on the base, the drawing and pushing finger is used for moving to the drawing and pushing surface according to the spacing distance and drawing out or pushing the storage drawer through the drawing and pushing position, and the inspection visual module is used for inspecting the inside of the storage drawer.
2. The storage drawer viewing mechanism of claim 1, further comprising:
a control section including a processing unit including a processor and a memory for storing a processing program, the processor being configured to execute the processing program,
wherein the processing procedure comprises a pull-out procedure, a view procedure and a push procedure,
when the base is located near the storage drawer and the end of the drawing and pushing finger is opposite to the drawing and pushing position horizontally, the drawing program is started through a preset instruction or a preset signal, the drawing program controls the drawing and pushing finger to move and draw out the storage drawer from an initial position based on the interval distance, when the storage drawer is drawn out for a preset distance, the viewing program controls the viewing vision module to view the inside of the storage drawer, and after the preset time is delayed, the pushing program controls the drawing and pushing finger to push the storage drawer to the initial position.
3. The storage drawer viewing mechanism of claim 2, wherein:
wherein the drawing and pushing position is a drawing and pushing through hole, the drawing and pushing finger is used for drawing out or pushing the storage drawer by inserting the drawing and pushing position,
and taking the end part of the drawing and pushing finger facing the drawing and pushing position as a drawing and pushing end, wherein the drawing and pushing end is provided with a pushing step, and when the drawing and pushing end pushes the storage drawer, the pushing step is abutted to the drawing and pushing surface.
4. The storage drawer viewing mechanism of claim 3, wherein:
wherein, the inspection component also comprises a buckling motor and a buckling finger arranged on an output shaft of the buckling motor,
the buckling finger is rotatably arranged on the drawing and pushing end, and the included angle between the buckling finger and the drawing and pushing finger is 180 degrees,
the processing program further comprises a buckling program and a restoring program,
when the drawing and pushing finger is inserted into the drawing and pushing position, the buckling program controls the buckling motor to drive the buckling finger to rotate relative to the drawing and pushing finger towards the surface of the drawing and pushing surface, so that the included angle between the buckling finger and the drawing and pushing finger is a preset angle, and when the storage drawer is drawn out, the buckling finger is abutted against the surface of the drawing and pushing surface,
when the storage drawer is pushed, the restoring program controls the buckling motor to drive the buckling finger to rotate relative to the pulling and pushing finger, so that the included angle between the buckling finger and the pulling and pushing finger is 180 degrees.
5. The storage drawer viewing mechanism of claim 1, wherein:
wherein the inspection assembly further comprises a first ring light source and a second ring light source,
the first annular light source is annularly arranged outside the positioning vision module, and the second annular light source is annularly arranged outside the inspection vision module.
6. The storage drawer viewing mechanism of claim 1, wherein:
wherein the storage drawer accommodates a plurality of storage objects which are independent from each other and are stacked in a single layer,
the inspection vision module is used for performing quantity inspection on a plurality of the storage objects and performing defect inspection on exposed surfaces of the storage objects.
7. The storage drawer viewing mechanism of claim 6, wherein:
wherein the storage drawer has a rectangular parallelepiped contour and has a viewing side which is open to the outside and is located on one side of the push-out surface,
the viewing vision module faces the viewing side, and the viewing vision module is located below the positioning vision module.
8. The storage drawer viewing mechanism of claim 7, wherein:
wherein the viewing vision module and the positioning vision module are arranged vertically to each other,
the inspection visual module is horizontally movably arranged on the base, and the moving direction of the inspection visual module is parallel to the moving direction of the drawing and pushing finger.
9. A storage drawer inspection robot for inspecting a storage cabinet composed of a plurality of storage drawers according to any one of claims 1 to 8 arranged in a matrix form in a vertical direction, comprising:
a moving vehicle body for moving;
the lifting component is arranged on the movable vehicle body; and
a storage drawer viewing mechanism disposed on the lift assembly, the storage drawer viewing mechanism being as in any one of claims 2-4,
the lifting component is used for driving the storage drawer viewing mechanism to lift along the vertical direction,
the control portion is provided on the moving vehicle body, and the moving vehicle body has a two-wheel differential drive mechanism.
10. The storage drawer inspection robot according to claim 9, wherein:
wherein the lifting component comprises a movable frame and a fixed frame which are vertically arranged, the fixed frame is vertically and fixedly arranged on the movable vehicle body, the movable frame is vertically arranged and can be vertically and movably arranged on the fixed frame, the movable frame and the fixed frame are connected by a gear rack mechanism,
the processing program comprises a lifting program, the lifting program is started according to a preset instruction or a preset signal, and the lifting program drives the movable frame to lift by controlling the gear rack mechanism.
Priority Applications (1)
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