CN215727756U - Automatic thread detection device of robot with vision - Google Patents
Automatic thread detection device of robot with vision Download PDFInfo
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- CN215727756U CN215727756U CN202122252225.4U CN202122252225U CN215727756U CN 215727756 U CN215727756 U CN 215727756U CN 202122252225 U CN202122252225 U CN 202122252225U CN 215727756 U CN215727756 U CN 215727756U
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Abstract
The utility model discloses an automatic robot thread detection device with vision, which comprises a rotary station, a plurality of clamping jaw stations and a plurality of thread guide rollers, wherein the clamping jaw stations are distributed around the center and radiate outwards along the center; the thread detection assembly is positioned on the motion track of the rotary station, and is provided with a driving mechanism and a lifting mechanism, the output end of the driving mechanism is connected with a tooth gauge, and the driving mechanism is constructed to enable the tooth gauge to rotate in the radial direction; the visual detection assembly is arranged on the motion track of the rotary station and is provided with an industrial camera so as to photograph and detect a product to be detected on the clamping jaw station; the robot comprises a reversible working head, a blowing assembly, a marking head, a polishing head and at least one thread detection head, wherein the working head is provided with a mechanical clamping jaw. The thread detection assembly and the visual detection assembly are matched with each other through the robot, so that different threads on different surfaces of a product to be detected can be detected, and the applicability is wide.
Description
Technical Field
The utility model relates to the technical field of automatic thread detection, in particular to a robot automatic thread detection device with vision.
Background
With the increasing development of industries such as automobiles, electronics, medical treatment, new energy and the like, derived products are more and more extensive in types and styles, threads contained in the products are numerous, the range of automatic thread detection in the existing automation field is greatly limited, only small-size, small-amount and vertical-direction threads can be detected, manual detection is required for threads with a plurality of special positions and specifications, the detection efficiency is low, and the misjudgment rate is high.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the present invention is to provide a robot automatic thread detection device with vision, which can fully automatically detect a thread, and greatly improve detection efficiency and detection accuracy.
In order to achieve the above object, the present invention employs the following:
a robotic automatic thread inspection device with vision, comprising:
the rotary station is provided with a plurality of clamping jaw stations which are distributed around the center and radiate outwards along the center;
the thread detection assembly is positioned on the motion track of the rotary station, and is provided with a driving mechanism and a lifting mechanism which enables the driving mechanism to move up and down, the output end of the driving mechanism is connected with a tooth gauge, and the driving mechanism is constructed to enable the tooth gauge to rotate in the radial direction;
the visual detection assembly is arranged on the motion track of the rotary station and is provided with an industrial camera so as to photograph and detect a product to be detected on the clamping jaw station;
the robot comprises a reversible working head, a blowing assembly, a marking head, a polishing head and at least one thread detection head, wherein the working head is provided with a mechanical clamping jaw.
In the design scheme of the utility model, the thread detection assembly further comprises a support frame, and the driving mechanism is connected to the support frame through a sliding block assembly of a sliding rail, so that the driving mechanism drives the tooth gauge to move up and down.
In the design scheme of the utility model, the driving mechanism comprises a base plate arranged in parallel with the supporting frame, a driving motor and a synchronous rod which are arranged on the base plate in an up-and-down manner, the output end of the driving motor is connected with one end of the synchronous rod through a coupler, a speed reducer is arranged on the synchronous rod, and the other end of the synchronous rod is connected with the tooth gauge through an auxiliary part.
In the design scheme of the utility model, a sensor bracket is arranged on the supporting frame, and an induction sheet is arranged on the sensor bracket; the auxiliary portion is circumferentially provided with a circle of floating portion protruding outwards, and the induction sheet can be in contact with the floating portion in the up-and-down moving process of the driving mechanism.
In an embodiment of the present invention, the visual inspection assembly further includes a camera support, and the industrial camera is mounted on the camera support with a lens facing downward.
In the design scheme of the utility model, the camera support vertically moves up and down through a screw nut structure driven by a servo motor.
In the design scheme of the utility model, the working head is simultaneously provided with a mechanical clamping jaw, an air blowing assembly, a marking head and a polishing head, the mechanical clamping jaw is arranged at the front end of the working head, and the air blowing assembly, the marking head, the polishing head and the thread detection head are respectively arranged on the other side ends of the working head.
In the design scheme of the utility model, a motor is arranged in the working head, an output shaft of the motor is connected with a driving wheel, the driving wheel is in transmission connection with a driven wheel through a synchronous belt, two side ends of the driven wheel are respectively connected with a shaft lever, the shaft levers are in rotary connection with a bearing seat, one of the shaft levers is connected with a thread detection head, and the other shaft lever is connected with a polishing head.
In the design scheme of the utility model, the marking head comprises a marking support, a bearing block is arranged on the marking support, the bearing block is movably and alternately connected with a fixed block through a pin rod, a mechanical spring is sleeved on the pin rod, two ends of the mechanical spring are respectively connected with the bearing block and the fixed block, a marking pen is arranged on the fixed block, and the marking pen is alternately inserted through the bearing block.
After the technical scheme is adopted, the utility model has the following advantages:
(1) the automatic feeding and discharging device adopts the robot to realize automatic feeding and discharging, replaces manual operation, and improves the working efficiency;
(2) the utility model adopts a rotary station mode to realize the automatic detection of the thread on the product to be detected under the combination of the thread detection assembly and the visual detection assembly, the detection process does not need human intervention, and the automation of the thread detection is realized;
(3) according to the utility model, a large-caliber thread on a product to be detected is detected through a thread detection assembly, a small-caliber thread on the product to be detected is detected through a thread detection head on a robot, a visual detection assembly detects the thread on the product to be detected based on the high-resolution analysis capability of a visual system, finally, a qualified product is transferred to a product placement area through the robot, and an unqualified product is transferred to a defective product placement area after being marked by a marking head on the robot; through robot and screw thread detection subassembly, visual detection subassembly cooperate, can realize detecting the different screw threads of different faces on the product that awaits measuring, extensive applicability is extensive.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a robotic automatic thread inspection device with vision according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a thread sensing assembly according to an embodiment of the present invention;
fig. 3 is a partially enlarged view of a portion a in fig. 2;
FIG. 4 is a schematic diagram of a visual inspection assembly according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a related structure of a working head on a robot according to an embodiment of the utility model;
FIG. 6 is a schematic structural diagram of a marking head according to an embodiment of the present invention;
in the figures, the various reference numbers are:
1-rotation station, 2-thread detection component, 3-visual detection component, 4-robot, 5-product to be detected, 11-rotation station, 21-driving mechanism, 22-lifting mechanism, 23-supporting frame, 31-camera support, 32-industrial camera, 33-screw nut structure, 41-working head, 42-mechanical clamping jaw, 43-air blowing component, 44-marking head, 45-polishing head, 46-thread detection head, 211-base plate, 212-driving motor, 213-coupler, 214-reducer, 215-auxiliary part, 216-tooth gauge, 231-slide rail slide block component, 232-sensor support, 233-induction sheet, 411-motor, 412-synchronous belt, 413-shaft rod, 414-bearing seat, 441-marking bracket, 442-bearing block, 443-fixing block, 444-pin rod, 445-marking pen, 446-mechanical spring, 2151-floating part.
Detailed Description
In order to more clearly illustrate the utility model, the utility model is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the utility model.
As shown in fig. 1, an embodiment of the present invention provides a robot automatic thread detection device with vision, including: .
The rotary station 1 is formed with a plurality of gripper stations 11 arranged around the center and radiating outward from the center. The rotary station belongs to a turntable structure driven by a driving piece to rotate, and can be a rotary platform, a cam divider or a DD motor; the clamping jaw station adopts a rotary clamping jaw structure to clamp and fix a product to be tested, and has the characteristic of convenience in clamping.
The thread detection assembly 2 is positioned on the motion track of the rotary station, and is provided with a driving mechanism 21 and a lifting mechanism 22 for enabling the driving mechanism 21 to move up and down, the output end of the driving mechanism 21 is connected with a tooth gauge 216, and the driving mechanism 21 is constructed to enable the tooth gauge 216 to rotate radially. When a product to be detected on one of the clamping jaw stations on the rotating station rotates and stops under the thread detection assembly, the lifting mechanism drives the driving mechanism to move in opposite directions, and meanwhile, the driving mechanism drives the tooth gauge to rotate so as to detect large-caliber threads on the product to be detected and mainly detect whether the threads have empty teeth, the depth of the threads and the go gauge and the no-go gauge of the threads.
The visual detection assembly 3 is arranged on the motion track of the rotary station, and is provided with an industrial camera 32 so as to photograph and detect a product to be detected on the clamping jaw station. The method comprises the steps that a camera is used for shooting and collecting images of threads on a product to be detected, the collected images are transmitted to an external image analysis system, and the image analysis system judges whether the threads are qualified or not according to the collected images.
The robot 4, the output of which is configured as a reversible working head 41, the working head 41 having thereon mechanical jaws 42, further comprises at least one of a blow 43, a marking head 44, a polishing head 45 and a thread detection head 46. The robot is a six-axis robot, the mechanical clamping jaws are basic devices on the robot and are driven by electric power or pneumatic power, and technicians can selectively mount any one or more of an air blowing assembly, a marking head, a polishing head and a thread detection head on the working head according to actual detection requirements. The mechanical clamping jaw is used for transferring a product to be tested; the polishing head is used for polishing burrs in threads on a product to be tested; the thread detection head is a go-no go gauge detection head; the marking head is used for marking the defective products judged under the detection of the thread detection assembly and the visual detection assembly; the blowing assembly can be used for cleaning scraps stained on the surfaces of tooth gauges or thread detection heads on the thread detection assembly, and the influence on the detection of the next batch is avoided.
In this embodiment, please refer to fig. 2, the thread detecting assembly 2 further includes a supporting frame 23, and the driving mechanism 21 is connected to the supporting frame 23 through a sliding block assembly 231, so that the driving mechanism 21 drives the tooth gauge 216 to move up and down. The lifting mechanism which drives the driving mechanism to integrally move up and down can be a lifting cylinder with a simple structure, namely the driving mechanism is directly lifted up and down through the telescopic end of the lifting cylinder, and can also be a single-shaft robot, the driving mechanism is integrally fixed on the sliding table of the single-shaft robot, and the driving mechanism is integrally moved up and down through the movement of the sliding table on the single-shaft robot. The structure of the lifting mechanism is not described in detail in this embodiment, and those skilled in the art can realize that the lifting mechanism is used to drive the driving mechanism to integrally move up and down according to the prior art.
In detail, as shown in fig. 2, the driving mechanism 21 includes a base plate 211 disposed parallel to the supporting frame 23, and a driving motor 212 and a synchronizing rod (not shown) disposed on the base plate 211, wherein an output end of the driving motor 212 is connected to one end of the synchronizing rod through a coupling 213, the synchronizing rod is provided with a speed reducer 214, and the other end of the synchronizing rod is connected to a tooth gauge 216 through an auxiliary portion 215. The driving mechanism moves downwards under the driving of the lifting mechanism to correspond to the position of a threaded hole in a product to be detected fixed on a clamping jaw station, the driving motor drives the tooth gauge to rotate through the synchronizing rod at the moment so as to screw the tooth gauge into the threaded hole, the tooth gauge is a thread plug gauge, and if the tooth gauge cannot be screwed into the threaded hole, the tooth gauge is unqualified.
Referring to fig. 3, in order to detect the change of the vertical displacement of the driving mechanism, a sensor bracket 232 is mounted on the supporting frame 23, and a sensing piece 233 is provided on the sensor bracket 232; a circle of floating parts 2151 protruding outwards is circumferentially arranged on the auxiliary part 215, and the sensing piece 233 can contact with the floating parts 2151 during the up-and-down movement of the driving mechanism 21. When the induction sheet is contacted with the floating part, the driving motor receives a corresponding signal and starts to rotate reversely, and the lifting mechanism also drives the driving motor to move upwards so that the tooth gauge can be smoothly screwed out of the threaded hole.
In the present embodiment, please refer to fig. 4, the visual inspection assembly 3 further includes a camera bracket 31, and the industrial camera 32 is mounted on the camera bracket 31 with its lens facing downward. The industrial camera is adopted to carry out all-dimensional photographing on the detection surface of the product to be detected fixed on the clamping jaw station from top to bottom, so that the photographing dead angle is avoided, and an external image analysis system extracts and analyzes the photo to judge whether the product is qualified.
Further, the camera mount 31 is vertically moved up and down by a screw nut structure 33 driven by a servo motor. The distance between the lens of the industrial camera and the product to be measured fixed on the clamping jaw station is convenient to adjust, so that the definition of pictures shot by the industrial camera is improved, and the processed data are more accurate.
In this embodiment, the working head is simultaneously provided with a mechanical clamping jaw, an air blowing assembly, a marking head and a polishing head, the mechanical clamping jaw is arranged at the front end of the working head, and the air blowing assembly, the marking head, the polishing head and the thread detection head are respectively arranged on the other side ends of the working head.
In detail, referring to fig. 5, a motor 411 is disposed inside the working head 41, an output shaft of the motor 411 is connected to a driving wheel (not shown), the driving wheel is in transmission connection with a driven wheel (not shown) through a timing belt 412, two side ends of the driven wheel are respectively connected to a shaft rod 413, the shaft rods 413 are rotatably connected to a bearing seat 414, one of the shaft rods 413 is connected to the thread detecting head 46, and the other shaft rod 413 is connected to the polishing head 45. The driving wheel and the driven wheel are driven by the motor and the synchronous belt, so that the installation space in the working head is saved.
In addition, as shown in fig. 6, the marking head 44 includes a marking support 441, the marking support 441 is provided with a receiving block 442, the receiving block 442 is movably inserted and connected with a fixing block 443 through a pin rod 444, the pin rod 444 is further sleeved with a mechanical spring 446, two ends of the mechanical spring 446 are respectively connected with the receiving block 442 and the fixing block 443, the fixing block 443 is provided with a marking pen 445, and the marking pen 445 is inserted and connected through the receiving block 442. The marking head is designed to prevent the marking pen from loosening.
The working process of the utility model is as follows: starting a system, clamping a product to be detected onto a clamping jaw station by a mechanical clamping jaw on a robot and fixing the product, starting to rotate the rotating station, enabling the product to be detected to reach a detection area of a thread detection assembly, driving a driving mechanism to move downwards to correspond to a thread to be detected on the product to be detected by a lifting mechanism, simultaneously driving a tooth gauge to rotate in a rotating mode by a driving motor, if the tooth gauge can be screwed into the thread to be detected, indicating that the product is qualified, otherwise, indicating that the product is unqualified, marking the product by a marking head on the robot, and after the station detection is finished, carrying out air blowing cleaning on the surface of the tooth gauge and the surface of the thread to be detected by an air blowing assembly on the robot; the rotary station continues to rotate, the product to be detected reaches the visual detection assembly detection area, the industrial camera takes pictures in all directions from top to bottom on the detection surface of the product to be detected fixed on the clamping jaw station, an external image analysis system extracts and analyzes the pictures, whether the product is qualified is judged, if burrs and burrs exist in visual analysis, the product is polished through a polishing head on the robot, if the product is judged to be unqualified through visual analysis, the product is marked through a marking head on the robot, and after the station is detected, the product surface is cleaned through a blowing assembly on the robot.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (9)
1. The utility model provides a take automatic screw thread detection device of robot of vision which characterized in that includes:
the rotary station is provided with a plurality of clamping jaw stations which are distributed around the center and radiate outwards along the center;
the thread detection assembly is positioned on the motion track of the rotary station, and is provided with a driving mechanism and a lifting mechanism which enables the driving mechanism to move up and down, the output end of the driving mechanism is connected with a tooth gauge, and the driving mechanism is constructed to enable the tooth gauge to rotate in the radial direction;
the visual detection assembly is arranged on the motion track of the rotary station and is provided with an industrial camera so as to photograph and detect a product to be detected on the clamping jaw station;
the robot comprises a reversible working head, a blowing assembly, a marking head, a polishing head and at least one thread detection head, wherein the working head is provided with a mechanical clamping jaw.
2. The automatic thread detection device of claim 1, wherein the thread detection assembly further comprises a support frame, and the driving mechanism is connected to the support frame through a sliding block assembly of a sliding rail, so that the driving mechanism drives the tooth gauge to move up and down.
3. The automatic thread detection device of robot of a tape vision of claim 2, characterized in that, the actuating mechanism includes a base plate parallel to the supporting frame, and a driving motor and a synchronizing bar which are arranged on the base plate from top to bottom, the output end of the driving motor is connected with one end of the synchronizing bar through a coupling, a reducer is arranged on the synchronizing bar, and the other end of the synchronizing bar is connected with the tooth gauge through an auxiliary part.
4. The automatic thread detection device of robot with vision as claimed in claim 3, wherein a sensor bracket is mounted on the supporting frame, and the sensor bracket is provided with an induction sheet; the auxiliary portion is circumferentially provided with a circle of floating portion protruding outwards, and the induction sheet can be in contact with the floating portion in the up-and-down moving process of the driving mechanism.
5. The robotic vision-based automatic thread checking device according to claim 1, wherein the vision inspection assembly further comprises a camera mount, the industrial camera being mounted on the camera mount with the lens facing downward.
6. The automatic thread inspection device of claim 5, wherein the camera bracket is vertically moved up and down by a screw nut mechanism driven by a servo motor.
7. The automatic thread detection device of robot with vision as claimed in claim 1, wherein the working head is simultaneously provided with a mechanical clamping jaw, an air blowing assembly, a marking head and a polishing head, the mechanical clamping jaw is arranged at the front end of the working head, and the air blowing assembly, the marking head, the polishing head and the thread detection head are respectively arranged on the other side ends of the working head.
8. The automatic thread detection device of a robot with vision as claimed in claim 7, wherein a motor is provided inside the working head, an output shaft of the motor is connected with a driving wheel, the driving wheel is in transmission connection with a driven wheel through a synchronous belt, two side ends of the driven wheel are respectively connected with a shaft lever, the shaft levers are rotatably connected with a bearing seat, one of the shaft levers is connected with the thread detection head, and the other shaft lever is connected with the polishing head.
9. The automatic thread detection device of robot of taking vision of claim 8, characterized in that, the mark head includes the mark support, be equipped with a bearing piece on the mark support, a fixed block is connected through round pin pole activity interlude to the bearing piece, still the cover is equipped with a mechanical spring on the round pin pole, bearing piece and fixed block are connected respectively at the both ends of mechanical spring, install a marker pen on the fixed block, marker pen alternates through the bearing piece.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122252225.4U CN215727756U (en) | 2021-09-16 | 2021-09-16 | Automatic thread detection device of robot with vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122252225.4U CN215727756U (en) | 2021-09-16 | 2021-09-16 | Automatic thread detection device of robot with vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115121504A (en) * | 2022-09-02 | 2022-09-30 | 杭州象限科技有限公司 | Full-automatic part detection device and process method thereof |
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2021
- 2021-09-16 CN CN202122252225.4U patent/CN215727756U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115121504A (en) * | 2022-09-02 | 2022-09-30 | 杭州象限科技有限公司 | Full-automatic part detection device and process method thereof |
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