CN215574697U

CN215574697U - Material detection system

Info

Publication number: CN215574697U
Application number: CN202023315187.4U
Authority: CN
Inventors: 陈德; 邓平; 毛雪林; 徐卓; 罗剑
Original assignee: Guangdong Lyric Robot Automation Co Ltd
Current assignee: Guangdong Lyric Robot Automation Co Ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2022-01-18
Anticipated expiration: 2030-12-31

Abstract

The utility model discloses a material detection system, which is connected with a pickup mechanism through a robot, wherein the pickup mechanism is provided with at least 2 grabbing pieces, and the grabbing pieces can be rotationally arranged relative to a bearing platform, so that the grabbing pieces can be transferred to a specified position to grab at least 2 materials under the drive of the robot, and transfer the at least 2 materials to a corresponding detection mechanism, and then the rotation control of the grabbing pieces relative to the bearing platform is matched, thereby completing the defect detection of a plurality of parts of the materials one by one, ensuring the comprehensiveness of the detection, simultaneously reducing the problems of poor consistency of the workpieces and low detection efficiency caused by multiple turnover of the workpieces, and reducing the volume of the whole machine and further reducing the occupied space due to the integration of a plurality of detection stations into one detection mechanism; compared with the material detection system in the prior art, the material detection system has the advantages of simple structure, relatively simple product model change and high flexibility.

Description

Material detection system

Technical Field

The utility model relates to the technical field of material defect detection, in particular to a material detection system.

Background

When a product is produced or leaves a factory, materials or the product are required to be ensured to be intact, defective products or bad products are avoided, and therefore defect detection is required in the production process and when the product leaves the factory. Conventional defect detection is mainly manually identified through eyes, due to the existence of artificial reasons, the probability of missed detection and false detection is high, the detection efficiency is low, and meanwhile, the physical and psychological health of people is also seriously influenced by watching materials or products under high light for a long time.

At present, automatic detection of materials or workpieces can be realized by partial technologies, but due to the fact that the materials may have certain particularity, detection of various defects or multiple surfaces cannot be completed under the same detection system, and the materials are mainly transferred to different detection stations in sequence through a transfer mechanism, so that defect detection of the materials is completed. Above mode, need dispose different detection stations respectively to different defects or detection face, however because the detection station is more, lead to the complete machine volume great, the structure of each station is comparatively complicated moreover, and is more difficult when the production remodelling, and flexible production degree is lower.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects of the prior art, the utility model provides a material detection system.

The utility model discloses a material detection system, which comprises a robot (1), a picking mechanism (2) and at least 2 detection mechanisms (3); the picking mechanism (2) comprises a bearing platform (21) and at least 2 grabbing pieces (24), and the at least 2 grabbing pieces (24) are rotatably arranged relative to the bearing platform (21); the robot (1) is fixedly connected with the picking mechanism (2) and drives at least 2 grabbing pieces (24) to grab materials and transfer the materials to at least 2 detection mechanisms (3) for detection. Through the robot with pick up the mechanism and be connected, it is provided with the piece that snatchs of 2 at least to pick up the mechanism, and it can rotate the setting to snatch a relatively load-bearing platform, consequently, it is under the drive of robot to snatch a, can transfer appointed position and snatch 2 at least materials, and transfer 2 at least materials to corresponding detection mechanism, the rotation control who snatchs a relatively load-bearing platform is deuterogamied, thereby accomplish the defect detection of a plurality of parts of material one by one, the comprehensiveness of detection has been guaranteed, the problem that the work piece has enough to meet the need many times and causes the work piece uniformity poor and detection efficiency low has also been reduced simultaneously.

According to one embodiment of the utility model, the gripping members (24) are relatively spaced apart. The material detection is satisfied by self-adapting the detection mechanism with different intervals by adjusting the interval between the grabbing pieces (24).

According to one embodiment of the utility model, the robot (1) is a six-axis robot and is fixedly connected to the pick-up mechanism (2). The adjustment of each picking mechanism in each direction can be realized by a six-axis robot.

According to one embodiment of the utility model, the pick-up mechanism (2) further comprises a rotary drive member (23), and the gripping member (24) is fixedly connected with the rotary drive member (23). The rotary driving piece drives the grabbing piece to rotate relative to the bearing platform, so that the material is driven to adjust the position.

According to one embodiment of the utility model, the rotary driving part (23) comprises an angle sensor (232) and a driving unit (233), the driving unit (233) drives the grabbing part (24), and the angle sensor detects the rotation angle of the grabbing part (24) so as to ensure that the material rotates to a specified position.

According to one embodiment of the utility model, the gripping element (24) is provided with an adsorption part acting on the surface of the material and a negative pressure channel for venting or cutting off the air to the adsorption part. The material is grabbed and released by ventilating or cutting off the adsorption part.

According to one embodiment of the utility model, the detection mechanism (3) comprises a mounting bracket (31), a detection piece (32) and an illuminating piece, wherein the detection piece (32) and the illuminating piece are fixedly arranged on the mounting bracket (31), the detection piece (32) is used for imaging the material, and the illuminating piece is used for polishing a plurality of parts of the material. The material is polished by the illuminating piece, so that the material is imaged by the detecting piece, and an image with good imaging quality is obtained conveniently.

According to one embodiment of the utility model, the illuminating member comprises a first illuminating member (33) and a second illuminating member (34), the number of the first illuminating members (33) is multiple, the multiple first illuminating members (33) are arranged around the detecting member (32), and the multiple first illuminating members (33) are all arranged facing the material; the second illuminating part (34) is an annular light source, and a light emitting surface faces the material.

According to one embodiment of the utility model, the first illuminating part (33) comprises a fixed support (331), a light source part (332) and an adjusting part (333), the fixed support (331) and the adjusting part (333) are rotatably arranged, and the light source part (332) is fixed on the adjusting part (333). Through the turned angle of adjustment fixing support and regulating part to realize that light source spare rotates certain angle along fixing support, with the incident angle who changes the light source, thereby the different defects of adaptation material or the polishing of different parts, so that acquire the image of better quality.

According to an embodiment of the present invention, both the color and the brightness of the light source of the illuminating device can be adjusted. Through the change of the color of the light source and the different combinations of the plurality of light sources, different defects of the material can be indicated when different parts of the material are imaged, the method can be suitable for detecting different colors of the material, and the compatibility is better.

Compared with the prior art, the material detection system has the following advantages:

the material detection system is connected with the picking mechanism through the robot, the picking mechanism is provided with at least 2 grabbing pieces, and the grabbing pieces can be rotatably arranged relative to the bearing platform, so that the grabbing pieces can be transferred to a specified position to grab at least 2 materials under the drive of the robot, and transfer the at least 2 materials to the corresponding detection mechanism, and then the rotation control of the grabbing pieces relative to the bearing platform is matched, so that the defect detection of a plurality of parts of the materials is completed one by one, the comprehensiveness of the detection is ensured, and the problems of poor consistency and low detection efficiency of the workpieces caused by multiple turnover of the workpieces are reduced; compared with the material detection system in the prior art, the material detection system has the advantages of simpler structure, simpler product model change and higher flexibility; moreover, due to the simplification of the stations, the time for transferring materials among different stations is saved, and the detection efficiency and the production efficiency are improved.

In addition, the illuminating part comprises a first illuminating part and a second illuminating part, the first illuminating part can rotate and adjust along the fixed support, so that the incident angle of the light source is changed, meanwhile, due to the adjustable setting of the color of the light source and the brightness of the light source, different defects of the material can be better shown when different parts of the material are imaged through the change of the color of the light source and different combinations of a plurality of light sources, the material can be suitable for detection of different colors of the material, and the compatibility is better.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic structural view of a material detecting system of the utility model;

FIG. 2 is a schematic structural view of a detecting mechanism of the material detecting system of the utility model;

fig. 3 is a schematic structural diagram of a picking mechanism of the medium material detecting system of the utility model.

Fig. 4 is a schematic structural diagram of the box body of the medium material detection system of the utility model.

Description of reference numerals: a robot 1; the device comprises a picking mechanism 2, a bearing platform 21, a quick connector 22, a rotary driving piece 23, a positioning piece 231, an angle sensor 232, a driving unit 233 and a grabbing piece 24; the detection mechanism 3, the mounting bracket 31, the detection piece 32, the first illuminating piece 33, the fixed support 331, the light source piece 332, the adjusting piece 333, the connecting rod 3331, the stepping motor 3332 and the second illuminating piece 34; a box body 4.

Detailed Description

In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the utility model. That is, in some embodiments of the utility model, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1, a material detecting system, includes robot 1, picks up

mechanism

2 and 2 detection mechanism 3, picks up mechanism 2 and includes that load-bearing

platform

21 and 2 snatch a 24, snatchs a 24 and rotates the setting relative load-bearing platform 21, robot 1 and pick up mechanism 2 fixed connection, 2 detection mechanism 3 set up in the stroke scope of robot 1, and correspond 2 respectively and snatch a 24.

In the embodiment, the robot 1 is a six-axis robot and is fixedly connected with the picking mechanism 2; the picking mechanism 2 comprises a bearing platform 21, and the bearing platform 21 is used for connecting 2 grabbing pieces 24 and is simultaneously connected with the robot 1; the gripping member 24 is used for gripping the material; the robot 1 is driven, so that 2 grabbing pieces are driven to be transferred to a material taking position, and materials are picked up and transferred to the working range of the detection mechanism 3; the grabbing piece 24 is arranged in a rotating mode relative to the bearing platform 21, so that the grabbing piece 24 grabs the material to rotate clockwise or anticlockwise, and in the rotating process of the material, each side face of the material faces the detection mechanism 3 sequentially, and therefore detection of the material is completed.

Referring to fig. 1 and 3, the picking mechanism 2 further includes a rotary driving member 23, the rotary driving member 23 is fixedly disposed on the carrying platform 21, and the grabbing member 24 is fixedly connected to an output end of the rotary driving member 23. The rotary driving member 23 is used for driving the grabbing member 24 to rotate clockwise or counterclockwise, so as to drive the material to rotate. In this embodiment, the bearing platform 21 is a rectangular bearing plate, an extension shaft is fixed in the middle of the bearing plate through a screw, the extension shaft is in butt joint with the tail end of the robot 1, mounting holes of the rotary driving member 23 are symmetrically formed in two sides of the bearing plate along the central line, the rotary driving member 23 is fastened on the bearing plate through a screw, and the position of the rotary driving member 23 is adjusted, so that the adjustment of the distance between the grabbing members 24 is realized, and the detection mechanisms with different distances are self-adaptive.

The rotary driving member 23 includes a positioning member 231, an angle sensor 232, and a driving unit 233, the positioning member 231 is fixedly disposed on the driving unit 233, and the angle sensor 232 is disposed on a transfer track of the positioning member 231. Wherein the driving unit 233 is used for driving the grabbing member 24 to rotate, and the positioning member 231 is matched with the angle sensor 232, so as to detect the rotation angle of the grabbing member 24. In this embodiment, a reflection-type photoelectric sensor is used as the angle sensor 13, the DD motor is used as the

driving unit

233, and 2 angle sensors are provided, so that when the positioning member 231 is in place, the angle sensor 232 is shielded, and the DD motor is stopped from being driven.

The picking mechanism 2 further comprises a quick-connection plug 22, the grabbing piece 23 comprises an adsorption part and a negative pressure channel, the adsorption part is communicated with the negative pressure channel, the negative pressure channel is communicated with the quick-connection plug 22, and the negative pressure channel penetrates through the adsorption part, the grabbing piece 24 and the driving unit 233. Wherein the adsorption part is used for adsorbing materials, the negative pressure channel is used for ventilating or cutting off the air of the adsorption part, and the quick connector 22 is used for connecting an air source piece. Adopt the sponge sucking disc as the absorption portion in this embodiment to avoid producing the indentation to the material.

Referring to fig. 1-2, the detecting mechanism 3 includes a mounting bracket 31, a detecting member 32, a first illuminating member 33 and a second illuminating member 34, the detecting member 32, the first illuminating member 33 and the second illuminating member 34 are all fixed on the mounting bracket 31, the plurality of first illuminating members 33 are disposed around the detecting member 32, and the plurality of first illuminating members 33 are disposed facing the material. In this embodiment, the detecting member 32 is a CCD for imaging the material; the second lighting part 34 is an annular light source, is fixedly arranged below the CCD and is fixed on the mounting bracket 31 through a screw, and the light emitting surface faces the material and is used for polishing the material.

The second illuminating member 34 includes a fixed support 331, a light source member 332 and an adjusting member 333, the plurality of fixed supports 331 are fixedly mounted on the second illuminating member 34 directly above the annular light source and around the detecting member 32CCD, the adjusting member 333 is rotatably provided on the fixed supports 331, and the light source member 332 is fixed on the adjusting member. In this embodiment, the fixed mounting base 331 is a "U" shape in an upright state, and there are 4 fixed mounting bases 331, the adjusting member 333 is fixed at two ends of the "U" shaped mounting base 331 through a rolling bearing, and can rotate relative to the "U" mounting base 331, and the light source member 332 is fixed by a screw on the adjusting member 333 and rotates for adjustment.

The adjusting member 333 includes a connecting rod 3331 and a stepping motor 3332, the connecting rod 3331 is connected to two sides of the U-shaped fixing support 331 through a rolling bearing, the stepping motor 3332 is fixedly installed at one end of the connecting rod 3331, a light source member 332 is fixed to the middle portion of the connecting rod 3331 by a screw, and the light source member 332 is a surface light source. The connection rod 3331 is driven to rotate by the stepping motor 3332, so as to drive the light source part 332 to rotate, thereby realizing the incident angle of the light source.

The light source colors and the light source brightness of the first illuminating part 33 and the second illuminating part 34 can be adjusted, different defects of the material can be indicated when different parts of the material are imaged through the change of the light source colors and different combinations of a plurality of light sources, the material detection device can be suitable for detection of different colors of the material, and the compatibility is better.

Referring to fig. 4, the detecting mechanism 3 further includes a case 4 covering the first illuminating member 33 and the second illuminating member 34, wherein the case 4 is opened at a lower portion thereof and is provided at an upper portion thereof with a through hole for passing the detecting member 32 therethrough. In this embodiment, the box 4 is hollow and is fixedly disposed on the mounting bracket 31, the top of the box is provided with a through hole capable of accommodating the detecting element 32, and the bottom of the box is provided with an opening capable of directly accommodating the first illuminating element 33 and the second illuminating element 34 therein. The cover through box 4 establishes, has avoided the interference of external natural light or other light to improve the imaging quality of material.

The working process of the material detection system is as follows:

in an initial state, the driving robot 1 drives 2 grabbing pieces 24 to be transferred to the position right above the materials, then the quick connection plug 22 is ventilated, and the 2 materials are sucked and transferred to the position right below the corresponding detection mechanism 3; after the external sensor detects that the material is in place, the first illuminating part 33 and the second illuminating part 34 are started, the brightness and the color of the light source are controlled, the adjusting part 333 is driven, so that the light source 332 of the first illuminating part 33 is adjusted to fully polish the material, and then the detecting part 32 is controlled to photograph the material; after taking a picture, the driving unit 233 drives the material on the grabbing member 24 to rotate by a certain angle to adjust the position and posture of the material, when the angle sensor 232 senses that the positioning member 231 is in place, the rotation is stopped, the brightness and color of the light sources of the first illuminating member 33 and the second illuminating member 34 are controlled again, and then the detection member 32 takes a picture to form an image, so that the real reduction degree of the material is improved, and the accuracy of material detection is improved. Different rotation angles can be set according to requirements, so that imaging of different parts of the material is completed.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A material detection system, comprising:

the robot (1), the picking mechanism (2) and at least 2 detection mechanisms (3);

the picking mechanism (2) comprises a bearing platform (21) and at least 2 grabbing pieces (24), and the at least 2 grabbing pieces (24) are arranged in a rotating mode relative to the bearing platform (21);

the robot (1) is fixedly connected with the picking mechanism (2) and drives the at least 2 grabbing pieces (24) to grab materials and transfer the materials to the at least 2 detection mechanisms (3) for detection.

2. The material detection system of claim 1, wherein the spacing between the gripping members (24) is relatively adjustable.

3. The material detection system according to claim 1, characterized in that the robot (1) is a six-axis robot and is fixedly connected with the pick-up mechanism (2).

4. The material detection system according to claim 1, wherein the pick mechanism (2) further comprises a rotary drive member (23), the catch member (24) being fixedly connected to the rotary drive member (23).

5. The material detection system of claim 4, wherein the rotary drive member (23) comprises an angle sensor (232) and a drive unit (233); the driving unit (233) drives the grasping member (24), and the angle sensor (232) detects a rotation angle of the grasping member (24).

6. The material detection system according to claim 5, characterized in that the gripping member (24) is provided with an adsorption portion for acting on the material and a negative pressure channel for venting or de-venting the adsorption portion.

7. A material detection system according to any one of claims 1 to 6, wherein the detection mechanism (3) comprises a mounting bracket (31), a detection member (32) and an illumination member; the detection piece (32) and the illumination piece are fixedly arranged on the mounting bracket (31), the detection piece (32) is used for imaging the material, and the illumination piece is used for polishing a plurality of parts of the material.

8. The material detection system of claim 7, wherein the illumination member comprises a first illumination member (33) and a second illumination member (34); the number of the first illuminating pieces (33) is multiple, the first illuminating pieces (33) are arranged around the detecting piece (32), and the first illuminating pieces (33) are arranged facing the material; the second lighting part (34) is an annular light source, and a light emitting surface faces the material.

9. The material detecting system according to claim 8, wherein the first illuminating member (33) includes a fixing support (331), a light source member (332), and an adjusting member (333); the fixed support (331) and the adjusting piece (333) are rotatably arranged, and the light source piece (332) is fixed on the adjusting piece (333).

10. A material detection system as claimed in any one of claims 8 to 9 wherein the colour and intensity of the light source of the illumination means are both adjustably settable.