CN115326816B - Workpiece surface detection device - Google Patents
Workpiece surface detection device Download PDFInfo
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- CN115326816B CN115326816B CN202211239691.1A CN202211239691A CN115326816B CN 115326816 B CN115326816 B CN 115326816B CN 202211239691 A CN202211239691 A CN 202211239691A CN 115326816 B CN115326816 B CN 115326816B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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Abstract
The invention provides a detection device for the surface of a workpiece, which relates to the field of appearance detection and comprises a base, wherein a detection assembly and two clamping assemblies are arranged on the base; the clamping assembly comprises a rotating mechanism and a workpiece taking unit used for clamping a workpiece, the rotating mechanism drives the workpiece taking unit to rotate around the X-axis direction, the workpiece taking unit clamps the workpiece and drives the workpiece to rotate around the central axis of the workpiece taking unit, and the workpiece taking unit is used for adjusting the detection surface of the workpiece. According to the invention, the workpiece can be switched and turned over between the two clamping assemblies to correspond to the detection of the detection assembly, the workpiece does not need to be manually turned over, the workpiece is arranged on the workpiece taking unit of one clamping assembly, the workpiece taking unit is driven to rotate through the rotating mechanism, and meanwhile, the workpiece taking unit drives the workpiece to rotate, so that the detection of the circumferential side surface of the workpiece can be realized, the detection of each outer surface of the workpiece is completed, and the automation degree and the working efficiency are improved.
Description
Technical Field
The invention relates to the technical field of appearance detection, in particular to a detection device for the surface of a workpiece.
Background
With the development and progress of science and technology, the precision requirement and the appearance requirement of products in various fields are higher and higher, and the appearance of the products needs to be detected for quickly identifying appearance defects of samples, such as pits, cracks, warping, gaps, stains, sand grains, burrs, bubbles, uneven color and the like. The traditional detection mode generally adopts a mode of naked eye identification, or detects one by means of appearance detection equipment, so that the measuring standard is possibly inconsistent due to human factors, misjudgment can occur due to visual fatigue in long-time detection, detection of product appearance flaws is easy to miss detection by manual observation, the working efficiency is low, and the labor intensity is high, so that the visual fatigue is easy to generate.
Although various detection devices aiming at product appearance detection are produced in the industry at present, for example, in chinese patent application No. 202110668868.9, a bilateral multi-station multi-viewpoint appearance detection device is disclosed, which comprises a product transplanting mechanism and a camera detection mechanism, wherein the product transplanting mechanism comprises a product clamp, a first rotary driving component, a rotating plate, a second supporting frame and a translational driving module, the first rotary driving component drives the rotating plate to rotate relative to the second supporting frame, the product clamp is mounted on the rotating plate, the translational driving module drives the product clamp to horizontally move, and appearance detection of multiple faces and multiple angles of a product is realized through the camera detection mechanism. However, this solution can only perform appearance detection on the upward side and the outer side of the product, and still cannot perform appearance detection on each side of the product. Therefore, there is not enough to this scheme technique, still need switch the detection face of product through the mode of artifical the taking, influence work efficiency.
Disclosure of Invention
The invention solves the technical problem of providing the workpiece surface detection device which has reasonable layout and compact structure and improves the automation degree and the working efficiency, does not need to manually replace the detection surface of the workpiece, and can detect the surface defects of all surfaces of the workpiece.
The application provides a detection device on workpiece surface adopts following technical scheme: the detection device for the surface of the workpiece comprises a base, wherein a detection assembly and two clamping assemblies are arranged on the base;
the clamping assembly comprises a rotating mechanism and at least one pickup unit for clamping the workpiece, the rotating mechanism drives the pickup unit to rotate around the X-axis direction, the pickup unit clamps the workpiece and drives the workpiece to rotate around the central axis of the pickup unit, and the pickup unit is used for adjusting the detection surface of the workpiece;
the workpiece is positioned on the pickup unit and is provided with an inward binding surface facing the pickup unit in a forward direction and an outward detection surface facing the pickup unit in a reverse direction;
the detection device comprises a first state and a second state, when the detection device is in the first state, the workpiece is clamped by the workpiece taking unit of at least one clamping assembly, and one detection surface of the workpiece corresponds to the detection head of the detection assembly;
when the detection device is in a second state, the workpiece taking unit on one clamping assembly clamps the workpiece clamped by the workpiece taking unit on the other clamping assembly; the inner abutting surface and the outer detection surface of the workpiece are switched.
Through adopting above-mentioned technical scheme, the work piece is held through getting a unit on a centre gripping subassembly, the front of work piece sets up as external detection face up, accessible detection component's detection head detects, rotary mechanism drive is got a unit and is rotatory along X axle direction, make a side of work piece up, and it can drive the work piece rotation to get a unit, make every side of work piece up in proper order, so that detection component detects, when needs are examined as the back of internal binding face in the work piece, get a unit clamp and get the work piece through on another centre gripping subassembly, make the front and the back of work piece get a unit on two centre gripping subassemblies on two and overturn between corresponding two, realize the switching of internal binding face and external detection face on the work piece, and detect.
Furthermore, a plurality of pickup units are arranged and distributed along the X-axis direction;
the taking unit comprises a main body and a driving part vertically arranged in the middle of the main body, wherein the top of the main body is provided with a plurality of clamping heads which are circumferentially distributed around the central axis of the driving part, and the driving part drives the plurality of clamping heads to move radially on the top of the main body;
the workpiece is provided with a hollow part and positioned on the workpiece taking unit, and the plurality of clamping heads extend into the hollow part and are clamped on the inner side wall of the workpiece in a clamping manner by moving from inside to outside through the driving part.
Through adopting above-mentioned technical scheme, can all expose outside through pressing from both sides the inboard centre gripping work piece of head follow work piece, make things convenient for the surface detection of work piece.
Furthermore, the plurality of clamping heads are slidably mounted on the main body, one end of each clamping head faces the driving part, and the other end of each clamping head is connected with an elastic part on the outer side of the main body;
the driving part comprises an ejection part with a narrow upper cross section and a wide lower cross section, the driving part stretches along the vertical direction, and the plurality of clamping heads always abut against the outer wall of the ejection part in the stretching process.
By adopting the technical scheme, the workpiece is conveniently clamped by the workpiece taking unit through the telescopic work of the driving part, and the resetting of the clamping head is convenient, so that the workpiece on the other workpiece taking unit is conveniently and quickly clamped by the workpiece taking unit.
Further, the part of the gripping head located in the hollow does not exceed the hollow, preferably the part of the gripping head located in the hollow does not exceed half the depth of the hollow.
Through adopting above-mentioned technical scheme, can effectively realize the work piece and get the position change on the unit at two, avoid two to get the clamp of a unit and get the head and bump on same work piece.
Furthermore, the rotating mechanism comprises two support frames arranged on the base and a cross beam rotationally connected between the two support frames, and the plurality of pickup units are all arranged on the cross beam;
the supporting frame is also provided with a first transmission unit for driving the cross beam to rotate around the X-axis direction;
the workpiece taking unit is further provided with a turbine part for driving the main body to rotate, the cross beam is further provided with a worm part and a second transmission unit for driving the worm part to rotate, the turbine part extends to the worm part, and the worm part is in transmission connection with the turbine parts of the workpiece taking units.
By adopting the technical scheme, a plurality of workpieces can be simultaneously installed by installing a plurality of pickup units, and the pickup units are synchronously driven to rotate by the worm piece, so that the pickup units synchronously rotate, a plurality of workpieces can be synchronously detected at the same time, and the working efficiency is improved; in addition, worm piece and turbine spare transmission are connected, and through its self-locking function, get a unit and can only rotate through worm piece, ensure a plurality of units pivoted uniformity of getting, guarantee to detect the precision.
Furthermore, a first sensor for detecting the reset position of the cross beam, a second sensor for detecting the rotation limit position of the cross beam and a third sensor are arranged on the support frame, the second sensor forms a positive 90-degree included angle with the first sensor on the support frame, and the third sensor forms a negative 90-degree included angle with the first sensor on the support frame;
and a first detection piece is arranged on the cross beam.
By adopting the technical scheme, the extreme angle position of the cross beam during rotation can be detected, so that the cross beams on the two clamping assemblies can correspond to each other, and the workpiece taking unit on one clamping assembly and the workpiece taking unit on the other clamping assembly are ensured to correspond to each other and be positioned on the same straight line position.
Furthermore, the second transmission unit comprises a driving motor and a transmission wheel sleeved on the worm piece, the transmission wheel and the worm piece rotate synchronously, and a driving wheel of the driving motor is connected with the transmission wheel through a synchronous belt;
a detection unit for detecting the rotation angle of the pickup unit is arranged in each of the two clamping assemblies;
the detection unit is arranged on the pickup unit and comprises a second detection piece and detection sensors distributed on the circumference of the second detection piece, and the second detection piece and the turbine piece synchronously rotate and rotate relative to the detection sensors;
the worm piece comprises a plurality of short worms fixedly connected in sequence.
By adopting the technical scheme, the rotation angle of the main body on the workpiece taking unit can be detected through the detection unit, so that the rotation position of the workpiece on the workpiece taking unit is determined, when the side face of the workpiece faces the detection head, the workpiece taking unit rotates the workpiece through the work of the second transmission unit, different side faces of the workpiece are switched, and the workpiece faces the detection head, so that each side face of the workpiece is detected.
Furthermore, the detection assembly and the two clamping assemblies are arranged in parallel along the X-axis direction, and the two clamping assemblies are respectively arranged on two sides of the detection assembly;
when the detection device is in the second state, the clamping heads of the pickup units face the detection assemblies, and all pickup units of one clamping assembly correspond to all pickup units of the other clamping assembly one to one.
By adopting the technical scheme, the two workpiece taking units for clamping the same workpiece correspond to each other, and the clamping switching of the workpiece is realized.
Furthermore, a driving assembly for driving the two clamping assemblies to move towards the detection assembly along the Y-axis direction is further arranged on the base;
the driving assembly comprises a movable slide rail extending along the Y-axis direction and a linear driving unit;
the clamping assemblies are all slidably mounted on the movable sliding rail, and the detection assemblies stretch across two sides of the driving assembly.
By adopting the technical scheme, the two clamping components move towards the detection component, the workpiece is detected, the second state of the detection device is worked through mutual approaching or deviation of the two clamping components, and the workpiece is switched between the two corresponding workpiece taking units on the two clamping components.
Furthermore, the detection assembly comprises a fixed frame and detection rows arranged on two sides of the fixed frame in a crossing manner, and the detection rows are formed by arranging and distributing a plurality of detection heads along the X-axis direction;
a first mounting plate and a second mounting plate are sequentially mounted on two sides of the fixing frame, the first mounting plate is slidably mounted on the fixing frame along the X-axis direction, the second mounting plate is slidably mounted on the first mounting plate along the Z-axis direction, and the detection heads are slidably mounted on the second mounting plate through Z-direction sliding groups; and the Z-direction sliding groups are provided with manual fine adjustment pieces for driving the detection heads to move.
Through adopting above-mentioned technical scheme, through the detection row that the mount both sides set up, can detect the work piece on two centre gripping subassemblies respectively, every detects the head homoenergetic and gets a unit with one and correspond, realizes correspondingly getting the work piece detection on the unit. The detection row can be adjusted in the X-axis direction and the Z-axis direction, the clamping assembly moves in the Y-axis direction, the flexibility of the detection position of the detection head can be improved, fine adjustment on the focal length is achieved through the manual fine adjustment piece, and the detection precision is improved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. through the plurality of workpiece taking units arranged on the clamping assembly, a plurality of workpieces can be clamped at one time, multi-station detection is realized, and the working efficiency is improved;
2. meanwhile, 5 surfaces (except the inner binding surface facing the workpiece taking unit) of the workpiece on one clamping assembly can be detected by the detection assembly through driving the workpiece taking unit to rotate and driving the workpiece taking unit to rotate for multiple times, the workpiece is clamped by the other clamping assembly, after the workpiece is turned over, the inner binding surface, which cannot be detected by the workpiece, is detected by the detection assembly, and the detection of each outer surface of the workpiece can be finished without manually replacing and switching the workpiece;
3. overall structure is compact, and is rationally distributed, need not manual operation at the outward appearance testing process to the work piece, has improved degree of automation and detection precision, guarantees work piece detection quality.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a preferred embodiment of the present invention;
FIG. 2 is a lower side view of the detecting device of the present invention in a first state;
FIG. 3 is a side view of the detecting device of the present invention in a second state;
FIG. 4 is a schematic structural view of a pickup unit according to the present invention;
FIG. 5 is a schematic cross-sectional view of the upper portion of the pickup unit according to the present invention;
fig. 6 is a schematic structural view of a rotating mechanism provided in the present invention;
FIG. 7 is a schematic view of a connection between a cross beam and a support frame according to the present invention;
FIG. 8 is a schematic structural view of a second transmission unit provided in the present invention;
FIG. 9 is a schematic view of an installation structure of a detecting unit and a pickup unit according to the present invention;
FIG. 10 is a schematic view of a mounting structure of the driving assembly provided by the present invention;
fig. 11 is a schematic view of a detection assembly mounting structure provided in the present invention.
The reference numbers in the figures: 100. a workpiece;
1. a base; 2. a detection component; 201. a detection head; 21. a fixed mount; 22. a first mounting plate; 23. a second mounting plate; 24. a manual trim piece; 3. a clamping assembly; 31. a rotation mechanism; 311. a support frame; 312. a cross beam; 32. a pickup unit; 321. a main body; 322. a drive section; 3221. an ejection part; 323. a gripping head; 324. a chute; 325. an elastic member; 326. a turbine member; 33. a worm member; 331. a short worm; 34. a transmission case; 35. a detection unit; 351. a second detecting member; 352. a detection sensor; 36. a semicircular plate; 4. a first transmission unit; 5. a second transmission unit; 51. a drive motor; 52. a driving wheel; 53. a drive wheel; 61. a first sensor; 62. a second sensor; 63. a third sensor; 64. a first detecting member; 7. a drive assembly; 71. moving the slide rail; 72. a linear drive unit.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, fig. 2 and fig. 3, a workpiece surface detection apparatus includes a base 1, wherein a detection assembly 2 and two clamping assemblies 3 are mounted on the base 1;
the clamping assembly 3 comprises a rotating mechanism 31 and at least one taking unit 32 for clamping the workpiece 100, wherein the rotating mechanism 31 drives the taking unit 32 to rotate around the X-axis direction, the taking unit 32 clamps the workpiece 100 and drives the workpiece 100 to rotate around the central axis of the taking unit 32, and the workpiece 100 is a frame-shaped member with a hollow part in the embodiment;
when the workpiece 100 is positioned on the pick-up unit 32, the workpiece 100 has an inward abutting surface of the forward pick-up unit 32 and an outward detection surface of the reverse pick-up unit 32;
the detection device comprises a first state and a second state, when the detection device is in the first state, the workpiece 100 is clamped by the workpiece taking unit 32 of at least one clamping assembly 3, and one detection surface of the workpiece 100 corresponds to the detection head 201 of the detection assembly 2;
when the detection device is in the second state, the workpiece 100 gripped by the workpiece taking unit 32 on one of the clamping assemblies 3 is gripped by the workpiece taking unit 32 on the other clamping assembly 3 for switching the inward fitting surface and the outward detection surface of the workpiece 100, and in the second state, only the workpiece 100 is gripped by the workpiece taking unit 32 on one clamping assembly 3.
The workpiece 100 is clamped by the pickup unit 32 on one clamping assembly 3, the front side of the workpiece 100 is arranged upwards as an external detection surface, detection can be performed through the detection head 201 of the detection assembly 2, the rotating mechanism 31 drives the pickup unit 32 to rotate along the X-axis direction, so that one side surface of the workpiece 100 faces upwards, the pickup unit 32 can drive the workpiece 100 to rotate, each side surface of the workpiece 100 faces upwards in sequence, detection is performed by the detection assembly 2, when the back side of the workpiece 100 serving as an internal bonding surface needs to be detected, the workpiece 100 is clamped by the pickup unit 32 on the other clamping assembly 3, so that the front side and the back side of the workpiece 100 are overturned between the two pickup units 32 corresponding to the two clamping assemblies 3, and switching between the internal bonding surface and the external detection surface on the workpiece 100 and detection are realized.
A plurality of pickup units 32 are arranged and distributed along the X-axis direction, and a plurality of workpieces 100 can be detected at one time through the plurality of pickup units 32, so that multi-station detection is realized, and the detection efficiency is improved;
as shown in fig. 4, the picking unit 32 includes a main body 321 and a driving part 322 vertically disposed in the middle of the main body 321, the top of the main body 321 is provided with a plurality of picking heads 323 circumferentially distributed around the central axis of the driving part 322, and the driving part 322 drives the plurality of picking heads 323 to move radially on the top of the main body 321; in this embodiment, the pickup unit 32 is a telescopic cylinder externally connected to the air source, and the driving portion 322 is a telescopic rod of the telescopic cylinder.
The workpiece 100 is located on the pick-up unit 32, and the plurality of gripping heads 323 extend into the hollow portion and are clamped on the inner side wall of the workpiece 100 by moving from inside to outside through the driving portion 322. The clamping head 323 can clamp the workpiece 100 from the inner side of the workpiece 100 without affecting the detection of the outer side surface of the workpiece 100, so that the outer surface of the workpiece 100 is exposed, and the surface detection of the workpiece 100 is facilitated.
In the second state, two corresponding pickup units 32 on the two clamping assemblies 3 need to be clamped on the same workpiece 100 at the same time, and the position of the workpiece 100 is switched, because the pickup units 32 are clamped on the inner side wall of the workpiece 100, in order to prevent the clamping heads 323 of the two pickup units 32 from colliding on the same workpiece 100, the part of the clamping heads 323 located in the hollow portion does not exceed the hollow portion, and the clamping heads 323 are prevented from extending out of the hollow portion to collide with the other corresponding pickup unit 32.
Preferably, in the embodiment, the part of the clamping head 323 located in the hollow part does not exceed half of the depth of the hollow part, so that the clamping head 323 can clamp the workpiece 100 and the two workpiece taking units 32 can be prevented from colliding.
In another embodiment, two pickup units 32 are clamped on the same workpiece 100, wherein the clamping head 323 of one pickup unit 32 and the clamping head 323 of the other pickup unit 32 are staggered in the hollow part of the workpiece 100, so that the clamping heads 323 of the two pickup units 32 can be prevented from colliding in the hollow part of the workpiece 100.
As shown in fig. 5, the plurality of gripping heads 323 are slidably mounted on the main body 321, a plurality of sliding grooves 324 corresponding to the gripping heads 323 are provided at the top of the main body 321, the lower part of the gripping heads 323 is fittingly mounted in the sliding grooves 324 and can move along the sliding grooves 324, one end of the gripping heads 323 faces the driving part 322, the other end is connected with an elastic member 325 outside the main body 321, the elastic member 325 is specifically a spring, and the compression direction of the spring is the same as the sliding direction of the gripping heads 323;
the driving part 322 comprises an ejection part 3221 with a narrow upper cross section and a wide lower cross section, the driving part 322 extends and retracts in the vertical direction, and the plurality of clamping heads 323 always abut against the outer wall of the ejection part 3221 in the extending and retracting process. When the driving portion 322 extends, the pushing portion 3221 pushes each clamping head 323 to move from the middle portion to the outside portion at the top of the main body 321, and compresses the spring until each clamping head 323 presses against the inner sidewall of the workpiece 100, so as to clamp the workpiece 100, and when the driving portion 322 contracts, each clamping head 323 is reset by the spring force. The workpiece 100 can be clamped by the taking unit 32 quickly and the clamping head 323 can be reset conveniently by the telescopic work of the driving part 322, so that the workpiece 100 on another taking unit 32 can be clamped by the taking unit 32 quickly.
When the workpiece 100 is inspected, the front surface (or the back surface) and the four side surfaces of the workpiece 100 must be sequentially brought into contact with the inspection head 201 to inspect the appearance, and therefore, the front surface of the workpiece 100 and the side surfaces of the workpiece 100 must be switched, and the four side surfaces of the workpiece 100 must be switched.
As shown in fig. 6, the rotating mechanism 31 includes two supporting frames 311 mounted on the base 1 and a cross beam 312 rotatably connected between the two supporting frames 311, and the plurality of pickup units 32 are mounted on the cross beam 312;
a first transmission unit 4 for driving the cross beam 312 to rotate around the X-axis direction is further arranged on one support frame 311, the first transmission unit 4 is a motor, two ends of the cross beam 312 are rotatably connected with the support frame 311, a driving shaft of the motor is in transmission connection with the cross beam 312, and the cross beam 312 is driven to rotate around the rotating connection position of the cross beam 312 and the support frame 311; when the beam 312 rotates, the pickup units 32 on the beam 312 rotate synchronously, so that the position of the workpiece 100 corresponding to the front (or back) and the side of the detection head 201 is switched.
The workpiece taking unit 32 is further provided with a turbine member 326 for driving the main body 321 to rotate, the cross beam 312 is further provided with a worm member 33 and a second transmission unit 5 for driving the worm member 33 to rotate, the turbine members 326 all extend onto the worm member 33, and the worm member 33 is simultaneously in transmission connection with the turbine members 326 of the plurality of workpiece taking units 32; the transmission box 34 is further installed at the bottom of the workpiece taking unit 32, the turbine part 326 is located in the transmission box 34 and fixed to the main body 321 of the workpiece taking unit 32, the second transmission unit 5 drives the worm part 33 to rotate, the turbine parts 326 on the workpiece taking units 32 are synchronously driven to rotate, the main body 321 of the workpiece taking unit 32 and the clamping heads 323 synchronously rotate, the workpiece 100 clamped on the clamping heads 323 of the workpiece taking unit 32 synchronously rotates, and position switching between the side faces, corresponding to the detection heads 201, of the workpiece 100 is achieved.
Appearance detection of the front (or back) and each side of the workpiece 100 can be completed on one clamping assembly 3 through rotation of the cross beam 312 and rotation of the workpiece 100 mounted on the pickup unit 32, a plurality of workpieces 100 can be simultaneously mounted through mounting of the pickup units 32, and the pickup units 32 are synchronously driven to rotate through the worm members 33, so that the pickup units 32 synchronously rotate, the workpieces 100 can be synchronously detected at the same time, and the working efficiency is improved; in addition, worm member 33 is connected with turbine 326 transmission, and through its self-locking function, it can only rotate through worm member 33 to get a unit 32, guarantees a plurality of units 32 uniformity of getting the pivoted, guarantees to detect the precision.
As shown in fig. 7, in order to facilitate the accurate rotation of the cross beam 312 when rotating on the supporting frame 311, to adjust the detection surface of the workpiece 100 clamped by the pickup unit 32, the supporting frame 311 is provided with a first sensor 61 for detecting the reset position of the cross beam 312, and a second sensor 62 and a third sensor 63 for detecting the rotation limit position of the cross beam 312, the second sensor 62 forms a positive 90-degree angle with the first sensor 61 on the supporting frame 311, and the third sensor 63 forms a negative 90-degree angle with the first sensor 61 on the supporting frame 311; the first sensor 61, the second sensor 62 and the third sensor 63 are all position sensors corresponding to the outside of the end portion of the cross beam 312 and are circumferentially distributed around the rotation axis of the cross beam 312, the first detection piece 64 is arranged on the cross beam 312, the first detection piece 64 is positioned at the end portion of the cross beam 312 and concentrically and synchronously rotates with the cross beam 312, the first detection piece 64 is in detection reaction with the corresponding sensor in the rotation process, and can detect the limit angle position of the cross beam 312 in the rotation process, so that the cross beams 312 on the two clamping assemblies 3 can be mutually corresponding, the workpiece taking unit 32 on one clamping assembly 3 and the workpiece taking unit 32 on the other clamping assembly 3 are ensured to be mutually corresponding and positioned on the same straight line position, the detection device is also convenient to work in a second state, the workpiece taking units 32 on the two clamping assemblies 3 can clamp the same workpiece 100, and the position accuracy of the rotation of the cross beam 312 is improved.
As shown in fig. 6 and 8, the second transmission unit 5 includes a driving motor 51 and a transmission wheel 52 sleeved on the worm member 33, the transmission wheel 52 rotates synchronously with the worm member 33, and a driving wheel 53 of the driving motor 51 is connected with the transmission wheel 52 in a synchronous belt manner; the driving motor 51 works to drive the transmission wheel 52 to rotate, and the transmission wheel 52 synchronously drives the worm rod 33 to rotate, so that each workpiece 100 on the workpiece taking unit 32 rotates.
The two clamping assemblies 3 are respectively provided with a detection unit 35 for detecting the rotation angle of the pickup unit 32;
as shown in fig. 9, the detecting unit 35 is mounted on the pickup unit 32, the detecting unit 35 includes a second detecting member 351 and detecting sensors 352 distributed on the circumferential direction of the second detecting member 351, and the second detecting member 351 rotates synchronously with the turbine member 326 and rotates relative to the detecting sensors 352; second detection piece 351 installation connection turbine piece 326's end, and rotate with turbine piece 326 synchronization, detection sensor 352 is fixed on the semicircle board 36 of transmission case 34 bottom, detection sensor 352 is position sensor, and be equipped with 3, 3 detection sensor 352 are distributed around second detection piece 351 interval 90 degrees in proper order on the semicircle board, at turbine piece 326 pivoted in-process, second detection piece 351 through synchronous rotation triggers detection sensor 352 reaction in proper order, realize turbine piece 326's rotational position and detect, confirm the rotation angle of work piece 100 then.
In this embodiment, the worm member 33 includes a plurality of short worms 331 fixedly connected in sequence, and the transmission wheel 52 is mounted on one of the short worms and drives each of the short worms 331 to rotate synchronously.
The detection unit 35 can detect the rotation angle of the main body 321 in the pickup unit 32, and further determine the rotation position of the workpiece 100 on the pickup unit 32, when the side surface of the workpiece 100 faces the detection head 201, the pickup unit 32 realizes to rotate the workpiece 100 by the operation of the second transmission unit 5, switch different side surfaces of the workpiece 100, and face the detection head 201, and realize to detect each side surface of the workpiece 100.
As shown in fig. 1 and 10, the detecting assembly 2 and the two clamping assemblies 3 are both arranged in parallel along the X-axis direction, and the two clamping assemblies 3 are respectively disposed at two sides of the detecting assembly 2;
when the detection device is in the second state, the gripping heads 323 of the pickup units 32 face the detection assembly 2, and all the pickup units 32 of one clamping assembly 3 correspond to all the pickup units 32 of another clamping assembly 3 one by one, so that two pickup units 32 for gripping the same workpiece 100 correspond to each other, and the gripping switching of the workpiece 100 is realized.
The base 1 is also provided with a driving component 7 for driving the two clamping components 3 to move towards the detection component 2 along the Y-axis direction;
the driving assembly 7 comprises a movable slide rail 71 extending along the Y-axis direction and a linear driving unit 72, wherein the linear driving unit 72 is a linear motor module or a ball screw;
the clamping assemblies 3 are slidably mounted on the movable slide rails 71, and the detection assemblies 2 cross over two sides of the driving assembly 7.
Move clamping component 3 towards detection component 2, realize the detection of work piece 100 on clamping component 3 to through being close to each other or skew of two clamping component 3, realize detection device's second state's work, carry out work piece 100 and get between the unit 32 in two clamping component 3 upper correspondences, can realize detecting each surface of work piece 100, do not need the manual work to switch, improve degree of automation.
As shown in fig. 1 and 11, the detecting assembly 2 includes a fixing frame 21 disposed across and a detecting row on two sides of the fixing frame 21, and a plurality of detecting heads 201 are arranged and distributed along the X-axis direction to form the detecting row;
a first mounting plate 22 and a second mounting plate 23 are sequentially mounted on two sides of the fixing frame 21, the first mounting plate 22 is slidably mounted on the fixing frame 21 along the X-axis direction, the first mounting plate 22 is connected with the fixing frame 21 through an X-direction linear motor module, the second mounting plate 23 is slidably mounted on the first mounting plate 22 along the Z-axis direction, the second mounting plate 23 is connected with the first mounting plate 22 through a Z-direction linear motor module, and the detection heads 201 are slidably mounted on the second mounting plate 23 through a Z-direction sliding group; the Z-direction sliding groups are provided with manual fine-adjustment pieces 24 for driving the detection heads 201 to move, the manual fine-adjustment pieces 24 are threaded adjustment rods, and the positions of the detection heads 201 in the Z direction are adjusted through rotation of the threaded adjustment rods.
The detection rows arranged on the two sides of the fixing frame 21 can respectively detect the workpieces 100 on the two clamping assemblies 3, and each detection head 201 can correspond to one workpiece taking unit 32, so that the workpieces 100 on the corresponding workpiece taking units 32 can be detected. And the detection row can be adjusted in the X-axis direction and the Z-axis direction, and the clamping assembly 3 is combined to move in the Y-axis direction, so that the flexibility of the detection position of the detection head 201 can be improved, fine adjustment on the focal length is realized through the manual fine adjustment piece 24, and the detection precision is improved.
When in use, the front and back sides and four side surfaces of the workpiece 100 need to be subjected to appearance detection, the positions of the detection heads 201 on the detection assembly 2 are preset, when the clamping component 3 moves to the position right below the detecting component 2, each detecting head 201 corresponds to each picking unit 32 right below, after the workpiece 100 is clamped by each pickup unit 32 on one clamping assembly 3, the front surface of the workpiece 100 is arranged upwards as an external detection surface, the back surface of the workpiece 100 is arranged towards the pickup unit 32 as an internal bonding surface, the clamping assembly 3 is moved to a corresponding position below the detection assembly 2, each detection head 201 performs photographing detection on the front surface of the workpiece 100 on the pickup unit 32, after the detection on the front surface of the workpiece 100 is finished, the cross beam 312 is turned over for 90 degrees towards the detection assembly 2, each pickup unit 32 is turned over synchronously, so that one side surface of the workpiece 100 faces towards the detection head 201, the side surface is detected, the workpiece 100 is sequentially rotated by 90 degrees in the workpiece taking unit 32, the detection head 201 sequentially detects each side surface of the workpiece 100 to finish the detection of 5 surfaces of the workpiece 100 except the back surface, the beam 312 of the other clamping assembly 3 is turned towards the detection assembly 2 by 90 degrees, the two clamping assemblies 3 move oppositely, so that the two corresponding pick-up units 32 of the two gripping assemblies 3 are both directed towards the same workpiece 100, and the workpiece 100 is clamped by the taking unit 32 of the other clamping component 3, the other clamping component 3 is reset and overturned by 90 degrees, the back of the workpiece 100 on the other clamping component 3 is upward, and the back of the workpiece 100 is detected by the detection head 201, so that while the multi-station detection of the workpiece 100 is realized, the appearance of each surface of the workpiece 100 can be detected, the workpiece 100 is not required to turn over the detection surface of the workpiece 100, and the automation degree and the working efficiency are improved.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. The workpiece surface detection device is characterized by comprising a base, wherein a detection assembly and two clamping assemblies are mounted on the base;
the clamping assembly comprises a rotating mechanism and at least one workpiece taking unit for clamping the workpiece, the rotating mechanism drives the workpiece taking unit to rotate around the X-axis direction, the workpiece taking unit clamps the workpiece and drives the workpiece to rotate around the central axis of the workpiece taking unit, and the workpiece taking unit is used for adjusting the detection surface of the workpiece;
the workpiece is positioned on the pickup unit and is provided with an inward binding surface facing the pickup unit in a forward direction and an outward detection surface facing the pickup unit in a reverse direction;
the detection device comprises a first state and a second state, when the detection device is in the first state, the workpiece is clamped by the workpiece taking unit of at least one clamping assembly, and one detection surface of the workpiece corresponds to the detection head of the detection assembly;
when the detection device is in a second state, the workpiece taking unit on one clamping assembly clamps the workpiece clamped by the workpiece taking unit on the other clamping assembly; the inner joint surface and the outer detection surface of the workpiece are switched;
a plurality of pickup units are arranged and distributed along the X-axis direction;
the workpiece is provided with a hollow part and positioned on the workpiece taking unit, and the plurality of clamping heads extend into the hollow part and are clamped on the inner side wall of the workpiece;
when the detection device is in a second state, the clamping heads of the pickup units face the detection assembly, and all pickup units of one clamping assembly correspond to all pickup units of the other clamping assembly one by one;
the workpiece taking unit comprises a main body and a driving part vertically arranged in the middle of the main body, wherein a plurality of clamping heads circumferentially distributed around the central axis of the driving part are arranged at the top of the main body, and the driving part drives the clamping heads to move in a radial manner in the horizontal direction;
the clamping heads move from inside to outside through the driving part and are clamped on the inner side wall of the workpiece;
the clamping heads are slidably mounted on the main body, one end of each clamping head faces the driving part, and the other end of each clamping head and the outer side of the main body are connected with elastic pieces.
2. The detection device according to claim 1, wherein the driving part comprises an ejection part with a cross section narrow from top to bottom, the driving part extends and retracts in the vertical direction, and the plurality of gripping heads always abut against the outer wall of the ejection part in the extending and retracting process.
3. The inspection device of claim 1, wherein the portion of the gripping heads located within the hollow portion does not extend beyond the hollow portion and the portion of the gripping heads located within the hollow portion does not extend beyond half of the depth of the hollow portion.
4. The detection device according to claim 1, wherein the rotating mechanism comprises two support frames mounted on the base and a beam rotatably connected between the two support frames, and the plurality of pickup units are mounted on the beam;
the supporting frame is also provided with a first transmission unit for driving the cross beam to rotate around the X-axis direction;
the workpiece taking unit is further provided with a turbine part for driving the main body to rotate, the cross beam is further provided with a worm part and a second transmission unit for driving the worm part to rotate, the turbine part extends to the worm part, and the worm part is in transmission connection with the turbine parts of the workpiece taking units.
5. The detection device according to claim 4, wherein the support frame is provided with a first sensor for detecting the reset position of the cross beam, and a second sensor and a third sensor for detecting the rotation limit position of the cross beam, the second sensor forms a positive 90-degree included angle with the first sensor on the support frame, and the third sensor forms a negative 90-degree included angle with the first sensor on the support frame;
and a first detection piece is arranged on the cross beam.
6. The detecting device according to claim 4, wherein the second transmission unit comprises a driving motor and a transmission wheel sleeved on the worm member, the transmission wheel rotates synchronously with the worm member, and a driving wheel of the driving motor is connected with the transmission wheel in a synchronous belt manner;
a detection unit for detecting the rotation angle of the pickup unit is arranged in each of the two clamping assemblies;
the detection unit is arranged on the pickup unit and comprises a second detection piece and detection sensors distributed on the circumference of the second detection piece, and the second detection piece and the turbine piece synchronously rotate and rotate relative to the detection sensors;
the worm piece comprises a plurality of short worms fixedly connected in sequence.
7. The detecting device for detecting the rotation of the motor rotor according to the claim 1, wherein the detecting component and the two clamping components are arranged in parallel along the X-axis direction, and the two clamping components are respectively arranged at two sides of the detecting component.
8. The detection device according to claim 7, wherein a driving component for driving the two clamping components to move towards the detection component along the Y-axis direction is further mounted on the base;
the driving assembly comprises a movable slide rail extending along the Y-axis direction and a linear driving unit;
the clamping assemblies are all slidably mounted on the movable sliding rail, and the detection assemblies stretch across two sides of the driving assembly.
9. The detection device according to claim 1, wherein the detection assembly comprises a fixed frame and detection rows arranged on two sides of the fixed frame in a crossing manner, and a plurality of detection heads are arranged and distributed along the X-axis direction to form the detection rows;
a first mounting plate and a second mounting plate are sequentially mounted on two sides of the fixing frame, the first mounting plate is slidably mounted on the fixing frame along the X-axis direction, the second mounting plate is slidably mounted on the first mounting plate along the Z-axis direction, and the detection heads are slidably mounted on the second mounting plate through Z-direction sliding groups; and the Z-direction sliding group is provided with a manual fine adjustment piece for driving the detection head to move.
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| CN109663836A (en) * | 2019-02-21 | 2019-04-23 | 苏州凌创电子系统有限公司 | The automatic shaping structure of sensor pin |
| CN114608409A (en) * | 2022-03-18 | 2022-06-10 | 山东东益机械制造有限公司 | Detection device and detection method for common normal of external teeth of coupler for rail transit |
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| CN103350300B (en) * | 2013-07-01 | 2016-06-01 | 上海气焊机厂有限公司 | Robot workstation frame-type Workpiece clamping frock mechanism |
| CN109132525B (en) * | 2018-10-26 | 2023-12-26 | 苏州富强科技有限公司 | Material taking device and workpiece conveying mechanism |
| CN113390889B (en) * | 2021-06-16 | 2022-11-15 | 慧眼自动化科技（广州）有限公司 | Bilateral multistation multi-viewpoint outward appearance detection device |
| CN114161075B (en) * | 2022-02-14 | 2022-04-29 | 北京东方国信科技股份有限公司 | Tubular workpiece synchronous rotation clamping mechanism and welding system based on visual detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109663836A (en) * | 2019-02-21 | 2019-04-23 | 苏州凌创电子系统有限公司 | The automatic shaping structure of sensor pin |
| CN114608409A (en) * | 2022-03-18 | 2022-06-10 | 山东东益机械制造有限公司 | Detection device and detection method for common normal of external teeth of coupler for rail transit |
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