CN114798498A - Industrial robot based on visual servoing - Google Patents

Abstract

The invention relates to an industrial robot based on visual servo, which effectively solves the problems of single function and low efficiency of the existing industrial robot; the technical scheme comprises the following steps: but including feed end, sense terminal, discharge end and on the sense terminal movable mounting have the test rack and the test rack on transverse interval slidable mounting have the T shape frame, interval slidable mounting has two elastic connection's with it on the T shape frame detection needle and be equipped with the nuclear on the detection needle and examine the device, this industrial robot can realize automatically to the detection of part defective goods, sieve and to the cleaning work of non-defective goods part, has also improved parts machining's production efficiency when having improved the part and dispatching from the factory the qualification rate.

Description

An Industrial Robot Based on Vision Servo

technical field

The invention belongs to the field of industrial detection technology, and particularly relates to an industrial robot based on visual servoing.

Background technique

Industrial automation refers to the general term for the control of information processing processes such as measurement and manipulation according to expected goals without direct human intervention by machinery, equipment or production processes. Due to its high automation process, it is widely used in industrial production. ;

In the production line of the factory workshop, there are all kinds of robot equipment, and under the control of the computer program, they replace the manual labor to complete the processing process for the parts, which greatly improves the processing efficiency of the parts and improves the factory, The production capacity of the enterprise, but the existing robot equipment distributed on the production line can only process the parts alone, and cannot test whether the quality of the parts on the production line meets the standard and screen out the defective products in the parts, resulting in the delivery of parts. The pass rate is reduced;

Some parts need to be pre-processed before processing. For example, when welding the parts, it is necessary to clean the surface of the parts to be processed (to remove the floating dust attached to the surface of the parts to ensure the welding quality). Some robot equipment on the production line cannot realize the detection and screening of defective parts and the cleaning of non-defective parts at the same time, which prolongs the time required for parts processing and is not conducive to improving the production efficiency of the factory;

In view of the above, this solution provides an industrial robot based on visual servoing to solve the above problems.

SUMMARY OF THE INVENTION

In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an industrial robot based on visual servoing, which can automatically realize the detection and screening of defective parts and the cleaning of non-defective parts. , improve the qualified rate of parts leaving the factory, but also improve the production efficiency of parts processing.

An industrial robot based on visual servoing, comprising a conveying frame and a conveying unit on the conveying frame, characterized in that the conveying frame includes a feeding end, a detection end, and a discharging end, and a detection frame is movably installed on the detection end and a T-shaped frame is slidably installed on the detection frame at intervals, and two detection needles elastically connected with the T-shaped frame are slidably installed on the T-shaped frame, and the detection needle is provided with a checking device;

The verification device includes a gas device arranged on the detection needle, and the gas device drives a calibration rod, the calibration rod is provided with an air blowing device, and a gas storage device is connected between the air blowing device and the gas device, and the T A suction cup elastically connected with the suction cup is slidably installed on the frame, and the suction cup communicates with an arc-shaped air cavity provided on the T-shaped frame, a piston plate is slidably installed in the arc-shaped air cavity, and the piston plate is connected with a driving device;

A matching set of calibration rods is provided with a metering device and the metering device is connected with a computer control unit. When the data measured by the two metering devices exceeds a certain range, the blowing device and the piston plate do not act. When the two metering devices measure When the data is within the corresponding range, the air storage device supplies air to the air blowing device and the driving device drives the piston plate to move, and the detection end is provided with a separation mechanism.

The beneficial effects of the above technical solutions are:

(1) The industrial robot can detect whether the parts on the production line meet the standards and remove defective products from the production line according to the test results (qualified parts move to the next process with the production line), thereby improving the quality of the parts when they leave the factory. Pass rate;

(2) In this scheme, in order to improve the processing quality of the parts, the parts can be pre-processed before processing (for example, the welded parts need to be cleaned and dedusted), so as to ensure the quality of the subsequent parts processing (will be The floating ash attached to the surface of the parts can be removed to ensure the welding quality), and the detection of the parts and the pretreatment of the parts can be carried out at the same time in this scheme, which improves the processing efficiency of parts and improves the production capacity of factories and enterprises.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the schematic diagram of the matching relationship between the detection frame, the T-bar and the gas cylinder in the same group of the present invention;

3 is a schematic diagram of the cooperation relationship between the gas cylinder, the calibration rod, the suction cup and the arc-shaped air cavity according to the present invention;

Fig. 4 is the cross-sectional structural schematic diagram of the calibration rod of the present invention;

FIG. 5 is a schematic structural diagram of the arc-shaped air cavity of the present invention after cross-section;

6 is an enlarged schematic view of the structure at place A of the present invention;

Fig. 7 is the structural schematic diagram after the gas cylinder of the present invention is cut away;

8 is a schematic structural diagram of another embodiment of the present invention;

9 is a schematic diagram of the internal structure of the ladder tube of the present invention;

FIG. 10 is a schematic diagram of the matching relationship between a detection frame, a gear, and a guide rail and rack of the present invention;

11 is a schematic diagram of the process of moving two T-shaped frames toward the direction of approaching the detection frame according to the present invention;

12 is a schematic diagram of the electrical circuit connection of the present invention;

13 is a schematic diagram of the connection relationship between the converging cavity and the arc-shaped air cavity according to the present invention.

Detailed ways

Regarding the foregoing and other technical contents, features and effects of the present invention, the embodiments are described in detail below with reference to FIGS. 1 to 13 .

Embodiment 1. This embodiment provides an industrial robot based on visual servoing. As shown in FIG. 1, it includes a conveying frame. The improvement of this solution is that the conveying frame includes a feeding end 25, a detection end 26, and a discharging end. The end 27, the feed end 25, the detection end 26 and the discharge end 27 are respectively provided with a conveying unit 1 (belt conveying mechanism), and a detection frame 2 is slidably installed on the detection end 26 (as shown in Figure 2, the detection frame 2 There is a camera 40 on it and the camera 40 is electrically connected with a computer control unit), the feed end 25 and the detection end 26, the detection end 26 and the discharge end 27 are all set at a certain distance (the setting of the distance satisfies: in such a way that The detection frame 2 to be processed is transferred from the feed end 25 to the detection end 26 and from the detection end 26 to the discharge end 27 at the same time, so that the detection piece can be placed in the gap between the feed end 25 and the detection end 26 and the detection end 26 The gap between the discharge end 27 and the discharge end 27 passes through), as shown in FIG. 1, on both sides of the detection end 26 are respectively provided with chute 36 slidingly matched with the detection frame 2 (the chute 36 is set to be closed), as shown in the attached As shown in FIG. 10 , a gear 38 is rotatably installed on the detection frame 2 , and rail racks 37 arranged along the chute 36 are respectively provided on both side walls of the detection end 26 . The gear 38 meshes with the rail rack 37 and the detection frame 2 A motor (not shown in the figure and controlled by the computer control unit) is installed to drive the rotation of the gear 38. When the motor drives the gear 38 to rotate, the detection frame 2 can be driven along the The chute 36 moves. As shown in FIG. 1 , two detection racks 2 are provided on the detection end 26 and initially the two detection racks 2 are located on both sides of the detection end 26 to ensure that when one of the detection racks 2 moves to When one side of the feed end 25 is on the upper end face of the detection end 26, the other detection frame 2 just moves along the chute 36 to be close to the discharge end 27 and on the lower end face of the detection end 26 (the two detection frames 2 are in the computer control unit. Under the control action of the control, the action is generated synchronously, which can realize the uninterrupted detection of the detection parts on the production line, and the moving speed of the detection frame 2 and the conveying speed of the conveying unit remain the same);

As shown in FIG. 2 , two T-shaped frames 3 are arranged at horizontal intervals on the detection frame 2 , and the two T-shaped frames 3 are connected with a power mechanism provided on the detection frame 2 (the power mechanism may be provided on the detection frame 2 ). The motor is driven by a two-way screw, and the two T-shaped frames 3 are respectively threaded with the two-way screw. When the motor drives the two-way screw to rotate, it can synchronously drive the two T-shaped frames 3 to move toward or away from each other. Since it is the prior art, it will not be described too much here);

As shown in Figures 3 and 4 , two detection needles 4 are slidably installed on the T-shaped frame 3 at intervals, and a spring is connected between the detection needles 4 and the T-shaped frame 3 . The two detection needles 4 installed on the two T-shaped frames 3 are in the same group. In this solution, there are two sets of detection needles 4 on the two T-shaped frames 3 (each set of detection needles 4 includes two detection needles 4) , There is a checking device on the detection needle 4 (the checking device is electrically connected with the computer control unit), as shown in Figure 4, the checking device includes a gas device arranged on the detection needle 4 and the gas device drives a The calibration rod 5 on the detection needle 4 (as shown in FIG. 2 , initially, one end of the head of the calibration rod 5 coincides with the vertical projection of the needle tip of the corresponding detection needle 4 , that is, one end of the head of the calibration rod 5 Keep the same vertical line with the needle tip of the detection needle 4), the calibration rod 5 is provided with an air blowing device, and an air storage device is connected between the air blowing device and the gas device;

As shown in FIG. 3 , suction cups 6 connected to the detection needle 4 are respectively provided on the T-shaped frame 3 , and a spring is connected between the suction cup 6 and the T-shaped frame 3 , and the suction cup 6 communicates with an arc set on the T-shaped frame 3 . shaped air cavity 7 (the suction cup 6 communicates with the arc-shaped air cavity 7 through the second pressure-resistant pipe 33 to match the displacement of the suction cup 6 on the T-shaped frame 3 ), and a piston plate 8 ( The piston plate 8 and the inner wall of the arc-shaped air cavity 7 are in close contact with each other, and a sealing ring can be provided at the sliding contact part of the two to ensure air tightness). The processed parts first move from the feed end 25 to the detection end 26. Initially, when the detection rack 2 has not been transferred to the detection end 26, the detection rack 2 is in a static state under the action of the computer control unit (the other detection rack 2 is also in a static state). static state), as shown in FIG. 1, when the test piece is transferred from the feed end 25 to the test end 26 and moves forward along the test end 26 under the action of the conveying unit 1, so that when the test piece moves to the inspection end When the position is directly below the frame (the camera 40 installed on the detection frame 2 captures the detection piece and transmits the data to the computer control unit, the computer control unit judges the position of the detection piece relative to the detection frame 2 according to the image captured by the camera 40), the computer The control unit controls the two detection frames 2 to start to move synchronously along the chute 36. As shown in FIG. 11, the detection piece is located between the two T-bars and the two sides of the detection piece have not been in contact with the detection needle 4. At the same time, the computer control unit controls the two T-frames 3 to move in the direction of approaching each other (the computer control unit controls the motor to drive the two-way screw to rotate and thus drives the two T-frames 3 to move in the direction of approaching each other), so that when the two T-frames 3 move toward each other When the opposite side of the shaped frame 3 is in contact with the side wall of the detection piece respectively (the T-shaped frame 3 is only in contact with the side wall of the detection piece but there is no mutual conflicting force), the computer control unit controls the motor to stop driving the two-way screw (which can be used at A contact sensor is respectively provided on the opposite side wall of the two T-shaped frames 3 and the contact sensor is electrically connected with the computer control unit. When the contact sensors installed on the two T-shaped frames 3 are all triggered, the computer control unit controls the motor to stop driving. two-way screw);

Note: Before the two T-shaped rods are not in contact with the detection piece, the tip of the detection needle 4 slidably installed on the T-shaped frame 3 first touches the side wall of the detection piece and faces the two T-shaped frames 3 The movement causes the detection needle 4 to slide relative to the corresponding T-shaped frame 3 (squeeze the spring connected to it), so that when the T-shaped frame 3 abuts against the side wall of the detection piece (at this time, the T-shaped frame 3 stops moving and The needle tip of the detection needle 4 is also retracted into the T-shaped frame 3), at this time, one end of the head of the calibration rod 5 is coincident with the vertical projection of the side wall of the detection frame 2 (that is, one end of the head of the calibration rod 5 is aligned with the detection frame 2). The side walls of the frame 2 are kept vertically flush), at the same time, the computer control unit controls the inspection device (gas device) to act and drives the calibration rods 5 located on the two T-shaped frames 3 to move toward each other. Move, so that one end of the heads of the two calibration rods 5 in the same group collide with each other, and the distance that the two calibration rods 5 in the same group move from the initial position to the end of the heads of the two calibration rods 5 collide with each other is the group. The distance between the two points of contact between the two detection needles 4 and the side wall of the detection piece (that is, the width of the detection piece between the needle tip of the detection needle 4 and the contact position of the detection piece), the same two calibrations in the other group. The distance that the rod 5 moves from the initial position to when the ends of the heads of the two calibration rods 5 collide with each other is the distance between the two points in the group where the two detection needles 4 contact the side wall of the detection piece (that is, for the detection The width of the detection piece between the needle tip of the needle 4 and the contact position of the detection piece), a metering device (the metering device is electrically connected to the computer control unit) is provided on a set of matching calibration rods 5, and the metering device can The total moving distance of the two calibration rods 5 is detected;

When the computer control unit detects that the moving distances of the calibration rod 5 detected by the metering devices in the two groups are the same (or the difference is within a certain range), it means that the width of the detection piece reaches the standard (between two different points on the detection piece). The distance difference is within the required range and meets the factory requirements), Note: When the computer control unit controls the action of the gas device, the gas storage device will be inflated synchronously (when the heads of the two calibration rods to be matched collide with each other. , a certain amount of gas is stored in the gas storage device), at this time, the computer control unit controls the gas storage device to supply air to the air blowing device and the air blowing device blows out the airflow with a certain speed, as shown in Figure 11, when the two calibration rods 5. When one end of the head collides with each other, the air blowing device on the calibration rod 5 is just above the detection part. At this time, the air flow blown by the air blowing device acts on the upper end face of the detection part and realizes that the air blowing device will be attached to the upper end surface of the detection part. The floating ash moves to both sides of the detection piece;

As shown in FIG. 2 , when the side wall of the detection piece is not in contact with the T-shaped frame 3, the suction cup 6 is closer to the detection piece than the T-shaped frame 3, so that when the side wall of the detection piece is in contact with the T-shaped frame 3 (contacting The sensor is triggered), the suction cup 6 is also tightly against the side wall of the detection piece and cooperates with the side wall of the detection piece to form a closed cavity (there is no adsorption force between the suction cup 6 and the side wall of the detection piece at this time). The control unit controls the drive device to drive the piston plate 8 to move (initially, the piston plate 8 is in the position below the arc-shaped air cavity 7 and the spring connected between the piston plate 8 and the arc-shaped air cavity 7 is under the action of the drive device. Compressed state), when the computer control unit controls the driving device to remove the force on the piston plate 8, the piston plate 8 moves along the arc-shaped air cavity 7 under the action of the spring connected to it and stops after moving a certain distance (eg As shown in FIG. 5 , at this time, the spring connected to the piston plate 8 and the arc-shaped air chamber 7 is still in a compressed state), at this time, the arc-shaped air chamber 7 and the suction cup 6 located under the piston plate 8 are both in negative Pressure state (when a certain amount of gas increases the volume of the space in which it is located, the air pressure decreases and decreases with the increase of the space volume);

If the width of the detection piece reaches the standard, the computer control unit synchronously controls the driving device to apply a certain force to the piston plate 8 again, and then the piston plate 8 moves down rapidly along the arc-shaped air cavity 7 under the action of the driving device. , along with the downward movement of the piston plate 8, the air pressure environment in the arc-shaped air cavity 7 and the suction cup 6 below the piston plate 8 gradually increases (so that when the piston plate 8 moves to the initial position, the air pressure in the suction cup 6 is the same as The external atmospheric pressure is restored to the same, and the suction cup 6 does not have any adsorption force on the side wall of the detection piece), Note: During the movement of the piston plate 8 to the initial position along the arc-shaped air cavity 7, along with the rapid movement of the piston plate 8, the The gas velocity in the arc-shaped air chamber 7 on the right side of the piston plate 8 is accelerated, which will generate a certain degree of negative pressure in the arc-shaped air chamber 7 located on the right side of the piston plate 8 (so that the outside air has to converge into the arc-shaped air chamber 7). effect), as shown in Figure 11, at this time, under the action of the air blowing device, the floating ash located on the upper end face of the detection piece is moved to both sides, just under the cooperation of the arc-shaped air cavity 7, so that the The floating ash moving to both sides of the detector is easily inhaled into the arc-shaped air cavity 7 (to realize the collection of the air with floating ash, and avoid the gas with floating ash in the air under the action of the air blowing device). Diffusion, so as not to affect the environment in the factory workshop, and also to prevent the dust blown into the air from falling in the air and falling again on the surface of the subsequent detection part);

If the width of the detection piece does not meet the standard, the computer control unit controls the gas storage device to not operate, that is, no gas will be blown out through the air blowing device (that is, the detection piece will not be cleaned of floating ash). The width of the detection piece is not up to the standard and needs to be recycled and reprocessed. Therefore, the next process is not carried out (and thus there is no need to clean the floating ash on its surface). At the same time, the computer control unit will not control the driving device again. The force applied to the piston plate 8 (at this time, the piston plate 8 is in the position shown in FIG. 5 under the action of the spring connected to it, and a certain negative pressure is generated in the suction cup 6, and the suction cup 6 and the side wall of the detection piece are in contact with each other. There is a certain adsorption force between);

As shown in FIG. 1 , the chute 36 is closed and includes three parts A, B, and C that are connected to each other, where B is located higher than A, and the above detection process only occurs when the detection piece moves in the A chute 36 . , when the detection piece moves to the junction of A and B, the above process actions have been completed: the detection piece reaches the standard (the cleaning of the floating ash is completed and there is no adsorption force between the suction cup 6 and the side wall of the detection piece), the detection piece does not meet the standard (no cleaning of floating ash and there is adsorption force between the suction cup 6 and the side wall of the detection piece);

If the detection piece reaches the standard, when the detection rack 2 moves upward to the B chute 36 under the limiting action of the chute 36 and the detection rack 2 between the two T-shaped racks 3 continues to move forward with the conveying unit 1 Move (there is no adsorption force between the suction cup 6 and the detection piece, and the separation from the detection frame 2 is completed), if the detection piece does not meet the standard, when the detection frame 2 moves up to the position of the B chute 36 under the limit of the chute 36 During the process, due to the suction force of the suction cup 6 on the side wall of the detection piece, it will synchronously drive the detection piece that does not meet the standard to move upward (so that the detection piece that does not meet the standard is separated from the conveying unit 1). As shown in Figure 1, the B chute 36 The corresponding detection end 26 is provided with a separation mechanism 39 (which is a conveyor belt and its transmission direction is perpendicular to the transmission direction of the conveying unit 1). When the detection frame 2 moves to the set position in the B chute There is a monitoring probe electrically connected to the computer control unit at the position of the groove 36 to know the position of the detection frame 2). When the detection frame 2 moves to the set position with the substandard detection piece, the computer control unit controls the drive The device exerts a force on the piston plate 8 and drives the piston plate 8 to move to the initial position, thereby restoring the air pressure in the suction cup 6 (the piston plate 8 is also reset at this time), so that the suction cup 6 no longer has an adsorption force on the side wall of the detection piece , so that the detection piece falls down to the separation mechanism 39 under the action of its own gravity and is transported to the recovery point along with the separation mechanism 39 (to complete the screening of substandard detection pieces);

In the subsequent process, the detection rack 2 moves from the B chute 36 to the C chute 36 (during this process, the detection rack 2 will pass through the gap between the detection end 26 and the discharge end 27 ), and is set in the detection rack 2. During the movement from the B chute 36 to the C chute 36, the detection piece whose width reaches the standard has moved from the detection end 26 to the discharge end 27 (the crossing of the detection frame 2 will not hinder the movement of the detection piece whose width reaches the standard), and then the detection The rack 2 moves to the initial position along the C chute 36 and moves to the A chute 36 and is close to the feed end 25 to wait for the arrival of the next detection piece. In this embodiment, there are two detection racks 2, namely , when one of the inspection racks 2 completes the separation from the inspection piece and moves to the C chute 36, the other inspection rack 2 just moves to the A chute 36 and is close to the position of the feed end 25, which can realize the detection of parts on the production line. Intermittent detection.

Embodiment 2, on the basis of Embodiment 1, as shown in FIG. 7 , the gas device includes a gas cylinder 9 fixedly installed with the detection needle 4, and a circular plate 10 (circular plate 10 (circular plate) connected with a spring is slidably installed in the gas cylinder 9. 10 The contact part with the inner wall of the gas cylinder 9 is provided with a sealing ring to ensure air tightness), the opposite side of the matched two gas cylinders 9 is communicated with the outside world, and the air cylinder 9 communicates with the outside The part is provided with a first electromagnetic device (the first electromagnetic device Including the electromagnet installed on the inner wall of the connecting part of the gas cylinder 9 and the outside world, the electromagnet is connected in series in the voltage-stabilizing circuit and is a power-off type electromagnet, that is, the power-off generates electromagnetic force, otherwise there is no electromagnetic force), facing the circular plate 10. There is an iron sheet on one side wall of the electromagnet. In the initial state, the computer control unit controls the voltage stabilizing circuit to lose power (the electromagnet generates electromagnetic force, attracts the circular plate 10 and makes the spring connected between the circular plate 10 and the gas cylinder 9 to be compressed. ), if the width of the detection piece reaches the standard, the computer control unit controls the voltage stabilizing circuit to be energized (the electromagnet loses the electromagnetic force), the circular plate 10 moves in the gas cylinder 9 under the action of the spring and pushes the gas located in the space on the right side of the circular plate 10 into the gas storage device;

Along with the movement of the circular plate 10, the calibration rod 5 connected to it is synchronously driven to move, so that one end of the heads of the two calibration rods 5 in the same group collides with each other (stops moving), which is set on the gas cylinder 9 at this time. The metering device measures the sum of the distances moved by the two calibration rods 5, and the computer control unit judges whether the width of the detection piece meets the standard according to whether the distance difference range moved by the calibration rods 5 in the two groups meets the corresponding requirements.

Example 3, on the basis of Example 2, as shown in FIG. 7 , the gas storage device includes a trachea 11 that communicates with the gas cylinder 9, and the trachea 11 is connected with a balloon 12. During the movement of the circular plate 10 in the gas cylinder 9, the The gas located in the space on the right side of the circular plate 10 is squeezed into the trachea 11. Initially, the computer control unit controls the valve 13 to be in a closed state (so that there is no conduction between the trachea 11 and the blowing device). At this time, the gas can only pass through. The trachea 11 enters the balloon 12 and forces the balloon 12 to inflate. If the detection element reaches the standard, the computer control unit controls the valve 13 to open, and the gas stored in the balloon 12 quickly enters the inflatable device through the valve 13 and passes through the insufflation device. Blow air out to achieve the effect of cleaning the floating ash attached to the upper surface of the detection piece;

If the detection piece fails to meet the standard, the valve 13 is always in the closed state. After the detection frame 2 releases the unqualified detection piece (drops it to the separation mechanism 39 to complete the screening), the computer control unit controls the valve 13 to open, and then the The gas located in the balloon 12 is released to the outside through the blowing device (a monitoring probe is provided at the position of the B chute 36, and the computer control unit can judge according to the image captured by the monitoring probe: when the test piece falls on the separation mechanism 39, the computer The control unit controls the valve 13 to open, so as to release the gas in the balloon 12 to the outside through the blowing device);

As shown in FIG. 7 , a first one-way valve 14 and a second one-way valve 15 are provided on the trachea 11 , and the first one-way valve 14 satisfies the requirement that the gas can only flow from the trachea 11 to the balloon 12 (cannot flow in the opposite direction) , the second one-way valve 15 satisfies that the gas can only enter into the trachea 11 from the outside (and cannot flow out from the trachea 11 to the outside world), when the valve 13 is opened, the gas in the balloon 12 can only flow to the blowing device through the valve 13;

Note: When the detection frame 2 is moved from the B chute 36 to the C chute 36, the computer control unit controls the first electromagnetic device to work, that is, the voltage stabilizing circuit where the control electromagnet is located loses power (electromagnetic force is generated), so as to pass The electromagnetic adsorption force drives the circular plate 10 to move in the direction of the compression spring (so as to move to the initial position, as shown in FIG. 10 can move farthest to the position where it interferes with the limit block), at this time, with the movement of the circular plate 10, the outside air enters the trachea 11 from the outside through the second one-way valve 15 provided on the trachea 11, and finally follows the As the circular plate 10 continues to move, it enters the air cylinder 9 (completing the air supply process). During the above air supply process, the computer control unit synchronously controls the two T-frames 3 to move away from each other and move to the initial position.

Embodiment 4, on the basis of Embodiment 3, as shown in FIG. 4 , the air blowing device includes a transition cavity 16 arranged in the calibration rod 5 and the two sides of the calibration rod 5 are respectively provided with blow pipes 17 communicating with it, as shown in FIG. As shown in FIG. 7 , a plurality of inclined air nozzles 18 are evenly distributed on the blowing pipe 17, and the gas entering the transition chamber 16 is blown out through the blowing pipe 17 and the air nozzle 18. Since the air nozzle 18 is inclined, the The floating ash on the upper end face of the detection piece is blown away to both sides and finally enters the arc-shaped air cavity 7 (the computer control unit controls the valve 13 to open at the same time, and the synchronous control drive device drives the piston plate 8 from the position shown in FIG. 5 to the initial position. The position is moved, so that a certain degree of negative pressure is generated in the arc-shaped air cavity 7 located on the right side of the piston plate 8, which helps to make the gas blown to both sides and with floating ash better enter under the action of the air blowing device. into the arc-shaped air cavity 7, so as to prevent the gas with floating ash from diffusing in the outside air and falling onto the detection part on the subsequent production line).

Embodiment 5, on the basis of Embodiment 1, as shown in FIG. 5 , the driving device includes a second electromagnet device (including an electromagnet installed on the bottom wall of the arc-shaped air cavity 7) arranged on the bottom wall of the arc-shaped air cavity 7 And it is also a de-energized electromagnet, the electromagnet is connected in series in the voltage-stabilizing circuit, and the piston plate 8 is connected with the spring and there is an iron plate), initially, the computer control unit makes the voltage-stabilizing circuit in a de-energized state (the electromagnet is de-energized). Electricity generates electromagnetic force), which in turn generates a large electromagnetic force on the piston plate 8 and makes the spring connected to the piston plate 8 in a heavily compressed state. The electromagnet generates electromagnetic force and then drives the piston plate 8 to move to the initial position along the arc-shaped air chamber 7 from the position as shown in the accompanying drawing 5 (note: when the piston plate 8 is in the position shown in the accompanying drawing 5, it is connected to the arc-shaped air chamber 7. The spring between the piston plates 8 is still in a compressed state and the force of the spring on the piston plate 8 is greater than the force of the external atmospheric pressure on the piston plate 8. As shown in FIG. 6, in the arc-shaped air cavity 7 There is a baffle 34 that cooperates with the piston plate 8 to limit the position of the piston plate 8, so that the piston plate 8 can only move to this position), so that the negative pressure in the suction cup 6 is gradually reduced, so that the piston plate 8 is in When moving to the initial position under the action of electromagnetic force, the air pressure inside the suction cup 6 is the same as the outside air pressure (there is no adsorption force between the suction cup 6 and the detection piece at this time). In the energized state (the electromagnet has no electromagnetic force), the piston plate 8 is always in the position shown in Figure 5 under the action of the spring connected to it. Move up to the B chute 36 with the inspection piece that does not meet the standard (the computer control terminal unit controls the voltage stabilization circuit to lose power, moves the piston plate 8 to the initial position by electromagnetic force, and then completes the release process);

As shown in FIG. 6 , an electrostatic filter plate 19 is provided at the connecting part of the arc-shaped air cavity 7 with the outside world (the electrostatic filter plate 19 is electrically connected with a high-voltage electric field, and the electrostatic filter plate 19 is evenly provided with a number of holes for the gas to pass through) , when the air blowing device blows the gas mixed with floating ash to both sides of the detection piece, the gas containing floating ash will enter the arc-shaped air cavity 7 (in this process, the piston plate 8 moves to the initial position) , so that a certain degree of negative pressure is generated in the arc-shaped air chamber 7 on the right side of the piston plate 8), and flows through the electrostatic filter plate 19, so that the floating dust in the gas is filtered out and adsorbed on the electrostatic filter plate 19, so as to realize the The effect of collecting dust in the gas (the computer control unit controls the electrostatic filter plate 19 to be always connected to the high-voltage electric field).

Example 6, on the basis of Example 5, as shown in FIG. 3, in order to better realize the collection of dust, the arc-shaped air cavity 7 is located at the position of the electrostatic filter plate 19 with the arc-shaped air cavity 7. The recovery cavity 20, as shown in FIG. 6, a cover plate 21 is provided at the communication part between the recovery cavity 20 and the arc-shaped air cavity 7, and the cover plate 21 is slidably installed in the wall of the arc-shaped air cavity 7 (with the arc-shaped air cavity 7). 7 is connected with a spring), the side of the piston plate 8 communicating with the outside world and the side of the cover plate 21 away from the spring are provided with magnets 22 with the same magnetic poles. Initially, when the piston plate 8 is in the initial position, the cover plate 21 is in Under the action of the spring, the effect of sealing the recovery cavity 20 is achieved. When the piston plate 8 moves to the position shown in FIG. 6, under the action of the magnetic mutual repulsion of the two magnets 22, the cover plate 21 is forced to be pressed toward each other. The direction of the spring moves, so as to open the recovery cavity 20 and make it communicate with the arc-shaped air cavity 7;

When this embodiment is used specifically, the process of collecting dust can only be carried out when the width of the detection piece reaches the standard. When the detection frame 2 is separated from the detection piece whose width reaches the standard The groove 36 moves to the B chute 36), and at this time the piston plate 8 moves to the initial position (the cover plate 21 is in the closed state, the recovery cavity 20 and the arc-shaped air cavity 7 are not conducting), and the parts to be tested are completely and tested. When the frame 2 is separated (at this time, the contact sensor provided on the T-shaped frame 3 no longer detects the signal and the computer control unit controls the piston plate 8 to move from the initial position to the position shown in FIG. 6 again), at the same time, The computer control unit controls the electrostatic filter plate 19 to be disconnected from the high-voltage electric field (the dust adsorbed on the electrostatic filter plate 19 is no longer subjected to the force of the electric field and then falls down on the upper end face of the cover plate 21), until the piston plate 8 moves to a position such as In the position shown in FIG. 6 (when the piston plate 8 moves to the baffle plate 34, there will be an obvious impact and vibration effect, which will help the dust attached to the electrostatic filter plate 19 to shake down), seal The cover plate 21 is opened under the mutual repulsion effect of the two magnets 22. During the opening process of the cover plate 21, the dust falling on the upper end surface of the cover plate 21 is pushed into the recovery cavity 20 (the cover plate 21 is opened at the same time. The end connected with the spring slides into the wall of the arc-shaped air cavity 7, so as to achieve the effect of cleaning and scraping the dust falling on the upper end face of the cover plate 21). Electricity and electromagnet generate electromagnetic force to move the piston plate 8 to the initial position (at the same time, the computer control unit controls the electrostatic filter plate 19 to be connected to the high-voltage electric field again, so that it is in a working state), the piston plate 8 is in the position shown in Figure 6 In the process of moving to the initial position, the cover plate 21 is no longer repelled by the magnets 22 and then closes the recovery cavity 20 under the action of the spring (Note: When the detection frame moves along the C chute, the recovery cavity 20 is opened at this time. downward, but since the cover plate 21 is in a closed state, the dust falling into the recovery cavity will not leak out).

Embodiment 7, on the basis of Embodiment 1, as shown in FIG. 5, the metering device includes a resistance sheet 23 arranged on the top wall of the gas cylinder 9, and the lower end surface of the calibration rod 5 is installed with the resistance sheet 23 electrically connected and slidingly matched. The contacting conductive rods 24, the matched resistance sheets 23 and the conductive rods 24 in the same group are connected in series in the same electrical circuit, as shown in FIG. The smaller the width between the tip of the detection needle 4 and the contact point of the side wall of the detection piece (and vice versa), the smaller the width between the contact point of the tip of the two detection pins 4, the resistor sheet 23 is connected in series in the electrical circuit The smaller the resistance value is (the larger the parameter of the ammeter is), the larger the width between the contact parts of the two detection needles 4, the greater the resistance value of the resistor sheet 23 connected in series in the electrical circuit (the smaller the parameter of the ammeter is) , so that the computer control unit determines whether the width difference between the detection element and the contact parts of the detection needles 4 of the two groups is within the required range according to the readings measured by the ammeters in the two groups, and then controls whether the subsequent actions are performed or not.

Example 8, on the basis of Example 4, as shown in FIG. 7 , the trachea 11 communicates with the transition cavity 16 through the arc-shaped tube 28 (the arc-shaped tube 28 communicates with the transition cavity 16 through the first pressure-resistant tube 32 to cooperate with each other. The movement of the calibration rod 5 relative to the gas cylinder 9), the valve 13 is arranged on the arc-shaped pipe 28, preferably, in order to make this solution better implemented, as shown in FIG. 8, the arc-shaped pipe 28 is not directly connected to the transition The chamber 16 is communicated, that is, a flow rate control device is provided on the arc-shaped tube 28 between the valve 13 and the transition chamber 16, and the flow rate control device can control the gas stored in the balloon 12 when the valve 13 is opened. Move into the transition chamber 16 at a relatively steady flow rate (that is, so that when the valve 13 is opened, the balloon 12 begins to deflate outward and begins to flow into the transition chamber 16 during the process that the gas in the balloon 12 is finally exhausted. The airflow velocity is always within a relatively stable range, so that the difference in the airflow velocity between the front and rear is not too large);

If the flow rate control device is not provided, the flow rate of the gas flowing to the transition chamber 16 will be too large for a period of time at the beginning (the balloon 12 is in a relatively large expansion stage, the internal pressure of the balloon 12 is large, and the flow rate of the air flow is fast), which will cause the gas to pass through the gas nozzle. The air flow blown out from 18 is relatively large. During the end time, due to the small expansion of the balloon 12 (its internal air pressure is greatly reduced compared to the initial time), the flow rate of the gas flowing into the transition cavity 16 is reduced. This situation will lead to Initially, due to the excessive airflow velocity, the dust attached to the upper end face of the detection piece moves in a larger and wider range with the airflow (not conducive to its collection). Small, resulting in the inability to completely and completely blow the remaining dust to both sides of the detection piece;

In this embodiment, the above-mentioned problems can be better solved by setting the flow rate control device, so that when the balloon 12 is deflated into the transition chamber 16, the flow rate of the gas in the whole process can always be within a relatively stable range. (The gas flow rate will not be significantly different before and after).

Embodiment 9, on the basis of Embodiment 8, as shown in FIG. 8 , the flow rate control device includes two stepped tubes 29 communicating with the arc-shaped tube 28, and the two stepped tubes 29 are both venturi tubes 31 (the venturi tubes are It is formed by splicing a number of pipes with increasing or decreasing inner diameters) to communicate with the transition cavity 16. As shown in FIG. 9, the stepped tube 29 on the right is connected to the larger diameter end of the venturi tube 31 (when the gas passes through the stepped tube 31) When the tube 29 enters the Venturi tube 31, the effect of accelerating the gas is realized), and the stepped tube 29 on the left is connected to the smaller diameter end of the Venturi tube 31 (when the gas enters the Venturi tube 29 through the stepped tube 29) In the tube 31, the effect of reducing the speed of the gas is realized), as shown in FIG. 9, a conduction mechanism is respectively provided in the two stepped tubes 29, and the conduction structure can make the gas with different air pressure pass through, as shown in the attached As shown in FIG. 9 , the conduction mechanism located in the left stepped tube 29 can allow the gas with higher pressure to pass through (the gas with lower pressure cannot pass through), and the conduction mechanism located in the right stepped tube 29 can allow the gas with a relatively small pressure to pass through. Gas with high pressure passes through (gas with higher pressure cannot pass);

When the gas with relatively high pressure enters into the venturi tube 31 through the left conduction mechanism, the corresponding venturi tube 31 can realize the effect of decelerating the gas. The air pressure in the balloon 12 gradually decreases, and in the later stage, the flow rate of the gas will drop significantly compared to the initial stage. At this time, the gas can only enter the venturi tube 31 through the conduction mechanism on the right side, and the corresponding venturi The inner tube 31 can achieve the effect of increasing the speed of the gas, so as to ensure that the flow rate of the gas is always within a relatively stable range (not too different) during the whole process.

Embodiment 10, on the basis of Embodiment 9, as shown in FIG. 9 , the conducting mechanism includes a regulating ball 30 axially slidably installed on the larger diameter end of the stepped tube 29 and connected with a spring. The diameter is smaller than the inner diameter of the larger end of the two stepped tubes 29, wherein a regulating ball 30 is not in contact with the smaller diameter end of the corresponding stepped tube 29 (such as the regulating ball 30 in the right stepped tube 29 in FIG. 9), The other regulating ball 30 abuts against the smaller diameter end of the stepped tube 29 under the action of the connecting spring (such as the regulating ball 30 in the left stepped tube 29 in FIG. 9 );

The elastic coefficient of the spring located in the left stepped tube 29 in FIG. 9 is greater than the elastic coefficient of the spring located in the right stepped tube 29. Initially, when the balloon 12 begins to deflate, the larger gas pressure will force the two control balls 30 to move toward each other at the same time. It moves away from the arc-shaped tube 28, so that the stepped tube 29 on the left communicates with the arc-shaped tube 28 (the gas then passes through the corresponding Venturi tube 31 and decelerates), and the stepped tube on the right is at this time. The regulating ball 30 in 29 is in contact with the end connected to the venturi tube 31 under the action of the gas (so that the gas cannot pass through the stepped tube 29), with the progress of the deflation process of the balloon 12, when the second half of the process is carried out. , the air pressure of the gas is reduced, so it is not enough to overcome the force of the inner spring of the left step tube 29 on the regulating ball 30 (so that the left regulating ball 30 abuts against the smaller diameter end of the step tube 29 again under the action of the spring, And it does not conduct with the arc-shaped tube 28), at this time, due to the low air pressure and the gas flow rate is relatively slow compared to the initial period of time (the impact force of the air flow on the regulating ball 30 is reduced), it is located in the right stepped tube 29. Under the action of the connecting spring, the regulating ball 30 will move a certain distance in the direction close to the arc-shaped tube 28 and make the stepped tube 29 conduct. At this time, the gas with a slower flow rate will enter the Venturi tube 31 ( Under the action of the corresponding venturi tube 31, the gas is accelerated to a certain extent), and finally the regulation of the gas flow rate from the convection to the transition chamber 16 is realized;

As shown in FIG. 3 , the converging cavity 35 is integrally provided in the connecting part of the arc-shaped air cavity 7 and the outside world. The converging cavity 35 is provided with an inclined surface, and the inclined surface is moved from the end of the arc-shaped air cavity 7 away from the arc-shaped air cavity 7 to the end close to the arc-shaped air cavity 7 . Extending the arrangement, under the cooperation of the arc-shaped air cavity 7 and the converging cavity 35, the gas blown to both sides of the detector and containing dust can be collected, and the converging cavity 35 has the effect of a gas diversion (the Detector for lighter weight parts).

The above description is only to illustrate the present invention, and it should be understood that the present invention is not limited to the above embodiments, and various modifications conforming to the idea of the present invention are all within the protection scope of the present invention.

Claims (10)

1. An industrial robot based on visual servoing, comprising a conveying frame and a conveying unit (1) is provided on the conveying frame, wherein the conveying frame comprises a feed end (25), a detection end (26), a discharge end A detection frame (2) is movably installed on the end (27) and the detection end (26), and a T-shaped frame (3) is slidably installed on the detection frame (2) at a horizontal interval, and the T-shaped frame (3) is slidable at an interval Two detection needles (4) elastically connected with the detection needles (4) are installed, and a checking device is provided on the detection needles (4); The verification device comprises a gas device arranged on the detection needle (4), and the gas device is driven with a calibration rod (5), the calibration rod (5) is provided with an air blowing device, and between the air blowing device and the gas device An air storage device is connected, the T-shaped frame (3) is slidably installed with a suction cup (6) elastically connected with it, and the suction cup (6) is communicated with an arc-shaped air cavity (7) provided on the T-shaped frame (3). ), a piston plate (8) is slidably installed in the arc-shaped air cavity (7), and a driving device is connected to the piston plate (8); A matched set of calibration rods (5) is provided with a metering device and the metering device is connected with a computer control unit. When the data measured by the two metering devices exceeds a certain range, the blowing device and the piston plate (8) do not move, When the data measured by the two measuring devices are within the corresponding range, the air storage device supplies air to the air blowing device and the driving device drives the piston plate (8) to move, and the detection end (26) is provided with a separation mechanism (39). 2. A visual servo-based industrial robot according to claim 1, wherein the gas device comprises a gas cylinder (9) fixedly installed with the detection needle (4), and a gas cylinder (9) is slidably installed with a gas cylinder (9). The circular plate (10) is elastically connected, the air cylinder (9) is provided with a first electromagnetic device that cooperates with the circular plate (10), and the computer control unit controls the work of the first electromagnetic device, the circular plate (10) One end of the air cylinder (9) extending outward is connected to the calibration rod (5), and one end of the air cylinder (9) away from the first electromagnetic device is communicated with the air storage device. 3. A visual servo-based industrial robot according to claim 2, wherein the gas storage device comprises a trachea (11) communicated with a gas cylinder (9), and a balloon (12) is communicated with the trachea (11) , the air pipe (11) communicates with the air blowing device provided on the calibration rod (5) through the valve (13), and the computer control unit controls the valve (13) to act. 4 . The industrial robot based on visual servoing according to claim 3 , wherein the air blowing device comprises a transition cavity ( 16 ) arranged in the calibration rod ( 5 ) and two sides of the calibration rod ( 5 ). 5 . Blow pipes (17) are respectively provided, and several inclined air nozzles (18) are uniformly distributed on the blow pipes (17). 5. An industrial robot based on visual servoing according to claim 1, wherein the driving device comprises a second electromagnetic device arranged on the bottom wall of the arc-shaped air cavity (7), the second electromagnetic device The movement of the piston plate (8) is controlled and the piston plate (8) is elastically connected with the bottom wall of the arc-shaped air cavity (7), and the end of the arc-shaped air cavity (7) away from the second electromagnetic device is provided with an electrostatic filter plate ( 19), the computer control unit respectively controls the second electromagnetic device and the electrostatic filter plate (19) to work. 6 . The industrial robot based on visual servoing according to claim 5 , wherein the arc-shaped air cavity ( 7 ) is located at the position of the electrostatic filter plate ( 19 ) and is connected to the arc-shaped air cavity ( 7 ). 7 . The recovery cavity (20) is slidably installed in the arc-shaped air cavity (7) with a cover plate (21) matched with the recovery cavity (20), the cover plate (21) and the arc-shaped air cavity (7). A magnet (22) with the same magnetic pole is respectively provided on one side of the cover plate (21) and the piston plate (8) in communication with the outside world. 7 . The industrial robot based on visual servoing according to claim 1 , wherein the measuring device comprises a resistance sheet ( 23 ) arranged on the top wall of the gas cylinder ( 9 ), and under the calibration rod ( 5 ) A conductive rod (24) electrically connected with the resistance sheet (23) and in sliding fit contact is installed on the end face, and the corresponding resistance sheet (23) and the conductive rod (24) are connected in series in the same electrical circuit. 8 . The industrial robot based on visual servoing according to claim 4 , wherein the trachea ( 11 ) is communicated with the transition cavity ( 16 ) through the arc-shaped pipe ( 28 ) and the valve ( 13 ) is arranged in the arc-shaped pipe ( 28 ). 9 . On the shaped tube (28), the arc-shaped tube (28) between the valve (13) and the transition cavity (16) is provided with a flow rate control device, and the flow rate control device can realize the balloon (12) when the valve (13) is opened. ) is blown out through the air nozzle (18) at a steady flow rate. 9 . The industrial robot based on visual servoing according to claim 8 , wherein the flow rate control device comprises two stepped pipes ( 29 ) communicated with the arc-shaped pipe ( 28 ), and the inside of the two stepped pipes ( 29 ) are respectively A conduction mechanism is provided, and the two conduction mechanisms can allow gases of different pressures to pass through, and the two stepped tubes (29) are both connected with the Venturi tube (31) and the transition cavity (16). 10. A visual servo-based industrial robot according to claim 9, characterized in that the conducting mechanism comprises a regulating ball (30) which is axially slidably mounted on the larger diameter end of the stepped pipe (29) and elastically connected to it. ), one of the regulating balls (30) is not in contact with the smaller diameter end of the corresponding stepped tube (29).

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