CN115060203A - Surface detection industrial robot and automatic production line - Google Patents
Surface detection industrial robot and automatic production line Download PDFInfo
- Publication number
- CN115060203A CN115060203A CN202210780752.9A CN202210780752A CN115060203A CN 115060203 A CN115060203 A CN 115060203A CN 202210780752 A CN202210780752 A CN 202210780752A CN 115060203 A CN115060203 A CN 115060203A
- Authority
- CN
- China
- Prior art keywords
- detection
- plate
- industrial robot
- abutting column
- conveyor belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 135
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 35
- 238000007689 inspection Methods 0.000 claims description 35
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 abstract description 7
- 230000000903 blocking effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A surface detection industrial robot and an automatic production line relate to the field of automatic production. Comprises a first conveyor belt, a detection table, a second conveyor belt and a detection plate. The detection table is arranged between the first conveyor belt and the second conveyor belt. The face of pick-up plate has first butt post and second butt post, and the middle part of pick-up plate is located to first butt post, and the edge of pick-up plate and along the circumference distribution of pick-up plate are located to the second butt post. The terminal surface of first butt joint post and second butt joint post is parallel to each other parallel and all with the face of pick-up plate. First butt post has along its radial laser emitter who sets up, and laser emitter is driven by the driver to make laser emitter can follow the circumferential direction of first butt post. The detection plate is also provided with a detection ring, and a photosensitive assembly for detecting laser emitted by the laser emitter is arranged on the inner side of the detection ring. The product detection and automatic production can be organically combined, and the coordination of production and detection is effectively improved.
Description
Technical Field
The invention relates to the field of automatic production, in particular to a surface detection industrial robot and an automatic production line.
Background
A traditional automatic production line generally adopts a mode of separating production and detection, and after the production of a product is finished in an automatic production link, the product is transferred to a detection link for detection, and under the normal condition, manual operation is needed in the detection link.
The advantages of automatic production cannot be fully exerted by the above modes, and the detection link limits the high efficiency of production to a certain extent.
In view of this, the present application is specifically made.
Disclosure of Invention
The first purpose of the present invention is to provide a surface inspection industrial robot, which can organically combine product inspection and automatic production, effectively improve the coordination between production and inspection, and improve the efficiency of product inspection, so that the matching degree between the product inspection industrial robot and the automatic production is improved.
The second objective of the present invention is to provide an automatic production line, which can organically combine product detection and automatic production, and effectively improve the coordination of production and detection.
The embodiment of the invention is realized by the following steps:
a surface inspection industrial robot, comprising: the detection device comprises a first conveyor belt, a detection table, a second conveyor belt and a detection plate.
The detection table is arranged between the first conveyor belt and the second conveyor belt, the detection table is arranged at the tail end of the first conveyor belt, and the detection table is arranged at the head end of the second conveyor belt.
The pick-up plate is used for with waiting to examine the article and offset, and the face of pick-up plate has first butt post and second butt post, and the middle part of pick-up plate is located to first butt post, and the edge of pick-up plate and the circumference along the pick-up plate are distributed to second butt post. The terminal surface of first butt joint post and second butt joint post is parallel to each other parallel and all with the face of pick-up plate.
First butt post has along its radial laser emitter who sets up, and laser emitter is driven by the driver to make laser emitter can follow the circumferential direction of first butt post.
The detection plate is also provided with a detection ring, the detection ring and the detection plate are coaxially arranged, photosensitive assemblies used for detecting laser emitted by the laser emitter are arranged on the inner side of the detection ring, and the photosensitive assemblies are distributed along the circumferential direction of the detection ring.
One side fixed mounting of examining test table is used for with waiting the stop part that the article leaned on.
Further, the photosensitive assemblies are continuously distributed along the circumferential direction of the detection ring.
Further, the position of the laser emitter is adjustable along the axial direction of the first abutting column. The position of the detection ring is adjustable along the axial direction of the detection ring.
Furthermore, the first abutting column is sleeved with a rotating sleeve, and the end face of the first abutting column is exposed out of the rotating sleeve. The rotating sleeve is rotatably matched with the first abutting column and driven by the driver, and the laser emitter is mounted on the rotating sleeve.
Further, the first abutting column and the second abutting column are both pressure sensors.
Further, the width of the detection table is smaller than that of the object to be detected.
Further, the detection plate has an inner cavity extending in a direction parallel to the plate surface of the detection plate. The inner cavity is accommodated with a pressure detection module and a weight.
The outer diameter of the counterweight is smaller than the inner diameter of the inner cavity, and two ends of the counterweight are respectively contacted with two ends of the inner cavity.
The pressure detection module is arranged on the side wall of the inner cavity and arranged at intervals along the circumferential direction of the inner cavity, and the side wall of the counterweight is attached to the pressure detection module.
The pick-up plate has first pivot and second pivot, and first pivot and second pivot all are on a parallel with the face setting of pick-up plate, and first pivot and second pivot are mutually perpendicular.
Further, the inner wall of the inner cavity and the outer surface of the weight part are both subjected to smoothing treatment.
Furthermore, the pressure detection modules are four groups, and the four groups of pressure detection modules are uniformly arranged at intervals along the circumferential direction of the inner cavity. The central axis of the counterweight member is coincided with the central axis of the inner cavity. When the central axis of the counterweight is arranged along the vertical direction, the pressure values detected by the four groups of pressure detection modules are the same.
An automated production line, comprising: the surface inspection industrial robot described above.
The embodiment of the invention has the beneficial effects that:
in the working process of the surface inspection industrial robot 1000 according to the embodiment of the present invention, the object to be inspected is conveyed onto the inspection table 200 by the first conveyor belt 100, and at this time, the inspection plate 400 is driven to abut against the side wall of the object to be inspected, the inspection plate 400 abuts against the side wall of the object to be inspected through the first abutting column 410 and the second abutting column 420, and the object to be inspected is abutted between the blocking portion 210 and the inspection plate 400.
Because the width of examining test table 200 is less than waiting to examine the article, the partly of examining the article stretches out outside examining test table 200, like this, just for examining test ring 480 abdicating, because the inner diameter of examining test ring 480 is greater than examining the article, makes to examine test ring 480 and can encircle to locate and examine the article.
The position of the laser transmitter 411 is adjustable along the axial direction of the first abutment post 410. The position of the detection ring 480 is adjustable along the axial direction of the detection ring 480. Like this can control in a flexible way according to actual need in first butt joint post 410 and second butt joint post 420 with wait to examine when examining the object and offset, laser emitter 411 with wait to examine the distance between the object surface, through adjusting the position that detects ring 480, make its and laser emitter 411's position looks adaptation, can detect the laser that laser emitter 411 sent to when making laser emitter 411 along the circumferential direction of first butt joint post 410, can continuously detect the laser of laser emitter 411.
In this way, after the detecting plate 400 abuts against the object to be detected, the driver is used to control the laser emitter 411 to rotate along the circumferential direction of the first abutting column 410, and if the photosensitive elements of the detecting ring 480 can always detect the laser emitted by the laser emitter 411 (except for the blocking of the laser by the second abutting column 420), that indicates that the flatness of the side surface of the object to be detected is satisfactory. Therefore, the detection of different flatness requirements can be satisfied by adjusting the distance between the laser emitter 411 and the object to be detected when the detection board 400 abuts against the object to be detected.
In the initial state, the sensing plate 400 may be adjusted by the first and second rotating shafts 460 and 470 such that the central axis of the weight member 450 is vertical, thereby equalizing the values of the respective pressure sensing modules 440. If the sensing plate 400 is tilted, the force applied between each pressure sensing module 440 and the weight member 450 is changed, and the tilting degree and the tilting direction of the sensing plate 400 can be determined according to the weight of the weight member 450 and the pressure value of each pressure sensing module 440.
When the detecting plate 400 is abutted against the object to be detected, the inclination degree and the inclination direction of the detecting plate 400 are judged according to the pressure value condition of the pressure detecting module 440, so that the inclination condition of the side surface of the object to be detected is reflected, and whether the inclination degree of the side surface of the object to be detected meets the requirement or not is judged.
In order to improve the detection sensitivity, the four pressure detection modules 440 are arranged in a manner that satisfies the following requirements: if the sensing plate 400 only rotates along the first rotating shaft 460, only the pressure values of one set of pressure sensing modules 440 change; if the sensing plate 400 rotates only along the second rotating shaft 470, only the pressure values of the other set of pressure sensing modules 440 are changed.
In addition, the first abutting column 410 and the second abutting column 420 are both pressure sensors, and when the detection board 400 abuts against the object to be detected through the first abutting column 410 and the second abutting column 420, whether the detection board 400 is sufficiently attached to the object to be detected and whether the surface of the object to be detected is flat can be preliminarily determined according to the pressure values of the first abutting column 410 and the second abutting column 420.
After the detecting plate 400 abuts against the object to be detected, the first abutting column 410 and the second abutting column 420 both detect pressure, which indicates that the first abutting column 410 and the second abutting column 420 both abut against the surface of the object to be detected, and if the pressure values of the first abutting column 410 and the second abutting column 420 are the same, which indicates that the contact parts of the object to be detected with the first abutting column 410 and the second abutting column 420 are flat.
In this way, the detection board 400 can perform a comprehensive evaluation of the side flatness and inclination of the object to be inspected.
In general, the surface detection industrial robot provided by the embodiment of the invention can organically combine product detection with automatic production, effectively improve the coordination of production and detection, improve the efficiency of product detection, and improve the matching degree of the product detection industrial robot with the automatic production. The automatic production line provided by the embodiment of the invention can organically combine product detection and automatic production, and effectively improve the coordination of production and detection.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a first detection state of a surface detection industrial robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a detection plate of a surface detection industrial robot provided by an embodiment of the invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
fig. 4 is a schematic structural diagram of a second detection state of the surface detection industrial robot according to the embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4;
fig. 6 is a schematic structural diagram of a surface detection plate of an industrial robot according to an embodiment of the present invention.
Icon:
a surface inspection industrial robot 1000; a first conveyor belt 100; a detection table 200; a blocking portion 210; a second conveyor belt 300; a detection board 400; a first abutment post 410; a laser emitter 411; a rotating sleeve 412; a second abutment post 420; an inner cavity 430; a pressure detection module 440; a weight member 450; a first rotating shaft 460; a second rotating shaft 470; a detection ring 480; the object 500 to be inspected.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "parallel," "perpendicular," and the like do not require that the components be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel relative to "perpendicular," and does not mean that the structures are necessarily perfectly parallel, but may be slightly tilted.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
The terms "substantially", "essentially", and the like are intended to indicate that the relative terms are not required to be absolutely exact, but may have some deviation. For example: "substantially equal" does not mean absolute equality, but it is difficult to achieve absolute equality in actual production and operation, and some deviation generally exists. Thus, in addition to absolute equality, "substantially equal" also includes the above-described case where there is some deviation. In this case, unless otherwise specified, terms such as "substantially", and the like are used in a similar manner to those described above.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Examples
Referring to fig. 1 to 6, the present embodiment provides a surface inspection industrial robot 1000, where the surface inspection industrial robot 1000 includes: a first conveyor belt 100, a test station 200, a second conveyor belt 300, and a test plate 400.
The detection table 200 is arranged between the first conveyor belt 100 and the second conveyor belt 300, the detection table 200 is arranged at the tail end of the first conveyor belt 100, and the detection table 200 is arranged at the head end of the second conveyor belt 300. The first conveyor belt 100 and the second conveyor belt 300 have the same conveying direction.
The detection plate 400 is used for abutting against an object 500 to be detected, a first abutting column 410 and a second abutting column 420 are arranged on the plate surface of the detection plate 400, the first abutting column 410 is arranged in the middle of the detection plate 400, and the second abutting column 420 is arranged at the edge of the detection plate 400 and distributed along the circumferential direction of the detection plate 400. The end surfaces of the first abutting column 410 and the second abutting column 420 are flush with each other and are parallel to the plate surface of the detection plate 400, that is, the end surfaces of the first abutting column 410 and the second abutting column 420 are located on the same plane, and the plane is parallel to the plate surface of the detection plate 400.
The first abutment column 410 has a laser emitter 411 arranged in a radial direction thereof, and the laser emitter 411 is driven by a driver (not shown in the figure) so that the laser emitter 411 can rotate in a circumferential direction of the first abutment column 410, thereby changing an orientation of the laser in the circumferential direction of the first abutment column 410.
The detection plate 400 further has a detection ring 480, the detection ring 480 is disposed coaxially with the detection plate 400, and photosensitive elements (not shown) for detecting laser light emitted from the laser emitter 411 are disposed inside the detection ring 480 and distributed along a circumferential direction of the detection ring 480.
A blocking part 210 for abutting against the object 500 to be inspected is fixedly installed at one side of the inspection table 200.
Specifically, one side edge of the detection table 200 is flush with the edges of the first conveyor belt 100 and the second conveyor belt 300, the width of the detection table 200 is smaller than the width of the object 500 to be detected, and the width of the detection table 200 is smaller than the widths of the first conveyor belt 100 and the second conveyor belt 300.
The photosensitive elements are distributed continuously along the circumference of the detection ring 480. The "photosensitive elements are continuously distributed along the circumferential direction of the detection ring 480" means that a plurality of photosensitive elements are arranged next to each other in the circumferential direction of the detection ring 480, and there is no gap between adjacent photosensitive elements.
The position of the laser transmitter 411 is adjustable along the axial direction of the first abutment post 410. The position of the detection ring 480 is adjustable along the axial direction of the detection ring 480.
The first abutting column 410 is sleeved with a rotating sleeve 412, and an end surface of the first abutting column 410 is exposed out of the rotating sleeve 412. The rotating sleeve 412 is rotatably fitted to the first abutment post 410 and driven by a driver, and the laser transmitter 411 is mounted to the rotating sleeve 412. The driver changes the direction of the laser emitter 411 by driving the rotary sleeve 412.
Both the first abutment post 410 and the second abutment post 420 are pressure sensors.
The sensing plate 400 has an inner cavity 430, the inner cavity 430 extending in a direction parallel to the plate surface of the sensing plate 400. The internal cavity 430 houses a pressure sensing module 440 and a weight 450.
The outer diameter of the weight member 450 is smaller than the inner diameter of the inner cavity 430, and both ends of the weight member 450 are in contact with both ends of the inner cavity 430, respectively.
The pressure detection modules 440 are arranged on the side wall of the inner cavity 430 and are arranged at intervals along the circumferential direction of the inner cavity 430, and the side wall of the counterweight 450 is attached to the pressure detection modules 440.
The sensing plate 400 has a first rotating shaft 460 and a second rotating shaft 470, both the first rotating shaft 460 and the second rotating shaft 470 are arranged parallel to the plate surface of the sensing plate 400, and the first rotating shaft 460 and the second rotating shaft 470 are perpendicular to each other.
The inner wall of the cavity 430 and the outer surface of the weight member 450 are smoothed.
The pressure detection modules 440 are four groups, and the four groups of pressure detection modules 440 are uniformly arranged at intervals along the circumferential direction of the inner cavity 430. The central axis of the weight member 450 is disposed coincident with the central axis of the interior cavity 430. When the central axis of the weight member 450 is disposed in the vertical direction, the pressure values detected by the four sets of pressure detecting modules 440 are the same.
In this embodiment, the inspection station 200 is also a conveyor belt. Stop 210 is located on the side of test station 200 from which test plate 400 is principle tested. The detection plate 400 may be driven by a robot arm or a linear motion mechanism, but is not limited thereto.
In the working process, the object 500 to be inspected is conveyed to the inspection station 200 by the first conveyor belt 100, at this time, the inspection plate 400 is driven to abut against the side wall of the object 500 to be inspected, the inspection plate 400 abuts against the side wall of the object 500 to be inspected through the first abutting column 410 and the second abutting column 420, and the object 500 to be inspected is abutted between the blocking portion 210 and the inspection plate 400.
Because the width of examining test table 200 is less than waiting to examine article 500, the partly of examining test article 500 stretches out outside examining test table 200, like this, just for examining test ring 480 abdicating, because the inner diameter of examining test ring 480 is greater than examining test article 500, make and examine test ring 480 can encircle and locate examining test article 500.
The position of the laser transmitter 411 is adjustable along the axial direction of the first abutment post 410. The position of the detection ring 480 is adjustable along the axial direction of the detection ring 480. Like this can be according to actual need nimble control when first butt column 410 and second butt column 420 offset with waiting to examine article 500, laser emitter 411 with wait to examine the distance between the article 500 surface, through adjusting the position of detecting ring 480, make its and laser emitter 411's position looks adaptation, can detect the laser that laser emitter 411 sent to when making laser emitter 411 along the circumferential direction of first butt column 410, can continuously detect the laser of laser emitter 411.
In this way, when the detecting plate 400 abuts against the object 500 to be detected, the driver is used to control the laser emitter 411 to rotate along the circumferential direction of the first abutting column 410, and if the photosensitive elements of the detecting ring 480 can always detect the laser emitted by the laser emitter 411 (except for the blocking of the laser by the second abutting column 420), it indicates that the flatness of the side surface of the object 500 to be detected is satisfactory. Therefore, the detection of different flatness requirements can be satisfied by adjusting the distance between the laser emitter 411 and the object 500 to be inspected when the detection plate 400 abuts against the object 500 to be inspected.
Further, in the initial state, the sensing plate 400 may be adjusted by the first and second rotating shafts 460 and 470 such that the central axis of the weight member 450 is vertical, thereby making the values of the respective pressure sensing modules 440 the same. If the sensing plate 400 is tilted, the force applied between each pressure sensing module 440 and the weight member 450 is changed, and the tilting degree and the tilting direction of the sensing plate 400 can be determined according to the weight of the weight member 450 and the pressure value of each pressure sensing module 440.
When the detecting plate 400 is abutted against the object 500 to be detected, the inclination degree and the inclination direction of the detecting plate 400 are judged according to the pressure value condition of the pressure detecting module 440, so that the inclination condition of the side surface of the object 500 to be detected is reflected, and whether the inclination degree of the side surface of the object 500 to be detected meets the requirement or not is judged.
In order to improve the detection sensitivity, the four pressure detection modules 440 are arranged in a manner that satisfies the following requirements: if the sensing plate 400 only rotates along the first rotating shaft 460, only the pressure values of one set of pressure sensing modules 440 change; if the sensing plate 400 rotates only along the second rotating shaft 470, only the pressure values of the other set of pressure sensing modules 440 change.
The first rotation shaft 460 is disposed in a vertical direction, and the second rotation shaft 470 is disposed in a horizontal direction.
In addition, the first abutting column 410 and the second abutting column 420 are both pressure sensors, and when the detecting plate 400 abuts against the object 500 to be detected through the first abutting column 410 and the second abutting column 420, whether the detecting plate 400 is sufficiently attached to the object 500 to be detected and whether the surface of the object 500 to be detected is flat can be preliminarily determined according to the pressure values of the first abutting column 410 and the second abutting column 420.
After the detecting plate 400 abuts against the object 500 to be detected, the first abutting column 410 and the second abutting column 420 both detect pressure, which indicates that the first abutting column 410 and the second abutting column 420 both abut against the surface of the object 500 to be detected, and if the pressure values of the first abutting column 410 and the second abutting column 420 are the same, which indicates that the contact parts of the object 500 to be detected with the first abutting column 410 and the second abutting column 420 are flat.
In this way, the detection plate 400 can comprehensively evaluate the flatness and inclination of the side surface of the object 500 to be detected.
After the inspection, the inspection station 200 feeds the object 500 to be inspected to the second conveyor 300, and the second conveyor 300 conveys the object to be inspected to a subsequent process.
This embodiment still provides an automation line, and it includes: the surface inspection industrial robot 1000 described above. The surface inspection industrial robot 1000 conveys the produced object 500 to be inspected to the inspection station 200 through the first conveyor belt 100 for inspection.
In summary, the surface inspection industrial robot 1000 provided by the embodiment of the present invention can organically combine product inspection and automated production, effectively improve coordination between production and inspection, improve efficiency of product inspection, and improve matching degree between the product inspection industrial robot and automated production. The automatic production line provided by the embodiment of the invention can organically combine product detection and automatic production, and effectively improve the coordination of production and detection.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A surface inspecting industrial robot, comprising: the detection device comprises a first conveyor belt, a detection table, a second conveyor belt and a detection plate;
the detection table is arranged between the first conveyor belt and the second conveyor belt, the detection table is arranged at the tail end of the first conveyor belt, and the detection table is arranged at the head end of the second conveyor belt;
the detection plate is used for abutting against an object to be detected, the plate surface of the detection plate is provided with a first abutting column and a second abutting column, the first abutting column is arranged in the middle of the detection plate, and the second abutting columns are arranged at the edge of the detection plate and distributed along the circumferential direction of the detection plate; the end surfaces of the first abutting column and the second abutting column are mutually flush and parallel to the plate surface of the detection plate;
the first abutting column is provided with a laser emitter arranged along the radial direction of the first abutting column, and the laser emitter is driven by a driver so as to enable the laser emitter to rotate along the circumferential direction of the first abutting column;
the detection plate is also provided with a detection ring, the detection ring and the detection plate are coaxially arranged, photosensitive assemblies for detecting laser emitted by the laser emitter are arranged on the inner side of the detection ring, and the photosensitive assemblies are distributed along the circumferential direction of the detection ring;
one side fixed mounting of examining test table has and is used for with waiting the stop part that the article offseted.
2. A surface sensing industrial robot according to claim 1, characterized in that the light sensitive components are distributed continuously along the circumference of the sensing ring.
3. The surface sensing industrial robot of claim 1, wherein the position of the laser transmitter is adjustable along the axial direction of the first abutment post; the position of the detection ring is adjustable along the axial direction of the detection ring.
4. The surface inspection industrial robot according to claim 1, wherein the first abutment post sleeve is provided with a rotating sleeve, and an end surface of the first abutment post is exposed outside the rotating sleeve; the rotating sleeve is rotatably matched with the first abutting column and driven by the driver, and the laser emitter is mounted on the rotating sleeve.
5. Surface detecting industrial robot according to claim 1, characterized in that the first and second abutment posts are both pressure sensors.
6. A surface sensing industrial robot according to claim 1, characterized in that the width of the sensing table is smaller than the width of the object to be inspected.
7. The surface inspecting industrial robot according to claim 1, wherein the inspection plate has an inner cavity extending in a direction parallel to a plate surface of the inspection plate; the inner cavity is internally provided with a pressure detection module and a counterweight;
the outer diameter of the counterweight is smaller than the inner diameter of the inner cavity, and two ends of the counterweight are respectively contacted with two ends of the inner cavity;
the pressure detection modules are arranged on the side wall of the inner cavity and are arranged at intervals along the circumferential direction of the inner cavity, and the side wall of the counterweight is attached to the pressure detection modules;
the detecting plate is provided with a first rotating shaft and a second rotating shaft, the first rotating shaft and the second rotating shaft are both parallel to the plate surface of the detecting plate and are perpendicular to each other.
8. A surface sensing industrial robot according to claim 7 wherein the inner wall of the cavity and the outer surface of the weight member are smoothed.
9. The surface inspecting industrial robot according to claim 7, wherein the pressure inspecting modules are four groups, and the four groups of pressure inspecting modules are arranged at regular intervals in a circumferential direction of the inner cavity; the central axis of the counterweight is superposed with the central axis of the inner cavity; when the central axis of the counterweight is arranged along the vertical direction, the pressure values detected by the four groups of pressure detection modules are the same.
10. An automated production line, comprising: a surface inspecting industrial robot as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210780752.9A CN115060203A (en) | 2022-07-05 | 2022-07-05 | Surface detection industrial robot and automatic production line |
| CN202310024749.9A CN117249780A (en) | 2022-07-05 | 2023-01-06 | Industrial robot for surface detection and automatic production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210780752.9A CN115060203A (en) | 2022-07-05 | 2022-07-05 | Surface detection industrial robot and automatic production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115060203A true CN115060203A (en) | 2022-09-16 |
Family
ID=83203631
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210780752.9A Pending CN115060203A (en) | 2022-07-05 | 2022-07-05 | Surface detection industrial robot and automatic production line |
| CN202310024749.9A Pending CN117249780A (en) | 2022-07-05 | 2023-01-06 | Industrial robot for surface detection and automatic production line |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310024749.9A Pending CN117249780A (en) | 2022-07-05 | 2023-01-06 | Industrial robot for surface detection and automatic production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN115060203A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117249784A (en) * | 2023-11-17 | 2023-12-19 | 成都万唐科技有限责任公司 | Workpiece surface smoothness and flatness detection device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117990410B (en) * | 2024-04-02 | 2024-05-28 | 深圳市集力电线电缆有限公司 | Cable armor sampling inspection equipment for cable production |
-
2022
- 2022-07-05 CN CN202210780752.9A patent/CN115060203A/en active Pending
-
2023
- 2023-01-06 CN CN202310024749.9A patent/CN117249780A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117249784A (en) * | 2023-11-17 | 2023-12-19 | 成都万唐科技有限责任公司 | Workpiece surface smoothness and flatness detection device |
| CN117249784B (en) * | 2023-11-17 | 2024-01-26 | 成都万唐科技有限责任公司 | Workpiece surface smoothness and flatness detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117249780A (en) | 2023-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115060203A (en) | Surface detection industrial robot and automatic production line | |
| JP4363830B2 (en) | Tube shape measuring method, apparatus, tube inspection method, apparatus, tube manufacturing method and system | |
| CN105674848B (en) | Thickness detector | |
| CN108686982A (en) | A kind of detection device and detection method of wheel hub blank outer margin deformation amount | |
| EP2919002B1 (en) | Eddy current probe rotator | |
| CN113551606A (en) | Offline detection device for size of bottom plate of tablet personal computer | |
| CN109909732B (en) | Bolt position appearance detector and bolt position appearance detect tightening device | |
| JP4499222B2 (en) | Inner diameter measuring device | |
| WO2009072968A1 (en) | Method and arrangement for log classification | |
| CN213170107U (en) | Conveying and angle adjusting device | |
| US4819783A (en) | Automated inspection system and method | |
| EP1470903B1 (en) | Apparatus for centering a log | |
| CN216500828U (en) | Cladding material product size detection sorter | |
| CN213003589U (en) | Long pipe positioning mechanism | |
| US11415409B1 (en) | Apparatuses and methods for measuring parameters of an object | |
| CN114739303A (en) | Pipeline inner diameter sensing scanning device based on line laser | |
| CN111842208B (en) | Online measuring system and method for axial error of internal gear | |
| CN219015225U (en) | Detection device for measuring radial runout of crankshaft | |
| CN115256018B (en) | Rotary positioning equipment | |
| CN218560019U (en) | Plate conveying equipment and plate detection equipment | |
| CN117168319A (en) | Door and window section bar extrusion tooling processing detection device | |
| CN211965039U (en) | Detection turntable and detection device | |
| CN215180717U (en) | Servo motor testing arrangement | |
| CN219519618U (en) | Infrared detection device for detecting defects of vehicle parts | |
| CN218995169U (en) | Conveying mechanism for glass detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20220916 |