CN202676614U - Automatic product appearance detecting system - Google Patents
Automatic product appearance detecting system Download PDFInfo
- Publication number
- CN202676614U CN202676614U CN 201220285267 CN201220285267U CN202676614U CN 202676614 U CN202676614 U CN 202676614U CN 201220285267 CN201220285267 CN 201220285267 CN 201220285267 U CN201220285267 U CN 201220285267U CN 202676614 U CN202676614 U CN 202676614U
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- mechanical arm
- product
- product appearance
- automatic checkout
- checkout system
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Abstract
The utility model provides an automatic product appearance detecting system, which comprises a teach pendant used for obtaining an operation control command of a manipulator and a shooting control command, a manipulator body which moves relative to a product to be detected according to the operation control command of the manipulator, CCD (Charge Coupled Device) imaging equipment used for shooting the appearance image of the product to be detected according to the shooting control command, and a manipulator controller used for triggering the manipulator body and/or the CCD imaging equipment to act so as to obtain the appearance image of the product to be detected and for comparing and detecting the appearance image of the product with that of a stored standard product, wherein the manipulator body, the CCD imaging equipment and the teach pendant are connected with the manipulator controller respectively; and the CCD imaging equipment is fixedly arranged on the tool mounting surface of the manipulator body. According to the utility model, the appearance of the product is detected automatically, so that the detection efficiency is improved.
Description
Technical field
The utility model relates to the industrial automatic control technology, particularly relates to a kind of product appearance automatic checkout system.
Background technology
In industrial flow-line or experimental study process, usually need to the outward appearance of product be detected, it is damaged etc. that whether the installation such as all parts of testing product outward appearance meets the requirements, whether the product key position exists, so that whether testing product meets relevant quality standard.Prior art adopts the outward appearance of manual detection product usually, and the method wastes time and energy, and detection efficiency is low.
The utility model content
The utility model provides a kind of product appearance automatic checkout system, in order to the robotization that realizes that product appearance detects, improves detection efficiency.
The utility model provides a kind of product appearance automatic checkout system, comprising:
Be used for obtaining mechanical arm operation steering order and take the instruction device of steering order, be used for moving the mechanical arm body that steering order moves relative to described product to be measured according to described mechanical arm, be used for taking according to described shooting steering order the CCD image documentation equipment of product appearance image to be measured, and be used for triggering described mechanical arm body and/or the action of described CCD image documentation equipment, obtain the outward appearance image of described product to be measured and its standardized product outward appearance image with storage compared the Manipulator Controller of detection;
Described mechanical arm body, described CCD image documentation equipment and the instruction device of being connected are connected with described Manipulator Controller respectively, and described CCD image documentation equipment is installed on the instrument installed surface of described mechanical arm body.
Optionally, described CCD image documentation equipment comprises: CCD camera and light source, described CCD camera and described light source are installed in respectively on the instrument installed surface of described mechanical arm body.
Optionally, described CCD image documentation equipment is installed on the instrument installed surface of described mechanical arm body by the mechanical arm workpiece.
Optionally, described mechanical arm workpiece comprises: robot tool mounting clamp tool, fixedly camera sheet metal component and fixed light source sheet metal component; Described robot tool mounting clamp tool is installed on the instrument installed surface of described mechanical arm body, described CCD camera is affixed by described fixedly camera sheet metal component and described robot tool mounting clamp tool, and described light source is affixed by described fixed light source sheet metal component and described robot tool mounting clamp tool.
Optionally, be provided with mechanical arm vision integrated circuit board on the described Manipulator Controller, described CCD image documentation equipment is connected with described Manipulator Controller by described mechanical arm vision integrated circuit board.
Optionally, described mechanical arm body is multi-joint manipulator.
Optionally, described product appearance automatic checkout system also comprises display, and described display is connected with described Manipulator Controller.
Optionally, described product appearance automatic checkout system comprises that also described alarm is connected with described Manipulator Controller for the alarm according to the comparison testing result output alarm signal of described Manipulator Controller.
Optionally, described product appearance automatic checkout system also comprises: the carrying platform that is used for placing described product to be measured.
Optionally, described carrying platform is rotatable carrying platform, and described rotatable carrying platform is connected with described Manipulator Controller.
The utility model provides a kind of product appearance automatic checkout system, by comprising that the mechanical arm relevant devices such as instruction device, Manipulator Controller, mechanical arm body combine with the CCD image documentation equipment, mechanical arm operation steering order and shooting steering order, Crush trigger hand body and/or the action of CCD image documentation equipment that Manipulator Controller obtains according to the instruction device.Because the mechanical arm body can move steering order according to mechanical arm and carry out single-degree-of-freedom or multivariant motion, and then drive CCD image documentation equipment is taken the outward appearance image of product different parts to be measured, Manipulator Controller compares detection to the appearance effects of product to be measured and the outward appearance image of standardized product, thereby realize the robotization that product appearance detects, because the robotization that product appearance detects need not manual intervention, can realize that unmanned detects, therefore improve detection efficiency.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is provided for the utility model by the structural representation of a product appearance automatic checkout system that provides;
Fig. 2 is provided for the utility model by the structural representation of the two product appearance automatic checkout systems that provide;
Fig. 3 is provided for the utility model by the structural representation of the three product appearance automatic checkout systems that provide.
Reference numeral:
1-instructs device; 2-mechanical arm body; The 3-CCD image documentation equipment;
The 4-Manipulator Controller; 5-product to be measured; The 6-carrying platform;
The 7-display; The 8-alarm.
Embodiment
For the purpose, technical scheme and the advantage that make the utility model embodiment clearer, below in conjunction with the accompanying drawing among the utility model embodiment, technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not paying the every other embodiment that obtains under the creative work prerequisite, all belong to the scope of the utility model protection.
The sequence number of the following embodiment of the utility model does not represent the quality of embodiment only for convenience of description.
Fig. 1 is provided for the utility model by the structural representation of a product appearance automatic checkout system that provides.As shown in Figure 1, the product appearance automatic checkout system comprises: instruction device 1, mechanical arm body 2, CCD image documentation equipment 3 and Manipulator Controller 4, instruct device 1, mechanical arm body 2 to be connected with the CCD image documentation equipment and be connected with Manipulator Controller 4 respectively, and described CCD image documentation equipment is installed on the instrument installed surface of mechanical arm body 2.
Instruction device 2 can be used for obtaining mechanical arm operation steering order and takes steering order.Mechanical arm operation steering order and shooting steering order can be carried out corresponding programming at programming languages such as instruction device employing PVC according to standardized product outward appearance image by the user, and corresponding program can be stored in the Manipulator Controller.
Mechanical arm body 3 can move relative to product 5 to be measured according to described mechanical arm operation steering order.
CCD image documentation equipment 4 can be used for taking described product appearance image to be measured according to described shooting steering order.
Steering order Crush trigger hand body 3 and/or CCD image documentation equipment 4 that Manipulator Controller 5 can be used for obtaining according to instruction device 2 move, obtain the outward appearance image that CCD image documentation equipment 4 is taken, and product appearance image to be measured and standardized product outward appearance image that CCD image documentation equipment 4 is taken compare detection.Standardized product outward appearance image can be taken in advance and be pre-stored in Manipulator Controller.
The product appearance automatic checkout system that the present embodiment provides, by comprising that the mechanical arm relevant devices such as instruction device, Manipulator Controller, mechanical arm body combine with the CCD image documentation equipment, mechanical arm operation steering order and shooting steering order, Crush trigger hand body and/or the action of CCD image documentation equipment that Manipulator Controller obtains according to the instruction device.Because the mechanical arm body can move steering order according to mechanical arm and carry out single-degree-of-freedom or multivariant motion, and then drive CCD image documentation equipment is taken the outward appearance image of product different parts to be measured, Manipulator Controller compares detection to the appearance effects of product to be measured and the outward appearance image of standardized product, thereby realize the robotization that product appearance detects, because the robotization that product appearance detects need not manual intervention, can realize that unmanned detects, therefore improve detection efficiency.
Optionally, the CCD image documentation equipment comprises: CCD camera and light source.In order to improve the convenience of installation, optional, described CCD camera and described light source are installed in respectively on the instrument installed surface of described mechanical arm body.Described mechanical arm workpiece can comprise: robot tool mounting clamp tool, fixedly camera sheet metal component and fixed light source sheet metal component.The instrument installed surface of mechanical arm body can have ring flange, robot tool mounting clamp tool is installed on the instrument installed surface of mechanical arm body, the CCD camera is by fixedly camera sheet metal component and robot tool mounting clamp tool are affixed, and light source is affixed by fixed light source sheet metal component and robot tool mounting clamp tool.
Optionally, be provided with mechanical arm vision integrated circuit board on the described Manipulator Controller.In order to be conducive to the relatively detection of Manipulator Controller vision, the CCD image documentation equipment can be connected with described Manipulator Controller by described mechanical arm vision integrated circuit board.
Optionally, in order to improve the degree of freedom of mechanical arm activity, described mechanical arm body can be multi-joint manipulator, as adopting but be not limited to DENSO mechanical arm etc.
In actual applications, product 5 to be measured can be placed on the specific region.The convenience of placing in order to improve product to be measured, optional, the product appearance automatic checkout system that above-mentioned arbitrary technical scheme provides also can comprise: the carrying platform 6 that is used for placing product 5 to be measured.Above-mentioned carrying platform 6 also can be rotatable carrying platform, and rotatable carrying platform drives product 5 to be measured and rotates freely, and improves thus the convenience that product different parts to be measured is taken, and has further improved the product appearance detection efficiency.
Optionally, in order to realize the online visual supervisory control of outward appearance testing result, the product appearance automatic checkout system that above-mentioned arbitrary technical scheme provides also can comprise: be used for showing the display 7 of Manipulator Controller coherent video information, display 7 is connected with Manipulator Controller 4, as shown in Figure 2.Described Manipulator Controller coherent video information can include but not limited to: the CCD image documentation equipment is taken the product appearance image to be measured, standardized product outward appearance image, product appearance image to be measured and the standardized product outward appearance image that obtain and is compared testing process image etc.
Optionally, in order to realize the automatic alarm of outward appearance testing result, the product appearance automatic checkout system that above-mentioned arbitrary technical scheme provides also can comprise: be used for the alarm 8 according to the comparison testing result output alarm signal of Manipulator Controller 4, as shown in Figure 3, alarm 8 is connected with Manipulator Controller 4.Manipulator Controller 4 is in the comparison testing process of carrying out product appearance image to be measured and standardized product outward appearance image, if the two corresponding site Image Matching or satisfy pre-conditioned, Manipulator Controller 4 trigger alarm device 8 output alarm signals or the trigger alarm device 8 output expressions signal of testing results qualified (" OK ") relatively not then; Otherwise the 8 output expressions of Manipulator Controller 4 trigger alarm devices are the alerting signal of testing result defective (" NG ") relatively.
In the above-described embodiments, the description of each embodiment is all emphasized particularly on different fields, do not have the part that describes in detail among certain embodiment, can be referring to the associated description of other embodiment.
It should be noted that at last: above embodiment only in order to the technical solution of the utility model to be described, is not intended to limit; Although with reference to previous embodiment the utility model is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (10)
1. a product appearance automatic checkout system is characterized in that, comprising:
Be used for obtaining mechanical arm operation steering order and take the instruction device of steering order, be used for moving the mechanical arm body that steering order moves relative to described product to be measured according to described mechanical arm, be used for taking according to described shooting steering order the CCD image documentation equipment of product appearance image to be measured, and be used for triggering described mechanical arm body and/or the action of described CCD image documentation equipment, obtain the outward appearance image of described product to be measured and its standardized product outward appearance image with storage compared the Manipulator Controller of detection;
Described mechanical arm body, described CCD image documentation equipment and the instruction device of being connected are connected with described Manipulator Controller respectively, and described CCD image documentation equipment is installed on the instrument installed surface of described mechanical arm body.
2. product appearance automatic checkout system according to claim 1 is characterized in that, described CCD image documentation equipment comprises: CCD camera and light source, described CCD camera and described light source are installed in respectively on the instrument installed surface of described mechanical arm body.
3. product appearance automatic checkout system according to claim 2 is characterized in that, described CCD image documentation equipment is installed on the instrument installed surface of described mechanical arm body by the mechanical arm workpiece.
4. product appearance automatic checkout system according to claim 3 is characterized in that, described mechanical arm workpiece comprises: robot tool mounting clamp tool, fixedly camera sheet metal component and fixed light source sheet metal component; Described robot tool mounting clamp tool is installed on the instrument installed surface of described mechanical arm body, described CCD camera is affixed by described fixedly camera sheet metal component and described robot tool mounting clamp tool, and described light source is affixed by described fixed light source sheet metal component and described robot tool mounting clamp tool.
5. arbitrary described product appearance automatic checkout system is characterized in that according to claim 1-4, is provided with mechanical arm vision integrated circuit board on the described Manipulator Controller, and described CCD image documentation equipment is connected with described Manipulator Controller by described mechanical arm vision integrated circuit board.
6. arbitrary described product appearance automatic checkout system is characterized in that according to claim 1-4, and described mechanical arm body is multi-joint manipulator.
7. arbitrary described product appearance automatic checkout system is characterized in that according to claim 1-4, also comprises display, and described display is connected with described Manipulator Controller.
8. arbitrary described product appearance automatic checkout system is characterized in that according to claim 1-4, comprises that also described alarm is connected with described Manipulator Controller for the alarm according to the comparison testing result output alarm signal of described Manipulator Controller.
9. arbitrary described product appearance automatic checkout system is characterized in that according to claim 1-4, also comprises: the carrying platform that is used for placing described product to be measured.
10. product appearance automatic checkout system according to claim 9 is characterized in that, described carrying platform is rotatable carrying platform, and described rotatable carrying platform is connected with described Manipulator Controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220285267 CN202676614U (en) | 2012-06-14 | 2012-06-14 | Automatic product appearance detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220285267 CN202676614U (en) | 2012-06-14 | 2012-06-14 | Automatic product appearance detecting system |
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| Publication Number | Publication Date |
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| CN202676614U true CN202676614U (en) | 2013-01-16 |
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| CN 201220285267 Expired - Lifetime CN202676614U (en) | 2012-06-14 | 2012-06-14 | Automatic product appearance detecting system |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103674970A (en) * | 2013-12-24 | 2014-03-26 | 中核包头核燃料元件股份有限公司 | Automatic detection method of massively produced bands |
| CN104280398A (en) * | 2013-07-05 | 2015-01-14 | 上海维锐智能科技有限公司 | Electronic component automatic testing device |
| CN104503878A (en) * | 2015-01-08 | 2015-04-08 | 大唐微电子技术有限公司 | Intelligent card compatibility testing device and method |
| CN105164519A (en) * | 2013-04-26 | 2015-12-16 | 斯奈克玛 | Machine for weaving or winding a fibrous texture that allows checks for anomaly to be made using image analysis |
| CN105372856A (en) * | 2015-12-14 | 2016-03-02 | 武汉精测电子技术股份有限公司 | Multi-station aligning method and device for detecting large-screen panel based on mechanical arm |
| CN106383126A (en) * | 2016-10-24 | 2017-02-08 | 张家港清研再制造产业研究院有限公司 | Device and method for detecting remanufactured automobile part |
| CN106596565A (en) * | 2017-01-22 | 2017-04-26 | 深圳市德富强机器人有限公司 | Real-time online detection method and real-time online detection system based on mechanical arm |
| CN106814066A (en) * | 2015-11-30 | 2017-06-09 | 富泰华工业（深圳）有限公司 | Appearance delection device and method |
| CN107185844A (en) * | 2017-06-19 | 2017-09-22 | 太仓弘杉环保科技有限公司 | A kind of blanking robot with quality testing function |
| CN107345913A (en) * | 2016-05-04 | 2017-11-14 | 东莞大和化成汽车零配件有限公司 | A kind of plasthetics detects qualified device |
| CN107377402A (en) * | 2017-06-19 | 2017-11-24 | 太仓弘杉环保科技有限公司 | A kind of intelligent robot with classification function of quality control |
| CN107966836A (en) * | 2017-11-29 | 2018-04-27 | 南昌工程学院 | TFT-L CD defect optical automatic detection system |
| CN108593681A (en) * | 2018-03-28 | 2018-09-28 | 中车唐山机车车辆有限公司 | Vehicle body side wall glass defect detection system and detection method |
| CN110678275A (en) * | 2017-09-01 | 2020-01-10 | 美的集团股份有限公司 | Method and system for improving product quality inspection using a robot |
| CN110873716A (en) * | 2018-09-03 | 2020-03-10 | 法视特（上海）图像科技有限公司 | Automatic appearance detection equipment for electronic components |
| CN112192902A (en) * | 2020-09-17 | 2021-01-08 | 浙江天之元物流科技有限公司 | Automatic production process and equipment for file sealing and releasing type film |
| CN113058879A (en) * | 2021-02-22 | 2021-07-02 | 哈工大机器人集团(无锡)科创基地研究院 | A all-round visual detection device for complicated work piece |
-
2012
- 2012-06-14 CN CN 201220285267 patent/CN202676614U/en not_active Expired - Lifetime
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105164519A (en) * | 2013-04-26 | 2015-12-16 | 斯奈克玛 | Machine for weaving or winding a fibrous texture that allows checks for anomaly to be made using image analysis |
| CN104280398A (en) * | 2013-07-05 | 2015-01-14 | 上海维锐智能科技有限公司 | Electronic component automatic testing device |
| CN103674970B (en) * | 2013-12-24 | 2016-02-24 | 中核包头核燃料元件股份有限公司 | A kind of automatic testing method producing band in batches |
| CN103674970A (en) * | 2013-12-24 | 2014-03-26 | 中核包头核燃料元件股份有限公司 | Automatic detection method of massively produced bands |
| CN104503878A (en) * | 2015-01-08 | 2015-04-08 | 大唐微电子技术有限公司 | Intelligent card compatibility testing device and method |
| CN104503878B (en) * | 2015-01-08 | 2017-01-04 | 大唐微电子技术有限公司 | Smart card device for testing compatibility and method |
| CN106814066A (en) * | 2015-11-30 | 2017-06-09 | 富泰华工业（深圳）有限公司 | Appearance delection device and method |
| CN105372856A (en) * | 2015-12-14 | 2016-03-02 | 武汉精测电子技术股份有限公司 | Multi-station aligning method and device for detecting large-screen panel based on mechanical arm |
| CN107345913A (en) * | 2016-05-04 | 2017-11-14 | 东莞大和化成汽车零配件有限公司 | A kind of plasthetics detects qualified device |
| CN106383126A (en) * | 2016-10-24 | 2017-02-08 | 张家港清研再制造产业研究院有限公司 | Device and method for detecting remanufactured automobile part |
| CN106596565A (en) * | 2017-01-22 | 2017-04-26 | 深圳市德富强机器人有限公司 | Real-time online detection method and real-time online detection system based on mechanical arm |
| CN107185844A (en) * | 2017-06-19 | 2017-09-22 | 太仓弘杉环保科技有限公司 | A kind of blanking robot with quality testing function |
| CN107377402A (en) * | 2017-06-19 | 2017-11-24 | 太仓弘杉环保科技有限公司 | A kind of intelligent robot with classification function of quality control |
| CN110678275A (en) * | 2017-09-01 | 2020-01-10 | 美的集团股份有限公司 | Method and system for improving product quality inspection using a robot |
| CN110678275B (en) * | 2017-09-01 | 2021-01-26 | 美的集团股份有限公司 | Method and system for improving product quality inspection using a robot |
| CN107966836A (en) * | 2017-11-29 | 2018-04-27 | 南昌工程学院 | TFT-L CD defect optical automatic detection system |
| CN108593681A (en) * | 2018-03-28 | 2018-09-28 | 中车唐山机车车辆有限公司 | Vehicle body side wall glass defect detection system and detection method |
| CN110873716A (en) * | 2018-09-03 | 2020-03-10 | 法视特（上海）图像科技有限公司 | Automatic appearance detection equipment for electronic components |
| CN112192902A (en) * | 2020-09-17 | 2021-01-08 | 浙江天之元物流科技有限公司 | Automatic production process and equipment for file sealing and releasing type film |
| CN113058879A (en) * | 2021-02-22 | 2021-07-02 | 哈工大机器人集团(无锡)科创基地研究院 | A all-round visual detection device for complicated work piece |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Beijing Tianbao Tianbao Automation Technology Co., Ltd. Assignor: Sun Zheng Contract record no.: 2014990000667 Denomination of utility model: Automatic product appearance detecting system Granted publication date: 20130116 License type: Exclusive License Record date: 20140819 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130116 |
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| CX01 | Expiry of patent term |