CN115229810A

CN115229810A - Automatic change quick visual detection robot

Info

Publication number: CN115229810A
Application number: CN202210760724.0A
Authority: CN
Inventors: 杨浩; 袁涛
Original assignee: Anhui Technical College of Mechanical and Electrical Engineering
Current assignee: Dragon Totem Technology Hefei Co ltd; Zhuhai Longjian Electronics Co ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-10-25
Anticipated expiration: 2042-06-29
Also published as: CN115229810B

Abstract

The invention discloses an automatic rapid visual inspection robot, which comprises a receiving assembly, a detection assembly and a control assembly, wherein the receiving assembly comprises a bottom plate, a placing plate arranged on the bottom plate and a storage box arranged on the placing plate; the supporting assembly comprises a push rod arranged in the storage box, a push plate arranged on the push rod and a clamping piece arranged on the push plate; and the detection assembly is arranged in the storage box.

Description

Automatic change quick visual detection robot

Technical Field

The invention relates to the technical field of detection technology, in particular to an automatic rapid visual detection robot.

Background

Visual inspection is the use of a machine to make measurements and judgments instead of the human eye. The visual detection means that a machine vision product (namely an image shooting device which is divided into a CMOS and a CCD) converts a shot target into an image signal, transmits the image signal to a special image processing system, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. Is a valuable mechanism for production, assembly or packaging. It has immeasurable value in terms of the ability to detect defects and prevent defective products from being distributed to consumers.

When workers need to carry out spot check on materials in the working process, the workers need to take the materials in the spot check process and can only place the materials in a bright place to carefully observe the materials, so that certain time is consumed in the taking and placing processes, the spot check efficiency is reduced, and the working efficiency is reduced.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and title of the application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The invention is provided in view of the problems of the existing automatic rapid visual inspection robot.

Therefore, the invention aims to provide an automatic rapid visual inspection robot.

In order to solve the technical problems, the invention provides the following technical scheme: an automatic rapid visual inspection robot comprises a receiving assembly, a positioning assembly and a visual inspection assembly, wherein the receiving assembly comprises a bottom plate, a placing plate arranged on the bottom plate and a storage box arranged on the placing plate; the supporting assembly comprises a push rod arranged in the storage box, a push plate arranged on the push rod and a clamping piece arranged on the push plate; and the detection assembly is arranged in the storage box.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the storage box is internally provided with a storage cavity, the storage cavity is rotatably connected with a supporting plate, the rear end of the supporting plate is provided with a connecting plate, the cavity wall of the storage cavity is rotatably connected with an ear plate, and the ear plate is connected with the connecting plate.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the telescopic rod is arranged in the storage box and comprises a first clamping barrel and a second sliding rod connected with the first clamping barrel in a sliding mode, the push rods are arranged on the first clamping barrel and the second sliding rod respectively, and a screwing component is arranged on each push rod.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the rotating part comprises a rotating plate arranged on the pushing rod, a rotating rod arranged on the rotating plate and a sliding rod arranged at the upper end of the rotating rod, a hinge block is arranged at the end part of the sliding rod, and a sliding piece is arranged between the hinge block and the pushing plate.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the sliding piece comprises a dovetail block arranged on the hinge block and a dovetail groove arranged on the lower surface of the pushing plate, the dovetail plate extends outwards from the linkage plate,

the improved structure of the automobile brake pad is characterized in that a locking plate is arranged on the linkage plate, a matching sliding groove matched with the locking plate is formed in the pushing plate, one end, extending out of the matching sliding groove, of the locking plate is connected with a clamping plate in a rotating mode, a clamping opening is formed in the front end of the clamping plate, and a clamping buckle is connected to the clamping opening in a rotating mode.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the detection assembly comprises a first support rod, a transfer rod and a first ring, wherein the first support rod is rotatably connected in the storage box, the transfer rod is rotatably connected to the first support rod, the first ring is arranged on the first support rod, a first motor is arranged at the rear end of the first support rod, a connecting rod is arranged between a motor shaft of the first motor and the first support rod, and a moving member is arranged on the first ring.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the first strut bar is provided with a second motor, a motor shaft of the second motor is directly connected with a first gear, and the middle rotating rod is provided with a second gear meshed with the first gear.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the first ring is provided with an opening, the upper surface of the first ring is provided with a guide rail, the moving piece comprises a slide block connected with the guide rail in a sliding way, a pillar block connected with the slide block and a detection rod extending upwards from the pillar block,

the support block is provided with a third motor, the third motor is provided with a second gear, the outer wall of the first ring is provided with outer edge teeth meshed with the second gear, and the support block is provided with a cover plate connected with a second gear rotating shaft.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the detection rod is provided with a detection piece, the detection piece comprises a camera and a light compensating piece connected with the camera,

the light supplementing piece comprises a light supplementing lamp electrically connected with the camera and a battery connected with the light supplementing lamp.

As a preferable scheme of the automated rapid visual inspection robot of the present invention, wherein: the detection rod is provided with a round hole, the orifice of the round hole is connected with a switch board in a sliding mode, and the rear end of the switch board is provided with a miniature electric cylinder.

The invention has the beneficial effects that: the operator is earlier rotatory down with the layer board, make layer board lower extreme contact ground, article pass through the conveyer belt on the layer board this moment, move in the storage box, then move on the slurcam, the operator slides out the second slide bar forward earlier this moment, then utilize the holder to fix article on the slurcam, then utilize the motor, screw up the swing arm, then realize the swing up with the slurcam, article upwards stretch out this moment, the operator can utilize the rotation of swing arm this moment, change the position of slurcam, thereby utilize the camera to discern and shoot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor. Wherein:

fig. 1 is a schematic diagram of the overall structure of the automated rapid visual inspection robot according to the present invention.

Fig. 2 is a schematic diagram of a lifting assembly of the automated rapid visual inspection robot according to the present invention.

Fig. 3 is an exploded view of the swing-up component of the automated rapid visual inspection robot according to the present invention.

Fig. 4 is a schematic view of the overall structure of the inspection assembly of the automated rapid visual inspection robot according to the present invention.

Fig. 5 is a schematic structural diagram of a detection assembly of the automated rapid visual inspection robot according to the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and it will be appreciated by those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the present invention and that the present invention is not limited by the specific embodiments disclosed below.

Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Furthermore, the present invention is described in detail with reference to the drawings, and for convenience of illustration, the cross-sectional views illustrating the device structures are not enlarged partially according to the general scale when describing the embodiments of the present invention, and the drawings are only exemplary, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

Example 1

Referring to fig. 1-5, the invention discloses an automatic rapid visual inspection robot, which mainly comprises a receiving assembly, in this embodiment, the receiving assembly comprises a bottom plate, the bottom plate is used as the lowest end part of the robot and plays a role of supporting and supporting a main body, a placing plate is arranged on the bottom plate, a storage box 100 is arranged on the placing plate, the storage box 100 is used for receiving articles, and the function of manually taking and placing the articles on a certain inspection table is replaced, so that the articles are placed on the robot.

Further, the present invention further includes a supporting assembly 200, in this embodiment, the supporting assembly 200 includes two pushing rods 201 disposed in the storage box 100, a pushing plate 202 is further disposed on the two pushing rods 201, the pushing rods 201 can drive the pushing plate 202 to move up or down, and a clamping member is further disposed on the pushing plate 202.

Preferably, the clamping member includes a plurality of clamping blocks disposed on the pushing plate 202, and the clamping blocks are disposed along a circumferential array, and each clamping block can slide, so that the clamping blocks can move close to or away from each other after sliding, thereby clamping or releasing the object.

Further, a storage cavity 203 is formed in the storage box 100, a supporting plate 204 is connected to the storage cavity 203 in a rotating mode, the supporting device is matched with the pushing plate 202 in an assisting mode, after the pushing plate 202 places objects, the pushing plate 202 is used for assisting in carrying the objects, a connecting plate is arranged at the rear end of the supporting plate 204, an ear plate 206 is connected to the wall of the storage cavity 203 in a rotating mode, the ear plate 206 is connected with the connecting plate, after the ear plate 206 rotates, the connecting plate can be driven to rotate, and therefore the supporting plate 204 can be rotated up or put down.

Preferably, a conveyor belt is arranged on the surface of the Tuban, and when the pallet 204 is unscrewed, the pallet 204 connects the storage box 100 with the ground, and at this time, the articles move upwards from the lower end of the pallet 204 to the storage box 100 under the driving action of the conveyor belt.

Further, be provided with telescopic link 207 in storage box 100, telescopic link 207 includes first card section of thick bamboo 207a and the second slide bar 207b of being connected with first card section of thick bamboo 207a slides, the diameter of second slide bar 207b is less than first card section of thick bamboo 207a, and be provided with the motor at the rear end of first card section of thick bamboo 207a, the motor shaft of motor is direct to be connected with first card section of thick bamboo 207a rear end, and the rotation of motor shaft can drive the rotation of first card section of thick bamboo 207a in the vertical plane, and be provided with the cylinder in first card section of thick bamboo 207a inside, the cylinder can push the second slide bar 207b to slide back and forth, the realization is with stretching out of second slide bar 207 b.

Further, the push rods 201 are respectively disposed on the first clamping cylinder 207a and the second sliding rod 207b, and in order to prevent the first clamping cylinder 207a from hindering the sliding movement of the push rods 201, a long groove is formed on a side wall of the first clamping cylinder 207a, and when the second sliding rod 207b slides into the first clamping cylinder 207a, the push rods 201 on the second sliding rod 207b enter from the long groove.

Preferably, a rotating member 300 is disposed on the pushing rod 201, in this embodiment, the rotating member 300 includes a rotating plate 301 disposed on the pushing rod 201, the rotating plate 301 is disposed at an end of the pushing rod 201 in a vertical direction and has a plate shape as a whole, a rotating rod 302 is further disposed on the rotating plate 301, a rotating plane of the rotating rod 302 is disposed vertically, and a rear end of the rotating rod 302 is directly connected to a motor and driven by the motor, the rotating rod 302 is rotated up or down, a sliding rod 303 is slidably connected to an upper end of the rotating rod 302, the sliding rod 303 can increase a length of the rotating rod 302, and is directly connected to the pushing plate 202 at an upper end of the rotating rod 302, and when the rotating rod 302 is rotated up and the sliding rod 303 is extended, a position change of the pushing plate 202 can be driven.

In order to keep the pushing plate 202 in a horizontal state all the time, the end of the sliding rod 303 is hinged with a hinge block 304, the hinge block 304 is a part directly connected with the pushing plate 202, and the sliding rod 303 is hinged to push the pushing plate 202 in a horizontal state when rotating along with the rotating rod 302.

Further, be provided with the glide between articulated block 304 and promotion board 202, in this embodiment, the glide is including dovetail 305a and the dovetail 305b of seting up at promotion board 202 lower surface that set up on articulated block 304, outwards stretch out interlock board 305c on the dovetail, interlock board 305c stretches out from the lateral wall of dovetail 305a, and be provided with locking plate 306 on interlock board 305c, and set up on promotion board 202 with locking plate 306 complex cooperation spout 307, and then when dovetail 305a slided, can drive the sliding of locking plate 306, stretch out cooperation spout 307 one end at locking plate 306 and rotate and be connected with cardboard 308, the bayonet socket has been seted up at cardboard 308 front end, it is connected with the buckle to rotate on the bayonet socket.

Preferably, the latch comprises a circular plate rotatably connected to the bayonet, a rotation plane of the circular plate is parallel to the surface of the catch plate 308, and a protruding angle is provided at a front end of the circular plate.

Further, the present invention further comprises a detection assembly 400 disposed in the storage box 100, in this embodiment, the detection assembly 400 is a camera 507 disposed at the upper end of the storage box 100, and is used for identifying and taking a picture of the received articles.

The operation process comprises the following steps: the operator rotates the layer board 204 downwards earlier for layer board 204 lower extreme contact ground, article pass through the conveyer belt on the layer board 204 this moment, move in the storage box 100, then move on pushing plate 202, the operator slides out the second slide bar 207b forward earlier this moment, then utilize the holder to fix article on pushing plate 202, then utilize the motor, screw 302, then realize screwing up pushing plate 202, article upwards stretch out this moment, the operator can utilize the rotation of screw 302 this moment, change pushing plate 202's position, thereby utilize camera 507 to discern and shoot.

Example 2

Referring to fig. 1-5, this embodiment differs from the first embodiment in that: in this embodiment, the detecting assembly 400 includes a first support rod 401 rotatably connected in the storage box 100, the first support rod 401 extends horizontally, a middle rotating rod 402 is rotatably connected to the first support rod 401, the middle rotating rod 402 is horizontally disposed, but an included angle between the middle rotating rod 402 and the first support rod is 90 °, a first ring 403 is further disposed on the first support rod 401, the first ring 403 is also horizontally disposed, a first motor 404 is disposed at the rear end of the first support rod 401, a connecting rod 405 is disposed between a motor shaft of the first motor 404 and the first support rod 401, the first support rod is connected to a side wall of the connecting rod 405, and one end of the first support rod, which is close to the connecting rod 405, is disposed in an arc shape, and the other end of the first support rod is disposed in a straight shape.

Preferably, a moving member 502 is disposed on the first ring 403, the moving member 502 can move on the first ring 403 along the circle of the first ring 403, a second motor 406 is disposed on the first support rod 401, a first gear 407 is directly connected to a motor shaft of the second motor 406, a second gear 408 meshed with the first gear 407 is disposed on the transfer rod 402, the transfer rod 402 passes through one end of the first support and is fixed to the first ring 403, and the other end is also fixed to the inner side of the second ring, the length of the transfer rod 402 is the diameter length of the first ring 403, and when the second motor 406 is started, the rotation of the transfer rod 402 is driven by the meshing relationship between the gears, so as to achieve the rotation of the first ring 403 in the vertical direction as a whole, and in order to prevent the first support 403 from being obstructed when the first ring 403 rotates, an opening 500 is disposed on the first ring 403.

Further, a guide rail 501 is arranged on the upper surface of the first ring 403, the guide rail 501 is arranged along the circle of the first ring 403, in this embodiment, the moving member 502 includes a sliding block 502a slidably connected with the guide rail 501, the sliding block 502a is a block in the shape of an arc, a pillar block 502b is directly connected to the sliding block 502a, the pillar block 502b extends outwards and keeps horizontal, a detection rod 502c extends upwards from the pillar block 502b, the detection rod 502c includes a bent rod and a linear rod, one end of the bent rod is horizontal after being bent, the linear rod is directly connected, the detection piece is directly arranged at the end of the linear rod, the end of the linear rod is directly opposite to the position downwards, namely, the center position of the first ring 403, and the detection piece is arranged on the detection rod 502 c.

A third motor 503 is arranged on the pillar block 502b, a third gear 504 is arranged on the third motor 503, an outer edge tooth 505 meshed with the third gear 504 is arranged on the outer wall of the first circular ring 403, the pillar block 502b can move circularly along the first circular ring 403 by driving the third motor 503, and a cover plate 506 connected with the rotating shaft of the third gear 504 is arranged on the pillar block 502 b.

Further, the detection piece includes camera 507 and the light filling piece 508 that links to each other with camera 507, and camera 507 sets up along the lower surface of the pole of perpendicular sharp, and wherein, in this embodiment, light filling piece 508 includes the light filling lamp of being connected with camera 507 electricity and the battery that links to each other with the light filling lamp, has seted up the round hole on detection pole 502c, and the drill way department of round hole slides and is connected with the switch board, is provided with miniature electric cylinder at the switch board rear end.

The rest of the structure is the same as in example 1.

The operation process comprises the following steps: when the article is identified and detected, an operator moves the push plate 202 to a proper position by moving the push plate 202, and then the operator drives the first motor 404 to make the camera 507 shoot a picture of one longitudinal dimension of the article first, and then drives the transfer lever 402 to rotate by the second motor 406, so as to shoot a picture of the other longitudinal dimension of the article, and then starts the third motor 503 to shoot a picture of the transverse dimension of the article, thereby completing the identification operation.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. The utility model provides an automatic change quick visual inspection robot which characterized in that: comprises the steps of (a) preparing a substrate,

the receiving assembly comprises a bottom plate, a placing plate arranged on the bottom plate and a storage box (100) arranged on the placing plate;

the supporting assembly (200) comprises a push rod (201) arranged in the storage box (100), a push plate (202) arranged on the push rod (201) and a clamping piece arranged on the push plate (202); and the number of the first and second groups,

a detection assembly (400), the detection assembly (400) being disposed within the storage box (100).

2. The automated rapid visual inspection robot of claim 1, wherein: storage chamber (203) have been seted up in storage box (100), it is connected with layer board (204) to rotate on storage chamber (203), layer board (204) rear end is provided with the connecting plate, it is connected with otic placode (206) to rotate on the chamber wall of storage chamber (203), otic placode (206) link to each other with the connecting plate.

3. The automated rapid visual inspection robot of claim 2, wherein: the telescopic rod (207) is arranged in the storage box (100), the telescopic rod (207) comprises a first clamping cylinder (207 a) and a second sliding rod (207 b) connected with the first clamping cylinder (207 a) in a sliding mode, the push rods (201) are arranged on the first clamping cylinder (207 a) and the second sliding rod (207 b) respectively, and the rotating parts (300) are arranged on the push rods (201).

4. An automated rapid visual inspection robot according to claim 2 or 3, characterized in that: the rotating component (300) comprises a rotating plate (301) arranged on the pushing rod (201), a rotating rod (302) arranged on the rotating plate (301) and a sliding rod (303) arranged at the upper end of the rotating rod (302), a hinge block (304) is arranged at the end part of the sliding rod (303), and a sliding piece is arranged between the hinge block (304) and the pushing plate (202).

5. The automated rapid visual inspection robot of claim 4, wherein: the sliding piece comprises a dovetail block (305 a) arranged on the hinge block (304) and a dovetail groove (305 b) arranged on the lower surface of the pushing plate (202), the dovetail block extends outwards from a linkage plate (305 c),

the locking device comprises a linkage plate (305 c), wherein a locking plate (306) is arranged on the linkage plate (305 c), a matching sliding groove (307) matched with the locking plate (306) is formed in the pushing plate (202), one end, extending out of the matching sliding groove (307), of the locking plate (306) is rotatably connected with a clamping plate (308), a bayonet is formed in the front end of the clamping plate (308), and a buckle is rotatably connected to the bayonet.

6. The automated rapid visual inspection robot of claim 1, wherein: detection component (400) are including rotating first pillar pole (401), the transfer lever (402) of rotation connection on first pillar pole (401) and setting up first ring (403) on first pillar pole (401) of connection in storage box (100), first pillar pole (401) rear end is provided with first motor (404), be provided with connecting rod (405) between motor shaft and first pillar pole (401) of first motor (404), be provided with moving member (502) on first ring (403).

7. The automated rapid visual inspection robot of claim 6, wherein: a second motor (406) is arranged on the first support rod (401), a first gear (407) is directly connected to a motor shaft of the second motor (406), and a second gear (408) meshed with the first gear (407) is arranged on the middle rotating rod (402).

8. The automated rapid visual inspection robot of claim 6 or 7, wherein: an opening (500) is formed in the first circular ring (403), a guide rail (501) is arranged on the upper surface of the first circular ring (403), the moving piece (502) comprises a sliding block (502 a) connected with the guide rail (501) in a sliding manner, a support block (502 b) connected with the sliding block (502 a) and a detection rod (502 c) extending upwards from the support block (502 b),

the support block (502 b) is provided with a third motor (503), the third motor (503) is provided with a third gear (504), the outer wall of the first ring (403) is provided with outer edge teeth (505) meshed with the third gear (504), and the support block (502 b) is provided with a cover plate (506) connected with a rotating shaft of the third gear (504).

9. The automated rapid visual inspection robot of claim 8, wherein: the detection rod (502 c) is provided with a detection piece, the detection piece comprises a camera (507) and a light supplement piece (508) connected with the camera (507),

the light supplementing piece (508) comprises a light supplementing lamp electrically connected with the camera (507) and a battery connected with the light supplementing lamp.

10. The automated rapid visual inspection robot of claim 9, wherein: the detection rod (502 c) is provided with a round hole, the orifice of the round hole is connected with a switch plate in a sliding manner, and the rear end of the switch plate is provided with a miniature electric cylinder.