CN218478194U

CN218478194U - A3D visual identification and measurement intelligent device for complicated spare part

Info

Publication number: CN218478194U
Application number: CN202222876373.8U
Authority: CN
Inventors: 王磊; 戴海明; 吕浩强; 朱德彪; 季军奇
Original assignee: Jiangsu Deheng Industrial Intelligent Technology Co ltd
Current assignee: Jiangsu Deheng Industrial Intelligent Technology Co ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-02-14
Anticipated expiration: 2032-10-31

Abstract

The utility model discloses a 3D visual identification and measurement intelligent device for complicated spare part. The utility model provides a 3D visual identification and measurement intelligent device for complicated spare part, which comprises a workpiece, belt conveyor line and the AGV material feeding unit that can carry the work piece to belt conveyor line one end, one of the belt conveyor line that is close to AGV material feeding unit serves and is equipped with the pay-off robot, be equipped with at the other end of belt conveyor line and examine test table, examine test table one side of keeping away from belt conveyor line and be equipped with the welding bench, and, be equipped with 3D visual device above the belt conveyor line that is close to examining test table, be equipped with the transfer robot in the side of belt conveyor line, be equipped with tongs device on this transfer robot, it is qualified and reprocess the transfer chain to be equipped with the transfer chain at the lower extreme of transfer robot. The utility model relates to a 3D visual identification and measurement intelligent device for complicated spare part can realize producing the full-automatic production of line and detect, is favorable to promoting product quality and can reduce workman intensity of labour and guarantee workman life safety.

Description

A3D visual identification and measurement intelligent device for complicated spare part

Technical Field

The utility model relates to a grab a device of putting on the production transfer chain especially relates to one kind and can realize producing full-automatic production of line and detect, is favorable to promoting product quality and can reduce workman intensity of labour and guarantee workman life safety's 3D visual identification and measurement intelligent device for complicated spare part.

Background

At present, along with industry production line scale is bigger and bigger, requirement to producing the line intellectuality is higher and higher, the robot is only accomplished the task action of point to point, can't strictly limit the gesture of spare part in the transportation process of some complicated spare parts, generally need realize the location with the help of manual work or anchor clamps, so, cost on the production line has just improved, can't satisfy the requirement of modern production line to producing the high flexibility of line, in addition, accomplish the welding back at spare part, the welding seam quality of present product generally realizes through modes such as manual detection and machine cooperation, can't realize the detection of high accuracy high intelligence, can't satisfy the demand of the high beat high intellectuality of modern production line.

The main actions of transferring and judging the traditional complex parts and workpieces are as follows: the workpiece is manually loaded, the workpiece is conveyed to a designated position through a conveyor, the position of the workpiece is corrected through a mechanism or manually, the robot grabs the part and places the designated position, and then the workpiece is conveyed to the next station through the mechanism or manually corrected position, but in such a way, a large number of manual stations are usually needed, the labor intensity of workers is high, and the workpieces have certain dangerousness, under such a condition, a carrying robot cannot smoothly and efficiently complete a work task, the full-automatic production under a high beat cannot be completed, and the complex part needs to be detected after the welding of the part is completed, due to the complexity of the product, the quality cannot be accurately detected by a general measuring machine, the detection of the complex part is realized through the cooperation of the manual operation and the measuring machine in the traditional method, but the efficiency of such a way is low, and due to the manual process level, the unqualified product is easy to flow out; the patent name is an intelligent recognition grabbing device, the patent number is ZL201420274164.9, chinese utility model patent that the publication date is 2014-10-15, it relates to robot and use tools field thereof, hand tool frame's inside is provided with servo motor, one side of servo motor is provided with the servo motor connecting plate, servo motor's right-hand member is provided with the shaft coupling, the right-hand member of shaft coupling is provided with lead screw and lead screw slider, the inside below both sides of hand tool frame are provided with position sensor and force transducer respectively, position sensor passes through the displacement sensor connecting plate and is connected with hand tool frame, force transducer passes through the force transducer connecting plate and is connected with lead screw slider, be provided with the camera on the hand tool frame. The robot can overcome the defects of the prior art, is compact and reasonable in structural design, simple to operate and convenient to use, improves the assembling rhythm, enhances the operability of the robot under the condition of unfavorable environment, can grab products of different models, and is widely applied to the industry. However, this patent only has the function of basic discernment, snatch, assembly spare part, lacks the accurate detection to complicated spare part, screening, send back operations such as repair, and the function is comparatively single, and the realization that can't be fine replaces manual operation with the robot, can not effectual reduction manual work station, and work efficiency is comparatively low, has not satisfied the high beat of modern production line, the demand of high intellectuality.

How to solve the above problems is a technical problem to be solved urgently.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can realize producing full-automatic production of line and detect, be favorable to promoting product quality and can reduce workman intensity of labour and guarantee workman life safety's 3D visual identification and measurement intelligent device for complicated spare part.

In order to achieve the above purpose, the utility model adopts the following technical proposal:

the utility model provides a pair of a 3D visual identification and measurement intelligent device for complicated spare part, including work piece, belt conveyor line and can with the work piece is carried to the AGV material feeding unit of belt conveyor line one end, is being close to AGV material feeding unit's belt conveyor line serves and is equipped with the pay-off robot belt conveyor line's the other end is equipped with detects the platform, is keeping away from belt conveyor line's detection platform one side is equipped with the welding bench, and is being close to the belt conveyor line top of detecting the platform is equipped with 3D visual device belt conveyor line's side is equipped with transfer robot, is equipped with tongs device on this transfer robot's lower extreme is equipped with qualified transfer chain and reprocesses the transfer chain.

Further, the belt conveyor line includes the installation frame be equipped with flat belt along the length direction of this installation frame on the installation frame, be close to one of flat belt of pay-off robot is served and is equipped with the motor, and the output shaft of this motor links together with final drive shaft the other end of flat belt is equipped with from the transmission shaft, be close to install frame side of following the transmission shaft has installed the inductor support, inductor support facial make-up is equipped with the first inductor that can respond to work piece position on the belt conveyor line.

Further, the gripper device comprises a first flange, an octagonal tube is arranged on the first flange, the first flange and the octagonal tube are combined to form a square frame structure, an air path control assembly capable of achieving air path control over the gripper device is arranged on one side of the octagonal tube, an angle seat is arranged on the octagonal tube, a clamping cylinder is arranged on the angle seat, a pressing block is arranged on the clamping cylinder, and a supporting block capable of completing clamping action in cooperation with the pressing block is further arranged on the angle seat.

Furthermore, a double-guide-rod cylinder is further arranged on the angle seat, a positioning pin is arranged at the movable end of the double-guide-rod cylinder, and a second sensor capable of sensing parts is further arranged on the angle seat.

Further, 3D vision device is including installing the stand of belt conveyor line one side the stand facial make-up is equipped with the erection column one side of erection column is equipped with first installation base the built-in first lead screw that is equipped with of first installation base the one end of first installation base is equipped with first servo, first servo through a first shaft coupling with first lead screw links together the slip end of first lead screw is equipped with can carry out the first sliding plate of horizontal slip along with this first lead screw the first sliding plate facial make-up is equipped with first response piece the top of erection column is equipped with the tow chain bottom plate be equipped with the tow chain mounting panel on the first sliding plate, tow chain bottom plate and tow chain mounting panel link together through a tow chain, wherein, the one end setting of tow chain is in on the tow chain bottom plate, the other end setting of tow chain is in on the tow chain mounting panel.

Furthermore, a first induction mounting seat is further arranged on one side of the first mounting base, and a third inductor and a fourth inductor which can induce the position of the first induction piece are arranged on the first induction mounting seat.

Furthermore, a second mounting base capable of moving along with the first sliding plate is further arranged on the first sliding plate, a second lead screw is arranged in the second mounting base, a second servo is arranged at one end of the second mounting base, the second servo is connected with the second lead screw through a second coupler, a second sliding plate capable of moving up and down along with the second lead screw is arranged at the sliding end of the second lead screw, and a visual detection box and a second induction sheet are arranged on the second sliding plate.

Furthermore, a second induction mounting base is further arranged on one side of the second mounting base, and a fifth inductor and a sixth inductor which can induce the position of the second induction sheet are arranged on the second induction mounting base.

Since the structure is adopted, the utility model discloses beneficial effect who has as follows:

the utility model relates to a 3D visual identification and measurement intelligent device for complicated spare part, AGV material feeding unit can transport the work piece to near belt conveyor line, then the pay-off robot snatchs the work piece to belt conveyor line on, the automation of robot device has been realized snatching and has been put, improve work efficiency, thereby 3D visual device can discern the spatial position of confirming the work piece on the belt conveyor line and give the transfer robot, the transfer robot snatchs the work piece to the welding bench through tongs and carries out the process welding, the transfer robot snatchs the work piece to the detection platform after the welding is accomplished, 3D visual device continues to measure the work piece on the detection platform this moment, if work piece welding quality is qualified, 3D visual device with signal transmission give the transfer robot snatch the work piece to qualified transfer line, qualified transfer line carries the work piece to the initial station and reprocesses the transfer line, the work piece is carried to next technology process in the work piece to the qualified transfer line, if work piece welding quality is unqualified, 3D visual device with signal transmission to the transfer robot snatchs the work piece to the reprocessed transfer line, the work piece to the original station and the full production line, thereby the safety of worker's visual identification of the worker can realize the full product quality of the automatic safety of the safety guarantee, thus the safety of the worker and the safety of the worker and the full-to realize the product detection of the full-to the safety of the worker and the full-to utilize the full-to realize the full-to the product of the worker.

The invention will become more apparent from the following description when taken in conjunction with the accompanying drawings which illustrate embodiments of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following descriptions are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is a schematic view of the overall structure of a 3D vision identification and measurement intelligent device for complex parts according to the present invention;

fig. 2 is a schematic structural view of the belt conveyor line of the present invention;

fig. 3 is a schematic structural view of the middle gripper device of the present invention;

fig. 4 is a schematic view of the overall structure of the 3D vision apparatus of the present invention;

fig. 5 is a schematic view of the upper structure of the 3D vision device of the present invention; and the number of the first and second groups,

fig. 6 is a partially enlarged view of a portion a in fig. 4.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 6, the utility model provides a 3D visual identification and measurement intelligent device for complicated parts, including work piece 100, belt conveyor 400 and AGV feeding device 200 capable of conveying work piece 100 to belt conveyor 400 one end, be equipped with feeding robot 300 on the belt conveyor 400 one end that is close to AGV feeding device 200, be equipped with inspection bench 800 at the other end of belt conveyor 400, be equipped with welding bench 700 on the side of inspection bench 800 that is far away from belt conveyor 400, and, be equipped with 3D visual device 600 above the belt conveyor 400 that is close to inspection bench 800, be equipped with transfer robot 900 on the side of belt conveyor 400, be equipped with tongs 500 on this transfer robot 900, be equipped with qualified transfer chain 1000 and rework transfer chain 1100 at the lower extreme of transfer robot 900; the AGV feeding device 200 can be used for conveying the workpieces 100 to one end of the belt conveying line 400, the feeding robot 300 mainly conveys the workpieces 100 on the AGV feeding device 200 to the belt conveying line 400, the gripper 500 can grip the workpieces 100 on the belt conveying line 400, the 3D vision device 600 can identify the postures of the workpieces 100 on the belt conveying line 400 and measure the welding quality of the workpieces 100 on the detection platform 800, and the qualified conveying line 1000 and the repair conveying line 1100 can mainly realize the separate conveying of qualified workpieces and unqualified workpieces.

The utility model discloses in, belt conveyor 400 includes mounting frame 401, be equipped with flat belt 402 along this mounting frame 401's length direction on mounting frame 401, be equipped with motor 405 on the flat belt 402 that is close to pay-off robot 300 one end, the output shaft of this motor 405 links together with final drive shaft 403, be equipped with from transmission shaft 404 at flat belt 402's the other end, install inductor support 406 near the mounting frame 401 side of following transmission shaft 404, inductor support 406 facial make-up is equipped with the first inductor 407 that can respond to work piece 100 position on belt conveyor 400; the motor 405 can drive the main transmission shaft 403 to rotate, friction is generated between the flat belt 402 and the main transmission shaft 403 and the driven shaft 404, the main transmission shaft 403 and the driven shaft 404 move and drive the flat belt 402, so that linear motion of the flat belt 402 is realized, and the first sensor 407 can sense the position of the workpiece 100 on the belt conveying line 400, so as to control whether the motor 405 stops.

The utility model discloses in, tongs device 500 includes first flange 501, is equipped with octagonal tube 502 at first flange 501 facial make-up, and first flange 501 and octagonal tube 502 combination form square frame construction, install the gas circuit control assembly 503 that can realize gas circuit control to tongs device 500 in one side of octagonal tube 502, be equipped with angle seat 504 at octagonal tube 502 facial make-up, angle seat 504 facial make-up is equipped with die clamping cylinder 505, be equipped with briquetting 506 at die clamping cylinder 505 facial make-up, and, still install on angle seat 504 and can cooperate the tray 507 of accomplishing clamping action with briquetting 506; a square frame constructed by an octagonal tube 502 is fixedly installed on the first flange 501, and an air passage control assembly 503 is used for realizing air passage control of the gripper 500.

In the present invention, the angle seat 504 is further provided with a double-guide-rod cylinder 508, the movable end of the double-guide-rod cylinder 508 is provided with a positioning pin 509, and the angle seat 504 is further provided with a second sensor 510 capable of sensing parts; a positioning pin 509 is installed at the movable end of the dual-guide cylinder 508, so that the pin hole positioning of the workpiece 100 can be realized by the extension and contraction of the dual-guide cylinder 508, and a second sensor 510 installed on the octagonal tube 502 is used for sensing whether the workpiece 100 exists.

The utility model discloses in, 3D vision device 600 is including installing the stand 601 in belt conveyor 400 one side, it is equipped with installation pillar 602 to adorn on stand 601, be equipped with first installation base 603 in one side of installation pillar 602, it is equipped with first lead screw 604 to adorn in first installation base 603, be equipped with first servo 606 in the one end of first installation base 603, first servo 606 links together with first lead screw 604 through a first shaft coupling 605, be equipped with the first sliding plate 608 that can carry out the horizontal slip along with this first lead screw 604 at the slip end of first lead screw 604, it is equipped with first response piece 607 to adorn on first sliding plate 608, be equipped with tow chain bottom plate 612 above installation pillar 602, be equipped with tow chain mounting panel 613 on first sliding plate 608, tow chain bottom plate 612 and tow chain mounting panel 613 link together through a tow chain 614, wherein, the one end of tow chain 614 sets up on tow chain bottom plate 612, the other end of tow chain mounting panel 614 sets up on tow chain mounting panel 613; the first sliding plate 608 may slide left and right on the first lead screw 604, and the drag chain base plate 612, the drag chain mounting plate 613, and the drag chain 614 may be used for arrangement of the 3D vision device 600 cable.

In the utility model, a first induction mounting base 611 is arranged on one side of the first mounting base 603, and a third inductor 609 and a fourth inductor 610 which can induce the position of the first induction piece 607 are arranged on the first induction mounting base 611; the third sensor 609 and the fourth sensor 610 may sense the position of the first sensing piece 607, thereby determining the left and right position of the first sliding plate 608.

In the utility model, a second mounting base 615 capable of moving along with the first sliding plate 608 is further arranged on the first sliding plate 608, a second screw mandrel 616 is arranged in the second mounting base 615, a second servo 618 is arranged at one end of the second mounting base 615, the second servo 618 is connected with the second screw mandrel 616 through a second coupling 617, a second sliding plate 620 capable of moving up and down along with the second screw mandrel 616 is arranged at the sliding end of the second screw mandrel 616, and a visual detection box 624 and a second induction sheet 619 are arranged on the second sliding plate 620; the second sliding plate 620 can slide up and down with the second lead screw 616, and the visual inspection box 624 can slide left and right with the first sliding plate 608, and can also slide up and down with the second sliding plate 620.

In the utility model, a second induction mounting base 623 is arranged on one side of the second mounting base 615, and a fifth inductor 621 and a sixth inductor 622 which can induce the position of a second induction sheet 619 are arranged on the second induction mounting base 623; the fifth and

sixth sensors

621 and 622 may sense the position of the second sensing piece 619 to determine the up-down position of the second sliding plate 620.

The utility model discloses during the specific use, AGV material feeding unit 200 transports work piece 100 to near of belt conveyor 400, then pay-off robot 300 snatchs work piece 100 to belt conveyor 400 on, 3D visual detection box 624 on the 3D visual device 600 moves to the rightmost end and discerns and confirm the spatial position of work piece 100 on the belt conveyor 400, then give transfer robot 900 with the signal transmission, transfer robot 900 snatchs work piece 100 to welding table 700 through tongs 500 and carries out the technology welding, after the welding is accomplished, transfer robot 900 snatchs work piece 100 to detecting table 800, visual detection box 624 removes the top of detecting table 800 on the 3D visual device 600 this moment, measure the work piece 100 on detecting table 800, this moment, if the welding quality of work piece 100 is qualified, transfer robot 900 is given to the spatial position of work piece 100 to the conveying line of detecting table 800 to 3D visual device 600, transfer robot 900 snatchs work piece 100 to qualified conveying line 1000 with work piece 100, qualified conveying line 1000 carries work piece 100 to next technology process in qualified, if the welding quality of work piece 100 is unqualified, 3D visual device 600 transmits the spatial position of work piece 100 to conveying line for transfer robot 600, the initial position of repairing robot 600 to conveying line 1100, the work piece 600 is repaired to transport robot 600 and picks work piece 100 to conveying line 1100.

The above description is that of the preferred embodiment of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that devices and structures not described in detail are understood to be implemented in a manner common in the art; without departing from the scope of the invention, it is intended that the present invention shall not be limited to the above-described embodiments, but that the present invention shall include all the modifications and variations of the embodiments. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention all still fall within the protection scope of the technical solution of the present invention, where the technical entity does not depart from the content of the technical solution of the present invention.

Claims

1. The utility model provides a 3D visual identification and measurement intelligent device for complicated spare part which characterized in that: including work piece (100), belt conveyor line (400) and can with work piece (100) are carried to AGV material feeding unit (200) of belt conveyor line (400) one end and are being close to belt conveyor line (400) of AGV material feeding unit (200) serve and are equipped with feeding robot (300) belt conveyor line (400)'s the other end is equipped with detects platform (800), keeping away from detecting platform (800) one side of belt conveyor line (400) is equipped with welding bench (700), and, being close to it is equipped with 3D vision device (600) to detect belt conveyor line (400) top of platform (800) the side of belt conveyor line (400) is equipped with transfer robot (900), is equipped with tongs (500) on this transfer robot (900) the lower extreme of transfer robot (900) is equipped with qualified transfer line (1000) and reprocesses transfer line (1100).

2. The intelligent 3D visual identification and measurement device for complex parts according to claim 1, wherein: the belt conveying line (400) comprises a mounting frame (401), a flat belt (402) is arranged on the mounting frame (401) along the length direction of the mounting frame (401), a motor (405) is arranged at one end of the flat belt (402) close to the feeding robot (300), an output shaft of the motor (405) is connected with a main transmission shaft (403), a driven transmission shaft (404) is arranged at the other end of the flat belt (402), an inductor support (406) is arranged on the side face, close to the mounting frame (401) of the driven transmission shaft (404), of the inductor support (406), and a first inductor (407) capable of inducing the position of a workpiece (100) on the belt conveying line (400) is arranged on the inductor support (406).

3. The intelligent 3D visual identification and measurement device for complex parts according to claim 2, wherein: the gripper device (500) comprises a first flange (501), an octagonal tube (502) is arranged on the first flange (501), the first flange (501) and the octagonal tube (502) are combined to form a square frame structure, an air path control assembly (503) capable of achieving air path control over the gripper device (500) is arranged on one side of the octagonal tube (502), an angle seat (504) is arranged on the octagonal tube (502), a clamping cylinder (505) is arranged on the angle seat (504), a pressing block (506) is arranged on the clamping cylinder (505), and a supporting block (507) capable of completing clamping action by matching with the pressing block (506) is further arranged on the angle seat (504).

4. The intelligent 3D visual identification and measurement device for complex parts according to claim 3, wherein: the angle seat (504) is further provided with a double-guide-rod air cylinder (508), the movable end of the double-guide-rod air cylinder (508) is provided with a positioning pin (509), and the angle seat (504) is further provided with a second sensor (510) capable of sensing parts.

5. 3D visual identification and measurement intelligent device for complex parts according to claim 1 or 2, characterized in that: the 3D vision device (600) comprises a vertical column (601) arranged on one side of the belt conveying line (400), a mounting support column (602) is arranged on the vertical column (601), a first mounting base (603) is arranged on one side of the mounting support column (602), a first lead screw (604) is arranged in the first mounting base (603), a first servo (606) is arranged at one end of the first mounting base (603), the first servo (606) is connected with the first lead screw (604) through a first coupling (605), a first sliding plate (608) capable of sliding left and right along with the first lead screw (604) is arranged at the sliding end of the first lead screw (604), a first sensing sheet (607) is arranged on the first sliding plate (608), a drag chain bottom plate (612) is arranged above the mounting support column (602), a drag chain bottom plate (613) is arranged on the first sliding plate (608), the drag chain bottom plate (612) and the mounting plate (613) are connected through a drag chain (613), and one end of the drag chain (614) is arranged on the mounting plate (613).

6. The intelligent 3D visual identification and measurement device for complex parts according to claim 5, wherein: a first induction mounting base (611) is further arranged on one side of the first mounting base (603), and a third inductor (609) and a fourth inductor (610) which can induce the position of the first induction sheet (607) are arranged on the first induction mounting base (611).

7. The intelligent device for 3D visual identification and measurement of complex parts according to claim 6, wherein: the first sliding plate (608) is further provided with a second mounting base (615) capable of moving along with the first sliding plate (608), a second lead screw (616) is arranged in the second mounting base (615), one end of the second mounting base (615) is provided with a second servo (618), the second servo (618) is connected with the second lead screw (616) through a second coupler (617), a sliding end of the second lead screw (616) is provided with a second sliding plate (620) capable of moving up and down along with the second lead screw (616), and the second sliding plate (620) is provided with a visual detection box (624) and a second sensing sheet (619).

8. The intelligent 3D visual identification and measurement device for complex parts according to claim 7, wherein: a second induction mounting base (623) is further arranged on one side of the second mounting base (615), and a fifth inductor (621) and a sixth inductor (622) which can induce the position of the second induction sheet (619) are arranged on the second induction mounting base (623).