CN214201212U - Multi-robot cooperative workpiece flaw detection system - Google Patents
Multi-robot cooperative workpiece flaw detection system Download PDFInfo
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- CN214201212U CN214201212U CN202022773739.XU CN202022773739U CN214201212U CN 214201212 U CN214201212 U CN 214201212U CN 202022773739 U CN202022773739 U CN 202022773739U CN 214201212 U CN214201212 U CN 214201212U
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Abstract
The utility model relates to the technical field of workpiece flaw detection equipment, in particular to a multi-robot cooperative workpiece flaw detection system, which comprises an electric cabinet, a camera industrial control cabinet, a pedal and a grid plate, wherein the electric cabinet is used for robot control; the grid plates are fixedly spliced with each other to form a workpiece flaw detection platform, the detection platform is divided into a plurality of compartments by the grid plates, and a peripheral protective fence is fixedly welded on the periphery of the detection platform; a passageway is reserved between the mutually spliced grid plates, and an anti-skid pedal is fixedly installed on the ground of the passageway; a robot for workpiece flaw detection is arranged in a compartment in the center of the detection platform, a paw is arranged at the wrist of the robot, the left end of the paw is a two-finger paw for grabbing the material frame, and the right end of the paw is a three-finger paw for grabbing a detected workpiece; a plurality of workpiece overturning units for overturning and detecting workpieces are arranged in the front compartment of the detection platform side by side. The application has high detection efficiency and better practical value and popularization value.
Description
Technical Field
The utility model relates to a work piece flaw detection equips technical field, concretely relates to work piece flaw detection system of many robots cooperation.
Background
At present, in the domestic machining industry, most enterprises do not require flaw detection on workpieces, and the flaw detection is only required under the condition that the workpieces have higher standards. The technology is used for detecting defects of a stator workpiece and a rotor workpiece of a certain enterprise, and therefore the technology is critical to the casting complexity of the workpieces and the application occasions of the workpieces. The scenario at the customer is: each workpiece is manually detected, the efficiency is extremely low, the judgment standards are inconsistent, and fine places are difficult to judge by human eyes.
Based on the foregoing, this technique adopts automatic scheme, and perfect solution manual detection mode exists not enough and defect, the utility model provides a many robots work piece flaw detecting system that cooperates through industrial camera and detecting system's automated design, realizes that the intelligent of work piece flaw detects and high-efficient flaw detects the judgement, finally reaches the detection effect of ideal.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a: aiming at the problems existing at present, the workpiece flaw detection system with the cooperation of multiple robots is provided, the intelligent detection and efficient flaw detection judgment of workpiece flaws are realized through the automatic design of an industrial camera and a detection system, and finally an ideal detection effect is achieved.
In order to realize the purpose, the utility model discloses a technical scheme is:
a multi-robot cooperative workpiece flaw detection system comprises an electric cabinet, a camera industrial control cabinet, pedals and a grid plate, wherein the electric cabinet is used for robot control; the grid plates are fixedly spliced with each other to form a workpiece flaw detection platform, the detection platform is divided into a plurality of compartments by the grid plates, and a peripheral protective fence is fixedly welded on the periphery of the detection platform; a passageway is reserved between the mutually spliced grid plates, and an anti-skid pedal is fixedly installed on the ground of the passageway; a robot for workpiece flaw detection is arranged in a compartment in the center of the detection platform, a paw is arranged at the wrist of the robot, the left end of the paw is a two-finger paw for grabbing the material frame, and the right end of the paw is a three-finger paw for grabbing a detected workpiece; a plurality of workpiece overturning units for overturning and detecting workpieces are arranged in parallel in a front compartment of the detection platform; the rear portion left side compartment of testing platform is provided with material frame buffer table, and the compartment position on material frame buffer table right side extends backward to arrange installs the feeding way, and the feeding way right side is installed and is gone up the unloading way.
Preferably, the peripheral protective guard is formed by connecting a plurality of steel pipes, and the distance between the inner side of the peripheral protective guard and the edge of the detection platform is 5cm-10 cm. The peripheral protective guard is used for preventing external devices or freight trolleys and the like from impacting the detection platform and causing adverse effects on the working of the platform.
Preferably, the upper surface of the antiskid pedal is provided with a plurality of cylindrical antiskid nails protruding outwards, and the antiskid pedal is fixedly installed on the passageway of the grid plate through bolts. Greasy dirt or water and the like spilled in the process of carrying and detecting workpieces easily cause ground lubrication, and the antiskid plate is adopted to avoid the safety problem caused by people sliding down on the passageway.
Preferably, a support is fixedly arranged on the bottom surface of the grid plate, and the grid plate is fixedly connected with the support through bolts; the bottom surface of the support is fixedly provided with a plurality of square or round supporting columns with equal length, and the upper part of the support is fixedly welded with a steel plate. A reading compartment is arranged on the grid plate, and a plurality of robots can be installed in the compartment as required to perform coordination work.
Preferably, the workpiece overturning unit comprises an overturning platform, a plurality of mounting support legs are arranged at the bottom of the overturning platform in an array mode, and a workpiece caching station is fixedly arranged on the right side of the upper part of the overturning platform; the top of the overturning platform is provided with an overturning station for adjusting the posture of the workpiece blank; the annular array all around of upset station is provided with a plurality of air-blast devices that are used for clearing up piece impurity, and the left side fixed mounting of upset station has the detection sensor that is used for detecting the work piece and has or not. The detection sensor is used for judging whether the workpiece exists or not, so that the external control system can judge whether workpiece flaw detection is carried out on the workpiece overturning unit, and the overall intelligent degree can be improved.
Preferably, the robot comprises a mechanical arm, a protective cover and a mounting base; the arm includes mutual joint connection's forearm and postbrachium, and the postbrachium lower extreme is rotatable installs on the installation base, and the protection casing is installed on installation base upper portion, just hand claw fixed mounting is in the front end wrist position of forearm, and hand claw internally mounted has the industry camera that is used for shooing and detects workpiece surface appearance, and the camera lens fixed mounting of industry camera has the light source that is used for the illumination light filling. The flaws on the surface of the workpiece are photographed through the industrial camera, the data are transmitted to the external judgment and detection system for image recognition, whether flaws exist on the surface of the workpiece or not is judged, and the detection efficiency is improved.
Preferably, the material frame caching platform comprises a shading room and a code reader, a plurality of supporting legs are fixedly welded at the bottom of the shading room, and the supporting legs are fixedly arranged on the grid plate through bolts in the shading room; a square plate is fixedly installed inside the shading room, supporting columns are vertically and fixedly installed at 4 corner positions of the square plate, and rotatable spherical heads are embedded and installed inside the top ends of the supporting columns; a rotary cylinder is fixedly arranged in the middle of the top surface of the square plate, a horizontally placed material frame supporting plate is fixedly arranged at the upper part of the rotary cylinder, and the bottom surface of the material frame supporting plate is contacted with the spherical head; and a code reader is fixedly arranged on the inner wall surface of the shading room on the right side of the material frame supporting plate. The code reader is used for reading the RFID code on the material frame and judging whether the workpiece in the current material frame is the required workpiece.
Preferably, the front end of the feeding channel is connected with the detection platform, and the rear end of the feeding channel is provided with a butt joint end which is convenient to be connected with an external material channel; square flanges are symmetrically arranged at two sides of the feeding channel, and a plurality of rollers are rotatably arranged between the square flanges; a first relay box is fixedly installed on the left side of the front end of the feeding channel, a supporting platform is fixedly installed above the relay box, and a first button box used for controlling the working state of the feeding channel is fixedly installed on the supporting platform; the four corners of the feeding channel are fixedly welded with square supporting legs, and the lower layer of the feeding channel is provided with a lower layer supporting platform for placing a material frame and a workpiece. The first button box functions as: 1) when manual debugging is carried out, independent operation of each moving part can be ensured; 2) has an emergency stop button; 3) after the manual logistics debugging action is finished, the automatic state is switched to, and then the automatic mode can be entered. The first relay box has the functions of: the method comprises the following steps that all electric elements of a logistics merchant are connected to wiring terminals inside the logistics merchant in a centralized mode and then connected to a control electric cabinet through a whole wire; the wiring is neat, and the cable installation has fast plug-in nature.
Preferably, the upper and lower material channels comprise an upper material channel for outputting empty material frames and a lower material channel for inputting material frames; flanges are fixedly arranged on two sides of the upper-layer object flow passage and the lower-layer object flow passage, and rotatable rollers are arranged between the flanges; the front end of the upper-layer material flow passage is an empty material frame placing end, and the front end of the lower-layer material flow passage is a material frame grabbing end; the rear end of the lower-layer object flow channel is provided with a blocking device for limiting the material frame; a second button box is fixedly welded on the right side of the rear end of the feeding and discharging channel, and a second relay box is fixedly installed below the second button box; square supporting legs are fixedly arranged on both sides of the feeding and discharging channel; the flanges on the two sides of the upper-layer material flow passage and the lower-layer material flow passage are fixedly provided with cylindrical stop rods, and the rear ends of the upper-layer material flow passage and the lower-layer material flow passage are provided with butt joint ends used for connecting other material passages. The second button box functions as: 1) when manual debugging is carried out, independent operation of each moving part can be ensured; 2) has an emergency stop button; 3) after the manual logistics debugging action is finished, the automatic state is switched to, and then the automatic mode can be entered. The second relay box has the functions of: the method comprises the following steps that all electric elements of a logistics merchant are connected to wiring terminals inside the logistics merchant in a centralized mode and then connected to a control electric cabinet through a whole wire; the wiring is neat, and the cable installation has fast plug-in nature.
Since the technical scheme is used, the beneficial effects of the utility model are that:
on the one hand, the utility model discloses a detection efficiency is all higher with the detection precision, does benefit to the inefficiency and the detection error problem that effectively avoid artifical the detection to cause, can improve the detection precision, reduces the emergence probability of the artificial detection error condition.
On the other hand, the utility model discloses a whole intelligent degree of detecting system and degree of automation are higher, and the system can install many robots as required and write the detection, has better practical value and popularization and application and worth.
On the other hand, the utility model discloses a detecting system compact structure does benefit to and saves the labour with the help of robot operation transport work piece, has the effect that reduces labour consumption and save labour cost, detects and produces economic benefits and have positive impetus to improving the casting work piece.
Drawings
Fig. 1 is a schematic view of the overall arrangement structure of the detection system of the present invention;
FIG. 2 is a schematic top view of the grid plate of the present invention;
FIG. 3 is a schematic structural view of a workpiece turning unit according to the present invention;
fig. 4 is a schematic structural view of the robot of the present invention;
fig. 5 is a schematic structural view of a material frame buffer platform of the present invention;
fig. 6 is a front view of the material frame buffer table of the present invention;
FIG. 7 is a schematic view of the structure of the feeding channel of the present invention;
fig. 8 is a schematic view of the structure of the feeding and discharging channel of the present invention.
In the figure: 1. an electric cabinet; 2. a camera work control cabinet; 3. a peripheral guard rail; 4. an anti-skid pedal; 5. A grid plate; 6. a workpiece overturning unit; 61. an air blowing device; 62. a detection sensor; 63. turning over the station; 64. a workpiece caching station; 65. a turning table; 7. a robot; 71. a mechanical arm; 72. a concentrated wire box; 73. a protective cover; 74. installing a base; 8. a material frame buffer storage platform; 81. A shading room; 82. a code reader; 83. a support pillar; 84. a rotating cylinder; 9. a feeding channel; 91. A first button box; 92. a first relay box; 93. a drum; 94. a butt joint end; 10. a feeding channel and a discharging channel; 101. an empty material frame placing end; 102. a stop lever; 103. a material frame grabbing end; 104. a blocking device; 105. a relay box; 106. a second button box.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the accompanying drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solution in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, rather than all embodiments, based on the embodiments in the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the scope of the present invention.
Example 1, as shown in figures 1-8:
a multi-robot 7 cooperation workpiece flaw detection system comprises an electric cabinet 1, a camera industrial control cabinet 2, a pedal and a grid plate 5, wherein the electric cabinet 1 is used for controlling a robot 7; the grid plates 5 are fixedly spliced with each other to form a workpiece flaw detection platform, the detection platform is divided into a plurality of compartments by the grid plates 5, and the periphery of the detection platform is fixedly welded with a peripheral protective guard 3; a passageway is reserved between the grid plates 5 which are spliced with each other, and an anti-skid pedal 4 is fixedly arranged on the ground of the passageway; a robot 7 for workpiece flaw detection is arranged in a compartment in the center of the detection platform, a paw is arranged at the wrist of the robot 7, the left end of the paw is a two-finger paw for grabbing the material frame, and the right end of the paw is a three-finger paw for grabbing a detected workpiece; a plurality of workpiece overturning units 6 for overturning and detecting workpieces are arranged in parallel in a front compartment of the detection platform; the rear portion left side compartment of testing platform is provided with material frame buffer stage 8, and the compartment position on material frame buffer stage 8 right side extends backward to arrange installs feeding way 9, and feeding way 10 is gone up and down installed on feeding way 9 right side.
Preferably, the peripheral protective guard 3 is formed by connecting a plurality of steel pipes, and the distance between the inner side of the peripheral protective guard 3 and the edge of the detection platform is 5cm-10 cm. The peripheral guard rail 3 is used for preventing external devices or freight trolleys and the like from impacting the detection platform and causing adverse effects on the working of the platform.
Preferably, the upper surface of the antiskid pedal 4 is provided with a plurality of cylindrical antiskid nails protruding outwards, and the antiskid pedal 4 is fixedly installed on the passageway of the grid plate 5 through bolts. Greasy dirt or water and the like spilled in the process of carrying and detecting workpieces easily cause ground lubrication, and the antiskid plate is adopted to avoid the safety problem caused by people sliding down on the passageway.
Preferably, a support is fixedly arranged on the bottom surface of the grid plate 5, and the grid plate 5 is fixedly connected with the support through bolts; the bottom surface of the support is fixedly provided with a plurality of square or round supporting columns with equal length, and the upper part of the support is fixedly welded with a steel plate. The grid plate 5 is provided with a reading compartment, and a plurality of robots 7 can be installed in the reading compartment to perform coordination work according to needs.
Preferably, the workpiece turnover unit 6 comprises a turnover table 65, a plurality of mounting legs are mounted at the bottom of the turnover table 65 in an array manner, and a workpiece caching station 64 is fixedly mounted on the right side of the upper part of the turnover table 65; the top of the overturning platform 65 is provided with an overturning station 63 for adjusting the posture of the workpiece blank; the periphery of the turning station 63 is provided with a plurality of air blowing devices 61 for cleaning debris and impurities in an annular array manner, and the left side of the turning station 63 is fixedly provided with a detection sensor 62 for detecting whether a workpiece exists or not. The detection sensor 62 is used for judging whether a workpiece exists or not, so that the external control system can judge whether workpiece flaw detection is carried out on the position of the workpiece overturning unit 6 or not, and the overall intelligent degree can be improved.
Preferably, the robot 7 comprises a mechanical arm 71, a protective cover 73 and a mounting base 74; arm 71 includes mutual joint connection's forearm and postbrachium, and the postbrachium lower extreme is rotatable installs on installation base 74, and protection casing 73 is installed on installation base 74 upper portion, just hand claw fixed mounting is in the front end wrist position of forearm, and hand claw internally mounted has the industry camera that is used for shooing and detects workpiece surface topography, and the camera lens fixed mounting of industry camera has the light source that is used for the illumination light filling. The flaws on the surface of the workpiece are photographed through the industrial camera, the data are transmitted to the external judgment and detection system for image recognition, whether flaws exist on the surface of the workpiece or not is judged, and the detection efficiency is improved.
Preferably, the material frame buffer station 8 comprises a shading room 81 and a code reader 82, a plurality of support legs are fixedly welded at the bottom of the shading room 81, and the support legs are fixedly arranged on the grid plate 5 by the shading room 81 through bolts; a square plate is fixedly installed inside the shading room 81, supporting columns 83 are vertically and fixedly installed at 4 corner positions of the square plate, and rotatable spherical heads are installed inside the top ends of the supporting columns 83 in an embedded mode; a rotary cylinder 84 is fixedly arranged in the middle of the top surface of the square plate, a horizontally placed material frame supporting plate is fixedly arranged at the upper part of the rotary cylinder 84, and the bottom surface of the material frame supporting plate is contacted with the spherical head; a code reader 82 is fixedly arranged on the inner wall surface of the shading room 81 on the right side of the material frame supporting plate. The code reader 82 is used for reading the RFID code on the frame and determining whether the workpiece in the current frame is the required workpiece.
Preferably, the front end of the feeding channel 9 is connected with a detection platform, and the rear end of the feeding channel 9 is provided with a butt joint end 94 convenient for being connected with an external material channel; square flanges are symmetrically arranged at two sides of the feeding channel 9, and a plurality of rollers 93 are rotatably arranged between the square flanges; a first relay box 10592 is fixedly arranged on the left side of the front end of the feeding channel 9, a support table is fixedly arranged above the relay box 105, and a first button box 91 for controlling the working state of the feeding channel 9 is fixedly arranged on the support table; the four corners of the feeding channel 9 are fixedly welded with square supporting legs, and the lower layer of the feeding channel 9 is provided with a lower layer supporting platform for placing a material frame and a workpiece. The first button box 91 functions to: 1) when manual debugging is carried out, independent operation of each moving part can be ensured; 2) has an emergency stop button; 3) after the manual logistics debugging action is finished, the automatic state is switched to, and then the automatic mode can be entered. The first relay box 10592 functions to: the electric elements of the logistics trader are connected on the wiring terminals in the logistics trader in a centralized way, and then the whole wiring is connected on the control electric cabinet 1; the wiring is neat, and the cable installation has fast plug-in nature.
Preferably, the upper and lower material channels 10 include an upper material channel for outputting empty material frames and a lower material channel for inputting material frames; flanges are fixedly arranged on two sides of the upper-layer object flow passage and the lower-layer object flow passage, and rotatable rollers 93 are arranged between the flanges; the front end of the upper-layer material flow channel is an empty material frame placing end 101, and the front end of the lower-layer material flow channel is a material frame grabbing end 103; the rear end of the lower-layer object flow channel is provided with a blocking device 104 for limiting the material frame; a second button box 106 is fixedly welded on the right side of the rear end of the feeding and discharging channel 10, and a second relay box 105 is fixedly installed below the second button box 106; square supporting legs are fixedly arranged on both sides of the feeding and discharging channel 10; the flanges at the two sides of the upper layer material flow passage and the lower layer material flow passage are fixedly provided with cylindrical stop rods 102, and the rear ends of the upper layer material flow passage and the lower layer material flow passage are provided with butt joint ends 94 for connecting other material passages. The second button box 106 functions to: 1) when manual debugging is carried out, independent operation of each moving part can be ensured; 2) has an emergency stop button; 3) after the manual logistics debugging action is finished, the automatic state is switched to, and then the automatic mode can be entered. The second relay box 105 functions as: the electric elements of the logistics trader are connected on the wiring terminals in the logistics trader in a centralized way, and then the whole wiring is connected on the control electric cabinet 1; the wiring is neat, and the cable installation has fast plug-in nature.
Since the technical scheme is used, the beneficial effects of the utility model are that:
on the one hand, the utility model discloses a detection efficiency is all higher with the detection precision, does benefit to the inefficiency and the detection error problem that effectively avoid artifical the detection to cause, can improve the detection precision, reduces the emergence probability of the artificial detection error condition.
On the other hand, the utility model discloses a whole intelligent degree of detecting system and degree of automation are higher, and the system can install many robots 7 as required and write the detection, has better practical value and popularization and application and worth.
On the other hand, the utility model discloses a detecting system compact structure does benefit to and saves the labour with the help of 7 operation transport work pieces of robot, has the effect that reduces labour consumption and save labour's cost, detects and produces economic benefits and have positive impetus to improving the casting work piece.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a many robots work piece flaw detection system that cooperates which characterized in that: the system comprises an electric cabinet, a camera industrial control cabinet, a pedal and a grid plate, wherein the electric cabinet is used for controlling a robot; the grid plates are fixedly spliced with each other to form a workpiece flaw detection platform, the detection platform is divided into a plurality of compartments by the grid plates, and a peripheral protective fence is fixedly welded on the periphery of the detection platform; a passageway is reserved between the mutually spliced grid plates, and an anti-skid pedal is fixedly installed on the ground of the passageway; a robot for workpiece flaw detection is arranged in a compartment in the center of the detection platform, a paw is arranged at the wrist of the robot, the left end of the paw is a two-finger paw for grabbing the material frame, and the right end of the paw is a three-finger paw for grabbing a detected workpiece; a plurality of workpiece overturning units for overturning and detecting workpieces are arranged in parallel in a front compartment of the detection platform; the rear portion left side compartment of testing platform is provided with material frame buffer table, and the compartment position on material frame buffer table right side extends backward to arrange installs the feeding way, and the feeding way right side is installed and is gone up the unloading way.
2. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the peripheral protective guard is formed by connecting a plurality of steel pipes, and the distance between the inner side of the peripheral protective guard and the edge of the detection platform is 5cm-10 cm.
3. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the upper surface of the antiskid pedal is provided with a plurality of cylindrical antiskid nails protruding outwards, and the antiskid pedal is fixedly installed on the passageway of the grid plate through bolts.
4. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the bottom surface of the grid plate is fixedly provided with a bracket, and the grid plate is fixedly connected with the bracket through bolts; the bottom surface of the support is fixedly provided with a plurality of square or round supporting columns with equal length, and the upper part of the support is fixedly welded with a steel plate.
5. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the workpiece overturning unit comprises an overturning platform, a plurality of mounting support legs are arranged at the bottom of the overturning platform in an array mode, and a workpiece caching station is fixedly arranged on the right side of the upper part of the overturning platform; the top of the overturning platform is provided with an overturning station for adjusting the posture of the workpiece blank; the annular array all around of upset station is provided with a plurality of air-blast devices that are used for clearing up piece impurity, and the left side fixed mounting of upset station has the detection sensor that is used for detecting the work piece and has or not.
6. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the robot comprises a mechanical arm, a protective cover and a mounting base; the arm includes mutual joint connection's forearm and postbrachium, and the postbrachium lower extreme is rotatable installs on the installation base, and the protection casing is installed on installation base upper portion, just hand claw fixed mounting is in the front end wrist position of forearm, and hand claw internally mounted has the industry camera that is used for shooing and detects workpiece surface appearance, and the camera lens fixed mounting of industry camera has the light source that is used for the illumination light filling.
7. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the material frame caching platform comprises a shading room and a code reader, wherein a plurality of supporting legs are fixedly welded at the bottom of the shading room, and the supporting legs are fixedly arranged on the grid plate through bolts in the shading room; a square plate is fixedly installed inside the shading room, supporting columns are vertically and fixedly installed at 4 corner positions of the square plate, and rotatable spherical heads are embedded and installed inside the top ends of the supporting columns; a rotary cylinder is fixedly arranged in the middle of the top surface of the square plate, a horizontally placed material frame supporting plate is fixedly arranged at the upper part of the rotary cylinder, and the bottom surface of the material frame supporting plate is contacted with the spherical head; and a code reader is fixedly arranged on the inner wall surface of the shading room on the right side of the material frame supporting plate.
8. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the front end of the feeding channel is connected with the detection platform, and the rear end of the feeding channel is provided with a butt joint end which is convenient to be connected with an external material channel; square flanges are symmetrically arranged at two sides of the feeding channel, and a plurality of rollers are rotatably arranged between the square flanges; a first relay box is fixedly installed on the left side of the front end of the feeding channel, a supporting platform is fixedly installed above the relay box, and a first button box used for controlling the working state of the feeding channel is fixedly installed on the supporting platform; the four corners of the feeding channel are fixedly welded with square supporting legs, and the lower layer of the feeding channel is provided with a lower layer supporting platform for placing a material frame and a workpiece.
9. The multi-robot cooperative workpiece flaw detection system of claim 1, wherein: the upper and lower material channels comprise an upper material channel for outputting empty material frames and a lower material channel for inputting material frames; flanges are fixedly arranged on two sides of the upper-layer object flow passage and the lower-layer object flow passage, and rotatable rollers are arranged between the flanges; the front end of the upper-layer material flow passage is an empty material frame placing end, and the front end of the lower-layer material flow passage is a material frame grabbing end; the rear end of the lower-layer object flow channel is provided with a blocking device for limiting the material frame; a second button box is fixedly welded on the right side of the rear end of the feeding and discharging channel, and a second relay box is fixedly installed below the second button box; square supporting legs are fixedly arranged on both sides of the feeding and discharging channel; the flanges on the two sides of the upper-layer material flow passage and the lower-layer material flow passage are fixedly provided with cylindrical stop rods, and the rear ends of the upper-layer material flow passage and the lower-layer material flow passage are provided with butt joint ends used for connecting other material passages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022773739.XU CN214201212U (en) | 2020-11-26 | 2020-11-26 | Multi-robot cooperative workpiece flaw detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022773739.XU CN214201212U (en) | 2020-11-26 | 2020-11-26 | Multi-robot cooperative workpiece flaw detection system |
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| CN214201212U true CN214201212U (en) | 2021-09-14 |
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| CN202022773739.XU Active CN214201212U (en) | 2020-11-26 | 2020-11-26 | Multi-robot cooperative workpiece flaw detection system |
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