CN210376110U

CN210376110U - Bowl dish automatic checkout device based on machine vision and sense of touch

Info

Publication number: CN210376110U
Application number: CN201921254036.7U
Authority: CN
Inventors: 涂琴; 黄宝根; 岳东海; 颜鹏; 眭翔; 吴琪
Original assignee: Changzhou College of Information Technology CCIT
Current assignee: Changzhou College of Information Technology CCIT
Priority date: 2019-08-05
Filing date: 2019-08-05
Publication date: 2020-04-21
Anticipated expiration: 2029-08-05

Abstract

The utility model discloses a bowl dish automatic checkout device based on machine vision and sense of touch belongs to product quality and detects technical field. The utility model discloses a bowl dish automatic checkout device based on machine vision and sense of touch, including bowl dish clamping workstation, machine vision and sense of touch integration detection mechanism, unloading arm and transport mechanism on the bowl dish, the both sides of bowl dish clamping workstation are arranged respectively to unloading arm branch on machine vision and sense of touch integration detection mechanism and the bowl dish, unloading arm is used for getting on bowl dish clamping workstation and puts the bowl dish on the bowl dish clamping workstation, machine vision and sense of touch integration detection mechanism are used for detecting the bowl dish on the bowl dish clamping workstation, one side of unloading arm is installed in the bowl dish to transport mechanism for convey the bowl dish. The utility model discloses can realize the automatic detection of bowl dish, reduce artifical intensity of labour, improve the substandard product detectable rate and quality control's stability, have advantages such as the integrated level is high, compact structure, detection object strong adaptability.

Description

Bowl dish automatic checkout device based on machine vision and sense of touch

Technical Field

The utility model relates to a tableware appearance quality detection device, more specifically say, relate to a bowl dish automatic checkout device based on machine vision and sense of touch.

Background

China is a big population country, and the consumption of bowls and dishes is large. With the improvement of living standard and the increase of the quantity of the dish outlet, higher requirements are put forward on the quality of the dish. The manufacturing process of the bowl and dish mainly comprises the steps of crushing, shaping, glazing, calcining and colored drawing, and the process has more influence factors on the quality of the bowl and dish. When inspecting the appearance of the bowl and dish, the roundness of the bowl mouth and the bowl bottom, whether the inner surface and the outer surface are uniform, the existence of glaze-free spots and defects, and the like are generally required to be inspected.

However, the quality detection and classification of the existing bowls and dishes mainly adopt manpower as a main part, the workload is large, and the defective product detection rate is low. When the dishes are manually detected, the combination of human eye observation and hand touch is common. Based on this feature, an automatic inspection device has yet to be proposed to satisfy the mechanical quality inspection of dishes. The bowl and dish realize the automatic detection difficulty is greater, on one hand because the bowl and dish is generally the curved surface structure, easy to reflect light, make the machine vision image have certain deviation; on the other hand, due to the curved surface structure and the smooth and fragile material of the surface, the clamping and feeding difficulty of the bowl and the dish is increased. The surface detection of curved surface structures in production and life is also always a difficult problem.

The retrieval shows that no mechanical automatic dish quality detection device and detection method exist at present.

Disclosure of Invention

1. Technical problem to be solved by the utility model

The utility model aims to overcome artifical bowl dish and detect to have that intensity of labour is high and the defective product relevance rate is low not enough, provide a bowl dish automatic checkout device based on machine vision and sense of touch, adopt the technical scheme of the utility model, can realize the automatic detection of bowl dish, reduce artifical intensity of labour, improve the stability of defective product relevance rate and quality control, have advantages such as integrated level height, compact structure, detection object strong adaptability.

2. Technical scheme

In order to achieve the above purpose, the utility model provides a technical scheme does:

the utility model discloses a bowl dish automatic checkout device based on machine vision and sense of touch, including bowl dish clamping workstation, machine vision and sense of touch integration detection mechanism, bowl dish unloading arm and transport mechanism, machine vision and sense of touch integration detection mechanism and bowl dish unloading arm branch arrange in the both sides of bowl dish clamping workstation, bowl dish unloading arm be used for getting on bowl dish clamping workstation and put the bowl dish, machine vision and sense of touch integration detection mechanism be used for detecting the bowl dish on bowl dish clamping workstation, transport mechanism install in one side of bowl dish unloading arm, be used for conveying the bowl dish; wherein the content of the first and second substances,

the bowl and dish clamping worktable comprises a rotating mechanism, a bowl and dish clamping mechanism, a bowl and dish pressing mechanism and a top vision camera, wherein the bowl and dish clamping mechanism is arranged on the rotating mechanism and used for driving bowls and dishes on the bowl and dish clamping mechanism to rotate; the dish pressing mechanism is arranged right above the dish clamping mechanism and used for pressing the dishes on the dish clamping mechanism to prevent the dishes from jumping in the vertical direction; the top vision camera is arranged above the dish clamping mechanism and is used for photographing and detecting the roundness of the opening or bottom of the dish and the quality of the inner surface and the outer surface of the bottom of the dish;

the machine vision and touch integrated detection mechanism comprises a two-degree-of-freedom rectangular coordinate robot, a swing arm mechanism, a flexible finger touch module and a tail end vision module, wherein the swing arm mechanism is arranged on the two-degree-of-freedom rectangular coordinate robot and drives the swing arm mechanism to move in the horizontal and vertical directions; the flexible finger touch sense module and the tail end vision module are respectively arranged at the tail ends of the swing arm mechanisms, and the swing arm mechanisms are used for adjusting the inclination angles and the positions of the flexible finger touch sense module and the tail end vision module relative to the dishes; the flexible finger touch sense module is used for being attached to the surface of the bowl and dish to detect the smoothness of the surface of the bowl and dish; the tail end vision module is used for detecting the appearance quality of the inner and outer curved surfaces of the bowl and the dish;

the dish feeding and discharging mechanical arm comprises a lifting mechanism, a two-degree-of-freedom horizontal joint robot, a turning joint and a dish grabbing mechanism, wherein the two-degree-of-freedom horizontal joint robot is arranged on the lifting mechanism and is driven by the lifting mechanism to move in the vertical direction; the bowl and dish grabbing mechanism is arranged on the two-degree-of-freedom horizontal joint robot through the overturning joint, and the two-degree-of-freedom horizontal joint robot and the overturning joint drive the bowl and dish grabbing mechanism to grab the bowl and dish to move and overturn in the horizontal direction.

Furthermore, in the dish clamping workbench, the dish clamping mechanism is a three-jaw chuck, the three-jaw chuck comprises a workbench surface, clamping pneumatic clamping jaws and a material pushing block, three rectangular grooves which are equally distributed along the circumferential direction are formed in the upper plane of the workbench surface, one clamping pneumatic clamping jaw is installed in each rectangular groove, the material pushing block is arranged at the tail end of each clamping pneumatic clamping jaw, and the tail end of the material pushing block is of an inwards concave arc structure; one side of the upper plane of the working table surface is also provided with a tool inlet groove which is convenient for the bowl and dish grabbing mechanism to extend into.

Furthermore, the rotating mechanism comprises a first base and a rotating motor, the rotating motor is fixedly arranged on the first base, and an output shaft of the rotating motor is connected with the three-jaw chuck through a coupler; the bowl and dish pressing mechanism is arranged above the bowl and dish clamping mechanism through a stand column bracket fixed on the first base and comprises a material ejecting multi-stage cylinder and a pressing rod, the material ejecting multi-stage cylinder is fixed on the stand column bracket, the pressing rod is arranged on a piston rod of the material ejecting multi-stage cylinder, and the lower end of the pressing rod is of a spherical structure.

Furthermore, in the machine vision and touch integrated detection mechanism, the flexible finger touch module comprises a multi-cavity flexible finger, a touch sensor and a finger connector, wherein the upper part of the multi-cavity flexible finger is provided with a plurality of tooth-shaped cavities, the touch sensor is installed at the lower part of the multi-cavity flexible finger, the multi-cavity flexible finger is installed on the swing arm mechanism through the finger connector, the finger connector is provided with an air inlet communicated with the multi-cavity flexible finger, and the touch sensor is an array electrode or an electronic skin; terminal visual module include fingertip camera, L type connector, rectangle connector and dog-ear type connector, the one end of L type connector install on swing arm mechanism, the other end of L type connector and the one end of rectangle connector rotate along horizontal axial direction and be connected for finely tune the gesture of fingertip camera in the vertical plane, the other end of rectangle connector and the one end of dog-ear type connector rotate along vertical axial direction and be connected for finely tune the fingertip camera in the horizontal plane, the fingertip camera install on dog-ear type connector.

Furthermore, the two-degree-of-freedom rectangular coordinate robot comprises an upright post support type frame, a first electric cylinder, a second electric cylinder, a first connecting block, a second connecting block, a third connecting block and a guide rod, wherein a cylinder body of the first electric cylinder is vertically arranged on the upright post support type frame, a piston rod of the first electric cylinder is connected with the first connecting block, the first connecting block is provided with the horizontally arranged guide rod in a penetrating manner, one end of the guide rod is provided with the second connecting block, the other end of the guide rod is provided with the third connecting block, a cylinder body of the second electric cylinder is horizontally arranged on the second connecting block, and a piston rod of the second electric cylinder is connected with the first connecting block; the swing arm mechanism include swing arm motor, big arm and forearm, the swing arm motor install in connecting block three on, the pivot of swing arm motor set up along the horizontal direction, and the pivot of swing arm motor is connected with big arm for drive big arm luffing motion in the vertical plane and adjust, forearm and big arm rotate along vertical axial direction and be connected, be used for driving the flexible finger touch module and the terminal visual module of installing on the forearm to control the swing in the horizontal plane and adjust.

Furthermore, in the dish feeding and discharging mechanical arm, the dish grabbing mechanism comprises a telescopic cylinder, a grabbing pneumatic clamping jaw, a lifting cylinder, an auxiliary grabbing and placing frame, a material pushing cylinder and a material pushing rod, the telescopic cylinder is mounted on the overturning joint, the grabbing pneumatic clamping jaw is of a connecting rod type two-finger structure, and the grabbing pneumatic clamping jaw is connected with a piston rod of the telescopic cylinder and used for driving the grabbing pneumatic clamping jaw to open and close through the telescopic cylinder; the lifting cylinder is arranged on a cylinder body of the telescopic cylinder, and a piston rod of the lifting cylinder is connected with the auxiliary grabbing and placing frame and used for driving the auxiliary grabbing and placing frame to move up and down; the material pushing cylinder is arranged on one side, close to the grabbing pneumatic clamping jaw, of the auxiliary grabbing frame, and the material pushing rod is connected with a piston rod of the material pushing cylinder.

Furthermore, the inner side of the grabbing pneumatic clamping jaw is an arc grabbing surface, rigid materials are adopted below the fingers of the grabbing pneumatic clamping jaw, and hard rubber materials are adopted above the fingers of the grabbing pneumatic clamping jaw; the tail end of the auxiliary grabbing and placing frame is of a rigid and flat five-finger radial structure, fingers of the five-finger radial structure, which are consistent with the direction of the central shaft of the auxiliary grabbing and placing frame, are slightly longer, and the center of the five-finger radial structure is also provided with a circle center positioning point.

Furthermore, the lifting mechanism comprises a second base and a vertical lifting hydraulic cylinder, the vertical lifting hydraulic cylinder is arranged on the second base, a piston rod of the vertical lifting hydraulic cylinder is connected with the two-degree-of-freedom horizontal joint robot, and the vertical lifting hydraulic cylinder adopts a servo hydraulic cylinder; the two-degree-of-freedom horizontal joint robot comprises a first joint and a second joint, wherein the first joint is connected with a vertical lifting hydraulic cylinder, the tail end of the second joint is connected with a turnover joint, and the first joint and the second joint are driven by servo motors.

3. Advantageous effects

Adopt the technical scheme provided by the utility model, compare with existing well-known technique, have following apparent effect:

(1) the working efficiency is high. Compare with artifical the detection, the utility model discloses can realize automatic the detection, reduce workman intensity of labour, improve substandard product detectable rate and quality control's stability.

(2) The function is many units, the integrated level is high, compact structure. Compared with the conventional machine vision detection, the depth information and the touch information of the inner surface and the outer surface of the dish can be obtained, so that the quality detection result is more accurate. The automatic detection device can realize automatic feeding and discharging and automatic overturning of dishes, and realize detection of the inner surface and the outer surface. Moreover, all the components of the automatic detection device are in modular design and have strong universality.

(3) Has strong adaptability to the measured object. Each claw finger of the three-claw chuck for clamping the dishes can be independently controlled, and the three-claw chuck is suitable for detecting the dishes with different diameters and different shapes; the machine vision and touch integrated detection mechanism can be suitable for detection of bowls and dishes with different heights and different curved surfaces.

Drawings

Fig. 1 is a schematic structural diagram of an automatic dish detection device based on machine vision and touch sense according to the present invention;

FIG. 2 is a schematic structural view of the dish clamping worktable of the present invention;

fig. 3 is a schematic structural view of the machine vision and touch integrated detection mechanism of the present invention;

fig. 4 is a schematic structural view of the feeding and discharging mechanical arm for dishes in the present invention.

The reference numerals in the schematic drawings illustrate:

1. a bowl and dish clamping workbench; 1-1, a first base; 1-2, rotating an electric machine; 1-3, a three-jaw chuck; 1-3-1, a working table; 1-3-2, clamping a pneumatic clamping jaw; 1-3-3, rectangular groove; 1-3-4, a tool inlet slot; 1-3-5, and ejecting a material block; 1-3-6, concave arc structure; 1-4, a coupler; 1-5, ejecting a multi-stage cylinder; 1-5-1, a primary cylinder; 1-5-2, a secondary cylinder; 1-5-3, spherical structure; 1-6, a top vision camera; 1-7, upright post bracket;

2. a machine vision and touch integrated detection mechanism; 2-1, a two-degree-of-freedom cartesian robot; 2-1-1, a column support frame; 2-1-2, a first electric cylinder; 2-1-3, a second electric cylinder; 2-1-4, connecting a block I; 2-1-5 and a second connecting block; 2-1-6 and a third connecting block; 2-1-7, a guide rod; 2-2, a swing arm motor; 2-3, a big arm; 2-4, a small arm; 2-5, a flexible finger haptic module; 2-5-1, multi-cavity flexible fingers; 2-5-2, a tactile sensor; 2-5-3, a finger connector; 2-5-4, an air inlet; 2-6, a terminal vision module; 2-6-1, a fingertip camera; 2-6-2, an L-shaped linker; 2-6-3, a rectangular linker; 2-6-4, a dog-ear type connector;

3. a bowl and dish loading and unloading mechanical arm; 3-1 and a second base; 3-2, a vertical lifting hydraulic cylinder; 3-3, a two-degree-of-freedom horizontal joint robot; 3-3-1, joint one; 3-3-2 and a second joint; 3-4, turning over the joint; 3-5, a dish grabbing mechanism; 3-5-1, a telescopic cylinder; 3-5-2, grabbing a pneumatic clamping jaw; 3-5-3, a lifting cylinder; 3-5-4, an auxiliary grabbing and placing frame; 3-5-5, a material pushing cylinder; 3-5-6, a material pushing rod; 3-5-7, arc grabbing surface; 3-5-8, above the fingers; 3-5-9, below the fingers; 3-5-10, five-finger radial structure; 3-5-11, locating point of circle center; 3-5-12 and a right-angle connecting sheet.

4. A transport mechanism; 5. and (7) bowls and dishes.

Detailed Description

For a further understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Examples

As shown in the combined drawing 1, the dish automatic checkout device based on machine vision and touch is provided by the embodiment, and comprises a dish clamping workbench 1, a machine vision and touch integrated detection mechanism 2, a dish feeding and discharging mechanical arm 3 and a conveying mechanism 4, wherein the machine vision and touch integrated detection mechanism 2 and the dish feeding and discharging mechanical arm 3 are respectively arranged on two sides of the dish clamping workbench 1, the dish feeding and discharging mechanical arm 3 is used for taking and placing dishes 5 on the dish clamping workbench 1, the machine vision and touch integrated detection mechanism 2 is used for carrying out quality detection on the dishes 5 on the dish clamping workbench 1, and the conveying mechanism 4 is arranged on one side of the dish feeding and discharging mechanical arm 3 and used for conveying the dishes 5. Of course, transport mechanism 4 can be divided into material loading transport mechanism and unloading transport mechanism, and material loading transport mechanism is used for conveying the bowl dish 5 that waits to detect to bowl dish unloading arm 3 one side on the bowl dish, is got by bowl dish unloading arm 3 clamp and is placed and detect on bowl dish clamping workstation 1, and unloading transport mechanism is used for receiving the bowl dish 5 after having detected that is snatched by bowl dish unloading arm 3 to carry in next process. The above-mentioned transfer mechanism 4 is preferably a conveyor belt conveyor. The dish feeding and discharging mechanism is characterized by further comprising a control system for controlling the matching action of each mechanism, when the dish feeding and discharging mechanism is in work, the dish 5 to be detected is grabbed by the dish feeding and discharging mechanical arm 3 from the feeding conveying mechanism, the dish 5 to be detected is placed on the dish clamping worktable 1, the rotary dishes 5 on the dish clamping worktable 1 are detected by the machine vision and touch integrated detection mechanism 2, after detection, the dish 5 is placed in the feeding conveying mechanism by the dish feeding and discharging mechanical arm 3, and when defective products are detected, an alarm signal can be sent by the control system so as to remove the defective products. Foretell control system can adopt the PLC controller, and each action execution unit of bowl dish automatic checkout device is controlled by the PLC controller, as for the control principle of PLC controller, according to prior art design can, and not the utility model discloses an improvement place is just no longer repeated here.

As shown in fig. 2, the dish clamping workbench 1 comprises a rotating mechanism, a dish clamping mechanism, a dish pressing mechanism and top vision cameras 1-6, wherein the dish clamping mechanism is mounted on the rotating mechanism and used for driving dishes 5 on the dish clamping mechanism to rotate; the dish pressing mechanism is arranged right above the dish clamping mechanism and is used for pressing the dishes 5 on the dish clamping mechanism to prevent the dishes 5 from jumping in the vertical direction; the top vision cameras 1-6 are arranged above the dish clamping mechanism and used for photographing and detecting the roundness of the opening or bottom of the dish 5 and the quality of the inner surface and the outer surface of the bottom of the dish. During operation, bowl dish clamping mechanism presss from both sides tightly bowl dish 5, utilizes top vision camera 1-6 to shoot bowl dish 5, utilizes image information to detect bowl dish 5 bowl mouth or bowl at the bottom of the roundness and the interior outer surface quality at the bottom of the bowl, and bowl dish 5 from the method is fixed to bowl dish hold-down mechanism on with bowl dish clamping mechanism simultaneously to prevent that bowl dish 5 from appearing beating, improve bowl dish 5's rotational stability. Specifically, in the dish clamping worktable 1, the dish clamping mechanism preferably adopts a three-jaw chuck 1-3, the three-jaw chuck 1-3 comprises a worktable 1-3-1, clamping pneumatic clamping jaws 1-3-2 and an ejector block 1-3-5, the upper plane of the worktable 1-3-1 is provided with three rectangular grooves 1-3-3 which are equally distributed along the circumferential direction, namely the included angle of the adjacent rectangular grooves 1-3-3 is 120 degrees, each rectangular groove 1-3-3 is internally provided with one clamping pneumatic clamping jaw 1-3-2, the tail end of each clamping pneumatic clamping jaw 1-3-2 is provided with the ejector block 1-3-5, the tail end of the ejector block 1-3-5 is of an inward concave arc structure 1-3-6, the aim is to ensure that the ejector blocks 1-3-5 are attached to the outer surface of the bottom of the bowl and dish 5 as much as possible and to tightly push the bowl and dish 5 in the horizontal plane. The ejector blocks 1-3-5 are preferably made of rubber material, which on the one hand prevents damage to the dishes 5 due to rigid clamping and on the other hand increases the friction against the dishes 5, so that the three-jaw chucks 1-3 can firmly clamp the dishes 5. One side of the upper plane of the working table surface 1-3-1 is also provided with a tool inlet groove 1-3-4 which is convenient for the loading and unloading mechanical arm 3 of bowls and dishes to extend into, so that the bowls and dishes can be conveniently placed in a turning way. Preferably, the rotating mechanism comprises a base I1-1 and a rotating motor 1-2, the rotating motor 1-2 is fixedly installed on the base I1-1, an output shaft of the rotating motor 1-2 is connected with the three-jaw chuck 1-3 through a coupling 1-4, and an output shaft of the rotating motor 1-2 and the three-jaw chuck 1-3 are coaxially arranged to drive the three-jaw chuck 1-3 to rotate so as to comprehensively detect the inner and outer surfaces of the bowl and dish 5. The dish pressing mechanism is arranged above the dish clamping mechanism through an upright post bracket 1-7 fixed on a base I1-1 and comprises a material ejecting multi-stage cylinder 1-5 and a pressure lever, the material ejecting multi-stage cylinder 1-5 is fixed on the upright post bracket 1-7, the pressure lever is arranged on a piston rod of the material ejecting multi-stage cylinder 1-5, the lower end of the pressure lever adopts a spherical structure 1-5-3, and the dish pressing mechanism can be guaranteed to normally rotate while tightly ejecting the dish 5. The jacking pressure of the jacking multistage cylinder 1-5 on the bowls and dishes 5 can be controlled through a pneumatic pressure reducing valve, the jacking multistage cylinder preferably adopts a two-stage structure and comprises a first-stage cylinder 1-5-1 and a second-stage cylinder 1-5-2, the first-stage cylinder 1-5-1 is fixed on the top of an upright post support 1-7, a top vision camera 1-6 can be installed below the cylinder body of the first-stage cylinder 1-5-1, the second-stage cylinder 1-5-2 is installed on the first-stage cylinder 1-5-1, and the piston rod of the second-stage cylinder 1-5-2 is connected with a pressure rod. The three clamping pneumatic clamping jaws 1-3-2 can be independently controlled to adapt to different bowl and dish shapes, can also be uniformly controlled, and are particularly convenient for clamping and fixing round bowls and dishes.

As shown in fig. 3, the machine vision and touch integrated detection mechanism 2 comprises a two-degree-of-freedom rectangular coordinate robot 2-1, a swing arm mechanism, a flexible finger touch module 2-5 and a tail end vision module 2-6, wherein the two-degree-of-freedom rectangular coordinate robot 2-1 can move in the horizontal and vertical directions, the swing arm mechanism is mounted on the two-degree-of-freedom rectangular coordinate robot 2-1, and the two-degree-of-freedom rectangular coordinate robot 2-1 drives the swing arm mechanism to move in the horizontal and vertical directions; the flexible finger touch sense modules 2-5 and the tail end vision modules 2-6 are respectively arranged at the tail ends of the swing arm mechanisms, and the swing arm mechanisms are used for adjusting the inclination angles and the positions of the flexible finger touch sense modules 2-5 and the tail end vision modules 2-6 relative to the dishes 5; the flexible finger tactile modules 2-5 are used for fitting with the surface of the dish 5 to detect the smoothness of the surface of the dish 5; the end vision modules 2-6 are used for detecting the quality of the outer shape of the inner and outer curved surfaces of the dishes 5. Specifically, in the machine vision and touch integrated detection mechanism 2, the flexible finger touch module 2-5 comprises a multi-cavity flexible finger 2-5-1, a touch sensor 2-5-2 and a finger connector 2-5-3, wherein the upper part of the multi-cavity flexible finger 2-5-1 is provided with a plurality of tooth-shaped cavities, by adopting the structure, after the multi-cavity flexible finger 2-5-1 is inflated, the multi-cavity flexible finger 2-5-1 is bent towards the other side due to the expansion of the tooth-shaped cavities at the upper part, the touch sensor 2-5-2 is arranged at the lower part of the multi-cavity flexible finger 2-5-1, the multi-cavity flexible finger 2-5-1 is arranged on the swing arm mechanism through the finger connector 2-5-3, and the finger connector 2-5-3 is provided with the multi-cavity flexible finger 2-5-1 The air inlet 2-5-4 and the touch sensor 2-5-2 which are communicated can adopt array electrodes or electronic skins, when the array electrodes are adopted, when local protrusions or depressions appear on the surface of the dish 5, the readings of the electrodes are different, so that the smoothness detection of the surface of the dish 5 can be realized through the array electrodes; when the electronic skin is adopted, the principle is similar to that of an array electrode, and the concave-convex structure information on the surface of the dish 5 can be sensed. The terminal vision module 2-6 comprises a fingertip camera 2-6-1, an L-shaped connector 2-6-2, a rectangular connector 2-6-3 and a dog-ear connector 2-6-4, one end of the L-shaped connector 2-6-2 is mounted on a swing arm mechanism, so that the fingertip camera 2-6-1 can be arranged on one side of a multi-cavity flexible finger 2-5-1 side by side, the other end of the L-shaped connector 2-6-2 is rotatably connected with one end of the rectangular connector 2-6-3 along the horizontal axial direction for fine adjustment of the posture of the fingertip camera 2-6-1 in the vertical plane, the other end of the rectangular connector 2-6-3 is rotatably connected with one end of the dog-ear connector 2-6-4 along the vertical axial direction, the fingertip camera 2-6-1 is used for fine adjustment in a horizontal plane, the fingertip camera 2-6-1 is installed on the folded angle type connecting body 2-6-4, the L-shaped connecting body 2-6-2 and the rectangular connecting body 2-6-3, and the rectangular connecting body 2-6-3 and the folded angle type connecting body 2-6-4 can be connected through screws, so that the connecting joints of the three can be adjusted in a rotating mode, and the relative position between the fingertip camera 2-6-1 and the bowl and dish 5 can be adjusted conveniently. The two-degree-of-freedom rectangular coordinate robot 2-1 comprises an upright post support type frame 2-1-1, a first electric cylinder 2-1-2, a second electric cylinder 2-1-3, a first connecting block 2-1-4, a second connecting block 2-1-5, a third connecting block 2-1-6 and a guide rod 2-1-7, wherein a cylinder body of the first electric cylinder 2-1-2 is vertically arranged on the upright post support type frame 2-1-1, a piston rod of the first electric cylinder 2-1-2 is connected with the first connecting block 2-1-4, in order to ensure the up-and-down motion stability of the first connecting block 2-1-4, the first connecting block 2-1-4 can be slidably arranged on a guide upright post of the upright post support type frame 2-1-1, a horizontally arranged guide rod 2-1-7 penetrates through the first connecting block 2-1-4, a second connecting block 2-1-5 is arranged at one end of the guide rod 2-1-7, a third connecting block 2-1-6 is arranged at the other end of the guide rod, a cylinder body of the second electric cylinder 2-1-3 is horizontally arranged on the second connecting block 2-1-5, a piston rod of the second electric cylinder 2-1-3 is connected with the first connecting block 2-1-4, and the second electric cylinder 2-1-3 is driven to move in the horizontal direction through the guide rod 2-1-7 in a telescopic motion mode. The swing arm mechanism comprises a swing arm motor 2-2, a large arm 2-3 and a small arm 2-4, wherein the swing arm motor 2-2 is installed on a connecting block III 2-1-6, a servo motor is preferably adopted, a rotating shaft of the swing arm motor 2-2 is arranged along the horizontal direction, the rotating shaft of the swing arm motor 2-2 is connected with the large arm 2-3, a coupler with a threaded hole can be specifically adopted for connection and is used for driving the large arm 2-3 to swing up and down in the vertical plane, and the small arm 2-4 is rotatably connected with the large arm 2-3 along the vertical axial direction and is used for driving a flexible finger touch module 2-5 and a tail end visual module 2-6 which are installed on the small arm 2-4 to swing left and right in the horizontal plane. The large arm 2-3 and the small arm 2-4, the small arm 2-4 and the flexible finger touch module 2-5, and the small arm 2-4 and the terminal vision module 2-6 can be connected by threads, and the positions of the flexible finger touch module 2-5 and the terminal vision module 2-6 can be adjusted by utilizing the horizontal and vertical rotating joints of the swing arm mechanism, so that the adjustment is flexible and convenient. In order to improve the automation level of dish detection, the joints of the flexible finger touch sense module 2-5 and the tail end vision module 2-6 can be controlled by a miniature servo motor, so that the relative positions of the flexible finger touch sense module 2-5 and the tail end vision module 2-6 and the dish detection curved surface can be automatically adjusted.

As shown in fig. 4, the dish loading and unloading mechanical arm 3 comprises a lifting mechanism, a two-degree-of-freedom horizontal joint robot 3-3, a turning joint 3-4 and a dish grabbing mechanism 3-5, wherein the two-degree-of-freedom horizontal joint robot 3-3 has a rotation adjusting function of two angles in the horizontal direction, the two-degree-of-freedom horizontal joint robot 3-3 is mounted on the lifting mechanism, and the lifting mechanism drives the two-degree-of-freedom horizontal joint robot 3-3 to move in the vertical direction; the bowl and dish grabbing mechanism 3-5 is arranged on the two-degree-of-freedom horizontal joint robot 3-3 through a turning joint 3-4, and the bowl and dish grabbing mechanism 3-5 is driven by the two-degree-of-freedom horizontal joint robot 3-3 and the turning joint 3-4 to grab the bowl and dish 5 to move and turn in the horizontal direction. In this embodiment, the lifting mechanism includes a second base 3-1 and a vertical hydraulic lifting cylinder 3-2, the vertical hydraulic lifting cylinder 3-2 is installed on the second base 3-1, a piston rod of the vertical hydraulic lifting cylinder 3-2 is connected with the two-degree-of-freedom horizontal joint robot 3-3, and the vertical hydraulic lifting cylinder 3-2 preferably adopts a servo hydraulic cylinder, so as to facilitate lifting position control. The two-degree-of-freedom horizontal joint robot 3-3 comprises a first joint 3-3-1 and a second joint 3-3-2, the first joint 3-3-1 is connected with a vertical lifting hydraulic cylinder 3-2, the tail end of the second joint 3-3-2 is connected with a turning joint 3-4, the first joint 3-3-1, the second joint 3-3-2 and the turning joint 3-4 are all driven by a servo motor, the first joint 3-3-1 and the second joint 3-3-2 driven by the vertical lifting hydraulic cylinder 3-2 and the servo motor can drive the bowl and dish grabbing mechanism 3-5 to vertically lift and horizontally rotate and adjust, so that the bowl and dish grabbing mechanism 3-5 can flexibly move, the turning joint 3-4 can drive the bowl and dish grabbing mechanism 3-5 to horizontally turn, thereby turning the dishes 5. In the dish feeding and discharging mechanical arm 3, the dish grabbing mechanism 3-5 comprises a telescopic cylinder 3-5-1, a grabbing pneumatic clamping jaw 3-5-2, a lifting cylinder 3-5-3, an auxiliary grabbing frame 3-5-4, a pushing cylinder 3-5-5 and a pushing rod 3-5-6, the telescopic cylinder 3-5-1 is arranged on the overturning joint 3-4, the grabbing pneumatic clamping jaw 3-5-2 is of a connecting rod type two-finger structure, the grabbing pneumatic clamping jaw 3-5-2 is connected with a piston rod of the telescopic cylinder 3-5-1, the grabbing pneumatic clamping jaw 3-5-2 is provided with two fingers which are connected by a connecting rod, the piston rod of the telescopic cylinder 3-5-1 is connected with the connecting rod, the piston rod of the telescopic cylinder 3-5-1 can control the two fingers to move through connection, so that the telescopic cylinder 3-5-1 drives the grabbing pneumatic clamping jaw 3-5-2 to open and close. The lifting cylinder 3-5-3 is arranged on the cylinder body of the telescopic cylinder 3-5-1, and a piston rod of the lifting cylinder 3-5-3 is connected with the auxiliary grabbing and placing frame 3-5-4 and is used for driving the auxiliary grabbing and placing frame 3-5-4 to move up and down; the pushing cylinder 3-5-5 is arranged at one side of the auxiliary grabbing and placing frame 3-5-4 close to the grabbing pneumatic clamping jaw 3-5-2, and the pushing rod 3-5-6 is connected with a piston rod of the pushing cylinder 3-5-5. In order to facilitate the installation of the lifting cylinder 3-5-3, the lifting cylinder 3-5-3 can be fixed by a right-angle connecting sheet 3-5-12, one end of the right-angle connecting sheet 3-5-12 is fixed on the cylinder body of the telescopic cylinder 3-5-1, and the other end is fixed on the cylinder body of the lifting cylinder 3-5-3. In the grabbing process, the lifting cylinder 3-5-3 drives the auxiliary grabbing frame 3-5-4 to be lifted, then the grabbing pneumatic clamping jaw 3-5-2 moves to the bottom of the bowl and dish 5, the telescopic cylinder 3-5-1 works to drive the grabbing pneumatic clamping jaw 3-5-2 to clamp the bottom of the bowl and dish 5, and then the lifting cylinder 3-5-3 drives the auxiliary grabbing frame 3-5-4 to be lowered to press the upper part of the bowl and dish 5, so that the bowl and dish 5 is firmly grabbed; in the process of turning over and placing bowls and dishes, the turning joint 3-4 drives the bowl and dish grabbing mechanism 3-5 to turn over for 180 degrees integrally, the auxiliary grabbing frame 3-5-4 is located at the lower part of the grabbing pneumatic clamping jaw 3-5-2 to play a role of bearing the bowls and dishes 5, after the bowls and dishes 5 move to the three-jaw chuck 1-3, the grabbing pneumatic clamping jaw 3-5-2 is loosened, the two-degree-of-freedom horizontal joint robot 3-3 drives the bowl and dish grabbing mechanism 3-5 to retreat, and meanwhile, the material pushing cylinder 3-5-5 extends out to push out the bowls and dishes 5 on the auxiliary grabbing frame 3-5-4. As a preferred embodiment, the inner side of the grabbing pneumatic clamping jaw 3-5-2 is an arc grabbing surface 3-5-7, the lower part 3-5-9 of the finger of the grabbing pneumatic clamping jaw 3-5-2 is made of rigid materials, and the upper part 3-5-8 of the finger of the grabbing pneumatic clamping jaw 3-5-2 is made of hard rubber materials, so that not only are the friction force and the flexibility ensured, but also the good adaptability to the surface of a dish is achieved, and the strength for grabbing the pneumatic clamping jaw 3-5-2 is ensured; the tail end of the auxiliary grabbing and placing frame 3-5-4 is preferably a rigid and flat five-finger radial structure 3-5-10, fingers of the five-finger radial structure 3-5-10 and the auxiliary grabbing and placing frame 3-5-4, which are consistent in central axis direction, are slightly long, and the purpose is that the final supporting and guiding effects are achieved when the dish 5 is placed on the dish clamping workbench 1 after being turned over; the center of the five-finger radial structure 3-5-10 is also provided with a circle center positioning point 3-5-11 so as to facilitate the positioning of the position when the bowls and dishes are grabbed. The material pushing rod 3-5-6 is also preferably made of hard rubber by adopting an inwards concave arc structure.

The top vision camera 1-6, the fingertip camera 2-6-1, the array electrode type touch sensor or the electronic skin are all existing products, and the action of each action execution cylinder is controlled by an electromagnetic control valve.

The embodiment also discloses a detection method of the automatic detection device for the dishes based on machine vision and touch, which comprises the following specific detection methods:

firstly, inner surface detection:

during detection, the bowl and dish 5 is clamped in place by the bowl and dish clamping mechanism, the top vision camera 1-6 takes pictures, and the roundness of the bowl opening of the bowl and dish is detected; then the dish pressing mechanism is pressed downwards to abut against the center of the bottom of the inner side of the dish 5, the flexible finger touch sense module 2-5 is attached to the inner surface of the dish 5, and the tail end vision module 2-6 moves to be above the vertical angle of the inner surface of the dish 5; then the rotating mechanism drives the bowl and dish 5 to rotate, the flexible finger touch sense module 2-5 and the tail end vision module 2-6 start to work, and the smoothness and the curved surface appearance quality of the inner surface of the bowl and dish 5 are detected; the rotating mechanism drives the bowls and dishes 5 to rotate by an angle slightly larger than 360 degrees so as to compensate the initial angle deviation in the initial rotation stage and avoid the occurrence of detection blind areas. The specific action process is as follows: the method comprises the steps that firstly, bowls and dishes 5 are clamped in place by a three-jaw chuck 1-3, a top vision camera 1-6 shoots, then a piston rod extends downwards to abut against the center of the bottom of the inner side of the bowl and dish 5 after the ejection multi-stage cylinder 1-5 is ventilated, a multi-cavity flexible finger 2-5-1 is ventilated and then is attached to the inner surface of the bowl and dish, a fingertip camera 2-6-1 moves to the position above the vertical angle of the inner surface of the bowl and dish, the bowl and dish are driven to rotate by a rotating motor 1-2, the fingertip camera 2-6-1 and a tactile sensor 2-5-2 on the inner surface of the multi-cavity flexible finger 2-5-1 start to work, and the inner surface of the bowl and dish is. Because the flexible fingers are made of super-elastic materials, when the dishes rotate, the postures of the fingers under the action of inertia and friction force are difficult to ensure to be consistent with the direction of the generatrix of the dishes, so that the angle of the dishes during rotation is slightly larger than 360 degrees, the initial angle deviation at the initial stage of rotation is compensated, and the detection blind area is avoided.

II, turning over the bowls and dishes:

when the inner surfaces of the dishes 5 are detected, the flexible finger touch sense modules 2-5 are separated from the inner surfaces of the dishes 5, the rotating mechanism drives the dishes 5 to stop rotating, the dish pressing mechanism is lifted upwards, and the flexible finger touch sense modules 2-5 and the tail end vision modules 2-6 are integrally moved to the positions above the dishes 5 through the two-degree-of-freedom rectangular coordinate robot 2-1 and/or the swing arm mechanism;

then, the two-degree-of-freedom horizontal joint robot 3-3 drives the dish grabbing mechanism 3-5 to move under the guidance of the top vision camera 1-6, so that the dish grabbing mechanism 3-5 approaches and grabs the dish 5, and the dish pressing mechanism simultaneously releases the dish 5; then, the lifting mechanism of the dish feeding and discharging mechanical arm 3 and the two-degree-of-freedom horizontal joint robot 3-3 are matched to act to move the dishes 5 to the outer side of the dish clamping workbench 1, and then the turning joint 3-4 drives the dish grabbing mechanism 3-5 to turn the dishes 5 by 180 degrees to the horizontal position, so that the turning action of the dishes is completed.

The specific action process is as follows: when the inner surfaces of the dishes 5 are detected, the multi-cavity flexible finger 2-5-1 exhausts air and straightens, then the rotating motor 1-2 stops, the ejection multi-stage cylinder 1-5 exhausts air and retracts, and the flexible finger touch module 2-5 and the tail end vision module 2-6 are integrally moved above the dishes 5 through the action of the first electric cylinder 2-1-2 or the swing arm motor 2-2; then, a grabbing pneumatic clamping jaw 3-5-2 in the dish grabbing mechanism 3-5 is opened, and then the top vision camera 1-6 guides the two-degree-of-freedom horizontal joint robot 3-3 to act, so that the dish grabbing mechanism 3-5 is close to the dish 5; a top vision camera 1-6 observes the position of the auxiliary grabbing and placing rack 3-5-4, when a circle center positioning point 3-5-11 above the auxiliary grabbing and placing rack 3-5-4 is superposed with the central point of a working table surface 1-3-1 of the three-jaw chuck 1-3, air enters from a working port at the upper part of a lifting cylinder 3-5-3, the auxiliary grabbing and placing rack 3-5-4 is pressed downwards to prop against a dish 5, then a pneumatic clamping jaw 3-5-2 is grabbed to close and grab the dish 5, and the three-jaw chuck 1-3 is loosened; the first joint 3-3-1 and the second joint 3-3-2 of the two-degree-of-freedom horizontal joint robot 3-3 act to enable the dish grabbing mechanism 3-5 to drive the dishes 5 to move to the outer side of the dish clamping workbench 1, then the turning joint 3-4 works, and the dish grabbing mechanism 3-5 drives the dishes 5 to turn 180 degrees to the horizontal position.

Thirdly, outer surface detection:

the turning bowls and dishes 5 are sent back to the bowl and dish clamping workbench 1 through the matching action of the lifting mechanism of the bowl and dish feeding and discharging mechanical arm 3 and the two-degree-of-freedom horizontal joint robot 3-3, the bowls and dishes 5 are clamped by the bowl and dish clamping mechanism, meanwhile, the top vision camera 1-6 takes pictures, and the roundness of the bowl bottoms of the bowls and dishes 5 and the quality of the bowl bottoms are taken pictures and detected; then the dish pressing mechanism is downwards propped against the center of the bottom of the outer side of the dish 5, the flexible finger touch sense modules 2-5 are attached to the outer surface of the dish 5, and the tail end vision modules 2-6 move to be above the vertical angle of the outer surface of the dish 5 and are parallel to a generatrix of the detection curved surface; then the rotating mechanism drives the bowl and dish 5 to rotate, and the flexible finger touch sense module 2-5 and the tail end vision module 2-6 detect the smoothness and the curved surface appearance quality of the outer surface of the bowl and dish 5; the rotating mechanism drives the bowls and dishes 5 to rotate by an angle which is also larger than 360 degrees, so that a detection blind area is avoided.

The specific action process is as follows: the bowls and dishes 5 are sent back to the three-jaw chuck 1-3 through the two-degree-of-freedom horizontal joint robot 3-3, and the auxiliary grabbing and placing rack 3-5-4 is guided to enter through the tool inlet groove 1-3-4; when the auxiliary grabbing and placing frame 3-5-4 moves to the innermost side of the tool inlet groove 1-3-4, the grabbing pneumatic clamping jaws 3-5-2 are loosened, the material pushing cylinder 3-5-5 is ventilated, so that the dish 5 is slowly pushed onto the workbench by the material pushing rod 3-5-6, the dish is stably put down, and at the moment, the three clamping pneumatic clamping jaws 1-3-2 play a primary limiting role; when the pusher bar 3-5-6 is moved to the end, the dish gripping mechanism 3-5 is withdrawn from the work bench and the three-jaw chuck 1-3 grips the dishes 5. The action of detection of the surface of the dishes 5 is then repeated. The postures of the flexible finger tactile modules 2-5 and the terminal vision modules 2-6 need to be readjusted because the inner and outer detection curved surfaces of the dish 5 are changed.

Fourthly, feeding bowls and dishes:

after the outer surfaces of the bowls and dishes 5 are detected, the bowls and dishes 5 are moved to the conveying mechanism 4 by the bowl and dish feeding and discharging mechanical arm 3 to be fed into the subsequent process. The specific dish grabbing action is similar to the dish turning action.

In the above detection method, in order to improve the working efficiency, two sets of automatic dish detection devices based on machine vision and touch sense are preferably provided, one set of automatic dish detection device is used for detecting the inner surfaces of dishes, the other set of automatic dish detection device is used for detecting the outer surfaces of the dishes, and the two sets of automatic dish detection devices realize the transfer of the dishes 5 between the two detection stations through the conveying mechanism 4. Therefore, when the same type of product is detected, the postures of the sexual finger touch module 2-5 and the tail end vision module 2-6 do not need to be adjusted repeatedly, and the new product is manually debugged in place every time when being initially debugged.

The utility model discloses a bowl dish automatic checkout device based on machine vision and sense of touch can be used for the detection of bowl dish and other similar work piece curved surfaces. When in detection, the three-jaw chuck clamps the bowl and dish in place, and the top vision camera shoots the dish to detect the roundness of the bowl opening and the bowl bottom of the bowl and the quality of the bowl bottom; then the material ejecting multi-stage cylinder props against the bowl and dish, the flexible finger is attached to the inner surface of the bowl and dish after ventilation, the fingertip camera moves to the position above the vertical angle of the inner surface of the bowl and dish, the rotary motor drives the bowl and dish to rotate, the fingertip camera and the touch sensor on the inner surface of the flexible finger start to work to obtain depth information, and whether the surfaces of the bowl and dish are uniform, have unglazed shifts or have defects is detected through fusion of vision and touch information. The utility model discloses a bowl dish automatic checkout device can adapt to the bowl dish surface quality detection of different diameters, height and different gradients. Has the following advantages:

The present invention and its embodiments have been described above schematically, and the description is not intended to be limiting, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without creatively designing the similar structural modes and embodiments to the technical solutions, they should belong to the protection scope of the present invention.

Claims

1. The utility model provides a bowl dish automatic checkout device based on machine vision and sense of touch which characterized in that: the dish clamping device comprises a dish clamping workbench (1), a machine vision and touch integrated detection mechanism (2), a dish feeding and discharging mechanical arm (3) and a conveying mechanism (4), wherein the machine vision and touch integrated detection mechanism (2) and the dish feeding and discharging mechanical arm (3) are respectively arranged on two sides of the dish clamping workbench (1), the dish feeding and discharging mechanical arm (3) is used for taking and placing dishes (5) on the dish clamping workbench (1), the machine vision and touch integrated detection mechanism (2) is used for detecting the dishes (5) on the dish clamping workbench (1), and the conveying mechanism (4) is arranged on one side of the dish feeding and discharging mechanical arm (3) and is used for conveying the dishes (5); wherein the content of the first and second substances,

the dish clamping workbench (1) comprises a rotating mechanism, a dish clamping mechanism, a dish pressing mechanism and a top vision camera (1-6), wherein the dish clamping mechanism is arranged on the rotating mechanism and used for driving dishes (5) on the dish clamping mechanism to rotate; the dish pressing mechanism is arranged right above the dish clamping mechanism and used for pressing the dishes (5) on the dish clamping mechanism to prevent the dishes (5) from jumping in the vertical direction; the top vision camera (1-6) is arranged above the dish clamping mechanism and is used for photographing and detecting the roundness of the opening or bottom of the dish (5) and the quality of the inner surface and the outer surface of the bottom of the dish;

the machine vision and touch integrated detection mechanism (2) comprises a two-degree-of-freedom rectangular coordinate robot (2-1), a swing arm mechanism, a flexible finger touch module (2-5) and a tail end vision module (2-6), wherein the swing arm mechanism is arranged on the two-degree-of-freedom rectangular coordinate robot (2-1), and the two-degree-of-freedom rectangular coordinate robot (2-1) drives the swing arm mechanism to move in the horizontal and vertical directions; the flexible finger touch sense modules (2-5) and the tail end vision modules (2-6) are respectively arranged at the tail ends of the swing arm mechanisms, and the swing arm mechanisms are used for adjusting the inclination angles and the positions of the flexible finger touch sense modules (2-5) and the tail end vision modules (2-6) relative to the dishes (5); the flexible finger touch sense module (2-5) is used for being attached to the surface of the dish (5) to detect the smoothness of the surface of the dish (5); the tail end vision module (2-6) is used for detecting the appearance quality of the inner and outer curved surfaces of the dish (5);

the dish feeding and discharging mechanical arm (3) comprises a lifting mechanism, a two-degree-of-freedom horizontal joint robot (3-3), a turning joint (3-4) and a dish grabbing mechanism (3-5), wherein the two-degree-of-freedom horizontal joint robot (3-3) is arranged on the lifting mechanism, and the lifting mechanism drives the two-degree-of-freedom horizontal joint robot (3-3) to move in the vertical direction; the dish grabbing mechanism (3-5) is arranged on the two-degree-of-freedom horizontal joint robot (3-3) through a turning joint (3-4), and the two-degree-of-freedom horizontal joint robot (3-3) and the turning joint (3-4) drive the dish grabbing mechanism (3-5) to grab the dishes (5) to move and turn in the horizontal direction.

2. The automatic dish detecting device based on machine vision and touch sense according to claim 1, characterized in that: in the bowl and dish clamping workbench (1), the bowl and dish clamping mechanism is a three-jaw chuck (1-3), the three-jaw chuck (1-3) comprises a working table top (1-3-1), a clamping pneumatic clamping jaw (1-3-2) and a material ejecting block (1-3-5), the upper plane of the working table top (1-3-1) is provided with three rectangular grooves (1-3-3) which are equally distributed along the circumferential direction, each rectangular groove (1-3-3) is internally provided with a clamping pneumatic clamping jaw (1-3-2), the tail end of each clamping pneumatic clamping jaw (1-3-2) is provided with a material ejecting block (1-3-5), and the tail end of each material ejecting block (1-3-5) is of an inwards concave arc structure (1-3-6); one side of the upper plane of the working table top (1-3-1) is also provided with a tool inlet groove (1-3-4) which is convenient for the bowl and dish gripping mechanism (3-5) to extend into.

3. The automatic dish detecting device based on machine vision and touch sense according to claim 2, characterized in that: the rotating mechanism comprises a first base (1-1) and a rotating motor (1-2), the rotating motor (1-2) is fixedly arranged on the first base (1-1), and an output shaft of the rotating motor (1-2) is connected with a three-jaw chuck (1-3) through a coupling (1-4); the dish pressing mechanism is arranged above the dish clamping mechanism through an upright post bracket (1-7) fixed on the base I (1-1), and comprises a material ejecting multi-stage cylinder (1-5) and a pressing rod, the material ejecting multi-stage cylinder (1-5) is fixed on the upright post bracket (1-7), the pressing rod is arranged on a piston rod of the material ejecting multi-stage cylinder (1-5), and the lower end of the pressing rod adopts a spherical structure (1-5-3).

4. The automatic dish detecting device based on machine vision and touch sense according to claim 1, characterized in that: in the machine vision and touch integrated detection mechanism (2), the flexible finger touch module (2-5) comprises a multi-cavity flexible finger (2-5-1), a touch sensor (2-5-2) and a finger connector (2-5-3), the upper part of the multi-cavity flexible finger (2-5-1) is provided with a plurality of tooth-shaped cavities, the touch sensor (2-5-2) is arranged at the lower part of the multi-cavity flexible finger (2-5-1), the multi-cavity flexible finger (2-5-1) is arranged on the swing arm mechanism through the finger connector (2-5-3), the finger connector (2-5-3) is provided with an air inlet (2-5-4) communicated with the multi-cavity flexible finger (2-5-1), the touch sensor (2-5-2) is an array electrode or an electronic skin; the terminal vision module (2-6) comprises a fingertip camera (2-6-1), an L-shaped connector (2-6-2), a rectangular connector (2-6-3) and a bevel connector (2-6-4), one end of the L-shaped connector (2-6-2) is mounted on the swing arm mechanism, the other end of the L-shaped connector (2-6-2) is rotatably connected with one end of the rectangular connector (2-6-3) along the horizontal axial direction for finely adjusting the posture of the fingertip camera (2-6-1) in the vertical plane, the other end of the rectangular connector (2-6-3) is rotatably connected with one end of the bevel connector (2-6-4) along the vertical axial direction, the fingertip camera (2-6-1) is used for fine adjustment in the horizontal plane, and the fingertip camera (2-6-1) is installed on the folded angle type connecting body (2-6-4).

5. The automatic detection device for dishes based on machine vision and touch according to claim 4, characterized in that: the two-degree-of-freedom rectangular coordinate robot (2-1) comprises an upright post bracket type frame (2-1-1), a first electric cylinder (2-1-2), a second electric cylinder (2-1-3), a first connecting block (2-1-4), a second connecting block (2-1-5), a third connecting block (2-1-6) and a guide rod (2-1-7), wherein a cylinder body of the first electric cylinder (2-1-2) is vertically arranged on the upright post bracket type frame (2-1-1), a piston rod of the first electric cylinder (2-1-2) is connected with the first connecting block (2-1-4), the first connecting block (2-1-4) is provided with the horizontally arranged guide rod (2-1-7) in a penetrating manner, one end of the guide rod (2-1-7) is provided with a second connecting block (2-1-5), the other end of the guide rod is provided with a third connecting block (2-1-6), the cylinder body of the second electric cylinder (2-1-3) is horizontally arranged on the second connecting block (2-1-5), and the piston rod of the second electric cylinder (2-1-3) is connected with the first connecting block (2-1-4); the swing arm mechanism comprises a swing arm motor (2-2), a large arm (2-3) and a small arm (2-4), the swing arm motor (2-2) is installed on a connecting block III (2-1-6), a rotating shaft of the swing arm motor (2-2) is arranged along the horizontal direction, the rotating shaft of the swing arm motor (2-2) is connected with the large arm (2-3) and used for driving the large arm (2-3) to swing up and down in the vertical plane for adjustment, and the small arm (2-4) is rotatably connected with the large arm (2-3) along the vertical axial direction and used for driving a flexible finger touch module (2-5) and a terminal vision module (2-6) installed on the small arm (2-4) to swing left and right in the horizontal plane for adjustment.

6. The automatic dish detecting device based on machine vision and touch sense according to claim 1, characterized in that: in the bowl and dish feeding and discharging mechanical arm (3), the bowl and dish grabbing mechanism (3-5) comprises a telescopic cylinder (3-5-1), a grabbing pneumatic clamping jaw (3-5-2), a lifting cylinder (3-5-3), an auxiliary grabbing and placing frame (3-5-4), a material pushing cylinder (3-5-5) and a material pushing rod (3-5-6), the telescopic cylinder (3-5-1) is arranged on the turnover joint (3-4), the grabbing pneumatic clamping jaw (3-5-2) is of a connecting rod type two-finger structure, the grabbing pneumatic clamping jaw (3-5-2) is connected with a piston rod of the telescopic cylinder (3-5-1), the gripping pneumatic clamping jaw is used for driving the gripping pneumatic clamping jaw (3-5-2) to open and close through the telescopic cylinder (3-5-1); the lifting cylinder (3-5-3) is arranged on the cylinder body of the telescopic cylinder (3-5-1), and a piston rod of the lifting cylinder (3-5-3) is connected with the auxiliary grabbing and placing frame (3-5-4) and is used for driving the auxiliary grabbing and placing frame (3-5-4) to move up and down; the pushing cylinder (3-5-5) is arranged on one side, close to the grabbing pneumatic clamping jaw (3-5-2), of the auxiliary grabbing and placing frame (3-5-4), and the pushing rod (3-5-6) is connected with a piston rod of the pushing cylinder (3-5-5).

7. The automatic detection device for dishes based on machine vision and touch according to claim 6, characterized in that: the inner side of the grabbing pneumatic clamping jaw (3-5-2) is provided with an arc grabbing surface (3-5-7), the lower part (3-5-9) of a finger grabbing the pneumatic clamping jaw (3-5-2) is made of rigid material, and the upper part (3-5-8) of the finger grabbing the pneumatic clamping jaw (3-5-2) is made of hard rubber material; the tail end of the auxiliary grabbing and placing frame (3-5-4) is a rigid and flat five-finger radial structure (3-5-10), fingers of the five-finger radial structure (3-5-10) and the auxiliary grabbing and placing frame (3-5-4) are slightly long, and a circle center positioning point (3-5-11) is further arranged in the center of the five-finger radial structure (3-5-10).

8. The automatic dish detecting device based on machine vision and touch sense according to claim 7, wherein: the lifting mechanism comprises a second base (3-1) and a vertical lifting hydraulic cylinder (3-2), the vertical lifting hydraulic cylinder (3-2) is arranged on the second base (3-1), a piston rod of the vertical lifting hydraulic cylinder (3-2) is connected with the two-degree-of-freedom horizontal joint robot (3-3), and the vertical lifting hydraulic cylinder (3-2) adopts a servo hydraulic cylinder; the two-degree-of-freedom horizontal joint robot (3-3) comprises a first joint (3-3-1) and a second joint (3-3-2), the first joint (3-3-1) is connected with the vertical lifting hydraulic cylinder (3-2), the tail end of the second joint (3-3-2) is connected with the overturning joint (3-4), and the first joint (3-3-1) and the second joint (3-3-2) are driven by servo motors.