CN219996912U - Robot based on double-sided visual inspection - Google Patents
Robot based on double-sided visual inspection Download PDFInfo
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- CN219996912U CN219996912U CN202320733767.XU CN202320733767U CN219996912U CN 219996912 U CN219996912 U CN 219996912U CN 202320733767 U CN202320733767 U CN 202320733767U CN 219996912 U CN219996912 U CN 219996912U
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- 238000011179 visual inspection Methods 0.000 title claims description 21
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000000007 visual effect Effects 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000013475 authorization Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 101000857682 Homo sapiens Runt-related transcription factor 2 Proteins 0.000 description 1
- 102100025368 Runt-related transcription factor 2 Human genes 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
The utility model belongs to the field of robots, in particular to a robot based on double-sided visual detection, which comprises a base and a concave plate fixedly connected with the top of the base; the workpiece conveying mechanism is fixedly arranged at the top of the base and is used for conveying a workpiece to be visually detected; the visual detection image acquisition mechanism is fixedly arranged on the concave plate and used for carrying out double-sided visual detection on the workpiece to be detected, the visual detection device can simultaneously carry out visual detection on the double sides of the workpiece, has wider application range compared with a visual detection robot which can only detect one side of the workpiece, can adjust the vertical positions of the two cameras according to the size and the thickness of the workpiece, and has good use effect.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot based on double-sided visual detection.
Background
In the production process of workpieces, due to the production environment, the processing technology, the production equipment and other influencing factors, some surface defects can be generated, and the retrieved authorization document with the bulletin number of CN110314854B discloses a device and a method for detecting and sorting workpieces based on a vision robot, the device comprises a transmission device, a robot and a computer, wherein the transmission device collects images of the workpieces, the images of the workpieces are analyzed through the computer, the workpieces are grabbed and damaged by the robot, the images are collected through a high-definition camera CCD1 above a detection area during the working of the vision robot, the traditional image segmentation method is combined with the deep learning detection classification to detect the surface defects of castings, and the detection mode based on the vision robot has the following obvious problems: the double-sided visual inspection of the workpiece needing double-sided defect inspection is inconvenient, and the applicability is poor; the position of the high-definition camera is inconvenient to adjust according to the size and the thickness of the workpiece.
Disclosure of Invention
In view of the above problems, the present utility model provides a robot based on double-sided visual inspection, which solves the above drawbacks of the prior art.
The utility model provides the following technical scheme:
a robot based on double-sided visual detection comprises a base and a concave plate fixedly connected with the top of the base;
the workpiece conveying mechanism is fixedly arranged at the top of the base and is used for conveying a workpiece to be visually detected;
the visual detection image acquisition mechanism is fixedly arranged on the concave plate and used for carrying out double-sided visual detection on a workpiece to be detected.
In one possible design, the workpiece conveying mechanism comprises a plurality of vertical rods fixedly arranged on the base in a matrix, one side, close to each other, of the two vertical rods positioned on the same side is rotatably provided with the same driving roller and the same driven roller, and the outer sides of the driving roller and the driven roller positioned on the same side are in transmission connection with the same feeding belt for placing the workpiece.
In one possible design, a feeding motor is fixedly installed on the outer side of one of the upright rods, an output shaft of the feeding motor is installed on the upright rods in a penetrating and rotating mode, and the output shaft of the feeding motor is in transmission connection with the driving roller through a synchronous belt and a synchronous wheel.
In one possible design, the visual detection image acquisition mechanism comprises a concave block fixedly mounted on the concave plate through a transverse block, the concave block is provided with a transverse plate and a T-shaped plate which can vertically slide along the concave block, one sides of the T-shaped plate and the transverse plate, which are close to each other, are fixedly provided with cameras for synchronously shooting the two sides of the same workpiece, and the two cameras are connected with the same server in a transmission way.
In one possible design, the top fixed mounting of spill piece has accommodate motor, accommodate motor output shaft's tip extends to the inside of spill piece and fixed mounting have and be the two-way screw rod of vertical setting, the outside threaded connection of two-way screw rod has two screw thread pieces of symmetry setting, the outside of two screw thread pieces respectively rather than the tip fixed connection of corresponding diaphragm and T template.
In one possible design, a photoelectric sensor is fixedly mounted at the bottom of the transverse plate, the photoelectric sensor is located above the workpiece to be visually detected, and the photoelectric sensor is in transmission connection with the camera.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.
According to the utility model, the cameras arranged on the transverse plate and the T-shaped plate refer to the high-definition camera in the authorization document with the bulletin number of CN110314854B, and the shooting result is transmitted to the server to finish the visual detection of the two sides of the workpiece, so that the visual detection of the two sides of the workpiece can be simultaneously carried out, and the application range is wide compared with a visual detection robot for detecting only one side of the workpiece;
according to the utility model, through the arranged adjusting motor, the bidirectional screw rod and the threaded blocks, after the adjusting motor is started, the two threaded blocks can be driven to vertically move to the side close to or far from each other, and the vertical positions of the two cameras can be adjusted according to the size and thickness of a workpiece;
according to the utility model, the visual inspection can be carried out on both sides of the workpiece at the same time, and compared with a visual inspection robot which only detects one side of the workpiece, the visual inspection robot has a wide application range, and the vertical positions of the two cameras can be adjusted according to the size and thickness of the workpiece, so that the use effect is good.
Drawings
Fig. 1 is a schematic diagram of an overall structure of a robot based on double-sided visual inspection according to an embodiment of the present utility model;
fig. 2 is a schematic structural diagram of a visual inspection image acquisition mechanism of a robot based on double-sided visual inspection according to an embodiment of the present utility model;
fig. 3 is a schematic diagram of a separation structure of a visual inspection image acquisition mechanism of a robot based on double-sided visual inspection according to an embodiment of the present utility model;
fig. 4 is an enlarged schematic diagram of a portion a of a robot based on double-sided visual inspection according to an embodiment of the present utility model.
Reference numerals:
1. a base; 2. a vertical rod; 3. a feeding motor; 4. a drive roll; 5. a feeding belt; 6. a concave plate; 7. a concave block; 8. adjusting a motor; 9. a bidirectional screw; 10. a screw block; 11. a cross plate; 12. t-shaped plates; 13. a camera; 14. a photoelectric sensor.
Detailed Description
Embodiments of the present utility model will be described below with reference to the accompanying drawings in the embodiments of the present utility model.
In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled" and "mounted" should be interpreted broadly, and for example, "coupled" may or may not be detachably coupled; may be directly connected or indirectly connected through an intermediate medium. In addition, "communication" may be direct communication or may be indirect communication through an intermediary. Wherein, "fixed" means that the relative positional relationship is not changed after being connected to each other. References to orientation terms, such as "inner", "outer", "top", "bottom", etc., in the embodiments of the present utility model are merely to refer to the orientation of the drawings and, therefore, the use of orientation terms is intended to better and more clearly illustrate and understand the embodiments of the present utility model, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the embodiments of the present utility model.
In embodiments of the present utility model, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
In the embodiment of the present utility model, "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the utility model. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Example 1
Referring to fig. 1 to 4, a robot based on double-sided visual inspection includes a base 1, a concave plate 6 fixedly connected with the top of the base 1;
the workpiece conveying mechanism is fixedly arranged at the top of the base 1 and is used for conveying a workpiece to be visually detected;
the visual detection image acquisition mechanism is fixedly arranged on the concave plate 6 and is used for carrying out double-sided visual detection on a workpiece to be detected.
Referring to fig. 1 and 4, the workpiece conveying mechanism comprises a plurality of vertical rods 2 fixedly arranged on a base 1 in a matrix, one side, which is close to each other, of two vertical rods 2 positioned on the same side is rotatably provided with the same driving roller 4 and the same driven roller, and the outer sides of the driving roller 4 and the driven roller positioned on the same side are in transmission connection with the same feeding belt 5 used for placing workpieces.
Referring to fig. 1 and 2, the visual inspection image acquisition mechanism comprises a concave block 7 fixedly mounted on a concave plate 6 through a transverse block, a transverse plate 11 and a T-shaped plate 12 which can vertically slide along the concave block 7 are arranged on the concave block 7, cameras 13 for synchronously shooting two sides of the same workpiece are fixedly mounted on one side, close to each other, of the T-shaped plate 12 and the transverse plate 11, and the two cameras 13 are connected with the same server in a transmission manner.
Example 2
Referring to fig. 1 to 4, a robot based on double-sided visual inspection includes a base 1, a concave plate 6 fixedly connected with the top of the base 1;
the workpiece conveying mechanism is fixedly arranged at the top of the base 1 and is used for conveying a workpiece to be visually detected;
the visual detection image acquisition mechanism is fixedly arranged on the concave plate 6 and is used for carrying out double-sided visual detection on a workpiece to be detected;
the top of the concave plate 6 in the above technical scheme is located above the workpiece conveying mechanism, and the base 1 is horizontally arranged.
Referring to fig. 1 and 4, the workpiece conveying mechanism comprises a plurality of vertical rods 2 fixedly arranged on a base 1 in a matrix, one side, which is close to each other, of two vertical rods 2 positioned on the same side is rotatably provided with the same driving roller 4 and the same driven roller, and the outer sides of the driving roller 4 and the driven roller positioned on the same side are in transmission connection with the same feeding belt 5 used for placing workpieces;
in the above technical scheme, a space for detecting the bottom surface of the workpiece is reserved between the two feeding belts 5, and the two feeding belts 5 are symmetrically arranged on the driving roller 4 and the driven roller.
Referring to fig. 1, a feeding motor 3 is fixedly installed on the outer side of one upright rod 2, an output shaft of the feeding motor 3 is installed on the upright rod 2 in a penetrating and rotating mode, and the output shaft of the feeding motor 3 is in transmission connection with a driving roller 4 through a synchronous belt and a synchronous wheel;
according to the technical scheme, the specification of the feeding motor 3 can be selected according to actual use, and the synchronous wheel is fixedly sleeved on the outer sides of the output shaft of the feeding motor 3 and the driving roller 4.
Referring to fig. 1 and 2, the visual detection image acquisition mechanism comprises a concave block 7 fixedly arranged on a concave plate 6 through a transverse block, wherein the concave block 7 is provided with a transverse plate 11 and a T-shaped plate 12 which can vertically slide along the concave block 7, one side, close to each other, of the T-shaped plate 12 and the transverse plate 11 is fixedly provided with a camera 13 for synchronously shooting the two sides of the same workpiece, and the two cameras 13 are connected with the same server in a transmission way;
in the above technical solution, the camera 13 refers to a high-definition camera in the authorization document with the bulletin number CN110314854B, and the processing procedure of the camera 13 after shooting the workpiece refers to the visual detection procedure in the authorization document with the bulletin number CN 110314854B.
Referring to fig. 3, an adjusting motor 8 is fixedly installed at the top of a concave block 7, the end part of an output shaft of the adjusting motor 8 extends into the concave block 7 and is fixedly provided with a vertically arranged bidirectional screw rod 9, two symmetrically arranged threaded blocks 10 are connected with the outer sides of the bidirectional screw rod 9 in a threaded manner, and the outer sides of the two threaded blocks 10 are respectively and fixedly connected with the corresponding transverse plates 11 and the end parts of a T-shaped plate 12;
according to the technical scheme, the specification of the adjusting motor 8 can be selected according to practice, after the bidirectional screw rod 9 rotates, the two thread blocks 10 can vertically move towards one sides which are close to each other or far away from each other, and the vertical position of the camera 13 can be conveniently adjusted according to the size and thickness of a workpiece.
Referring to fig. 1, a photoelectric sensor 14 is fixedly installed at the bottom of a transverse plate 11, the photoelectric sensor 14 is positioned above a workpiece to be visually detected, and the photoelectric sensor 14 is in transmission connection with a camera 13;
the working process of the photoelectric sensor 14 in the above technical solution refers to the photoelectric sensor in the authorization document with the bulletin number CN110314854B, which is a mature technology, and is not described in detail, and is used for sensing that the workpiece arrives at the visual detection area.
However, as well known to those skilled in the art, the working principles and wiring methods of the feeding motor 3, the adjusting motor 8, the camera 13 and the photoelectric sensor 14 are common, which are all conventional means or common general knowledge, and are not described herein in detail, and any optional matching can be performed by those skilled in the art according to their needs or convenience.
The working principle and the using flow of the technical scheme are as follows: when the automatic feeding device is used, the top of the two feeding belts 5 is placed in a mode of being detected visually according to fig. 1, after the switch of the feeding motor 3 is pressed, linkage of the feeding motor 3 and the driving roller 4 can be achieved through the set synchronous belt, transmission of the two feeding belts 5 is achieved, when the photoelectric sensor 14 senses a workpiece, the two cameras 13 can conduct simultaneous visual detection on two sides of the workpiece, visual detection mode in an authorization document with the bulletin number of CN110314854B is omitted, when the photoelectric sensor 14 senses the workpiece, the cameras 13 are closed, intermittent starting of the cameras 13 is achieved, loss of energy sources is saved, after the switch of the adjusting motor 8 is pressed, the output shaft of the adjusting motor 8 can drive the bidirectional screw 9 to rotate, vertical movement of the transverse plate 11 and the T-shaped plate 12 close to each other or vertical movement of the two far away from each other can be achieved, and the vertical position of the cameras 13 is adjusted according to the size and thickness of the workpiece, and visual detection effect is better.
The present utility model is not limited to the above embodiments, and any person skilled in the art can easily think about the changes or substitutions within the technical scope of the present utility model, and the changes or substitutions are intended to be covered by the scope of the present utility model; embodiments of the utility model and features of the embodiments may be combined with each other without conflict. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.
Claims (5)
1. Robot based on two-sided visual inspection, characterized by comprising:
a base (1) and a concave plate (6) fixedly connected with the top of the base (1);
the workpiece conveying mechanism is fixedly arranged at the top of the base (1) and is used for conveying a workpiece to be visually detected;
visual detection image acquisition mechanism, visual detection image acquisition mechanism is fixed to be located on recess board (6) and be used for carrying out two-sided visual detection to the work piece that treats the detection, visual detection image acquisition mechanism go up including through horizontal piece fixed mounting in spill piece (7) on recess board (6), be equipped with on spill piece (7) can be followed vertical gliding diaphragm (11) of spill piece (7) and T template (12), the equal fixed mounting in one side that T template (12) and diaphragm (11) are close to each other has camera (13) that are used for the two-sided synchronous shooting of same work piece, and the transmission is connected with same server on two cameras (13).
2. The robot based on double-sided visual inspection according to claim 1, wherein the workpiece conveying mechanism comprises a plurality of vertical rods (2) fixedly arranged on the base (1) in a matrix, one side, close to each other, of the two vertical rods (2) on the same side is rotatably provided with the same driving roller (4) and the same driven roller, and the outer sides of the driving roller (4) and the driven roller on the same side are in transmission connection with the same feeding belt (5) for placing workpieces.
3. The robot based on double-sided visual inspection according to claim 2, wherein a feeding motor (3) is fixedly installed on the outer side of one upright (2), an output shaft of the feeding motor (3) is installed on the upright (2) in a penetrating and rotating mode, and the output shaft of the feeding motor (3) is in transmission connection with the driving roller (4) through a synchronous belt and a synchronous wheel.
4. A robot based on double-sided visual inspection according to any one of claims 1-3, characterized in that an adjusting motor (8) is fixedly installed at the top of the concave block (7), the end of the output shaft of the adjusting motor (8) extends to the inside of the concave block (7) and is fixedly provided with a vertical bidirectional screw (9), the outer side of the bidirectional screw (9) is in threaded connection with two symmetrically arranged threaded blocks (10), and the outer sides of the two threaded blocks (10) are respectively fixedly connected with the corresponding end parts of the transverse plate (11) and the T-shaped plate (12).
5. The robot based on double-sided visual inspection according to claim 4, characterized in that a photoelectric sensor (14) is fixedly installed at the bottom of the transverse plate (11), the photoelectric sensor (14) is located above a workpiece to be visually inspected, and the photoelectric sensor (14) is in transmission connection with a camera (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320733767.XU CN219996912U (en) | 2023-04-06 | 2023-04-06 | Robot based on double-sided visual inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320733767.XU CN219996912U (en) | 2023-04-06 | 2023-04-06 | Robot based on double-sided visual inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219996912U true CN219996912U (en) | 2023-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320733767.XU Active CN219996912U (en) | 2023-04-06 | 2023-04-06 | Robot based on double-sided visual inspection |
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| Country | Link |
|---|---|
| CN (1) | CN219996912U (en) |
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- 2023-04-06 CN CN202320733767.XU patent/CN219996912U/en active Active
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