CN220508810U - Flexible visual detection device based on cooperative robot - Google Patents
Flexible visual detection device based on cooperative robot Download PDFInfo
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- CN220508810U CN220508810U CN202322118493.6U CN202322118493U CN220508810U CN 220508810 U CN220508810 U CN 220508810U CN 202322118493 U CN202322118493 U CN 202322118493U CN 220508810 U CN220508810 U CN 220508810U
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- 230000000007 visual effect Effects 0.000 title claims abstract description 27
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- 238000007689 inspection Methods 0.000 claims abstract description 23
- 238000011179 visual inspection Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 8
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Abstract
The utility model relates to the technical field of visual inspection, and particularly discloses a flexible visual inspection device based on a cooperative robot, which has high inspection efficiency and reliability and low inspection cost, wherein the flexible visual inspection device comprises a visual module for acquiring a product image, a driving control unit and a positioning unit, the driving control unit comprises an electric control cabinet and the cooperative robot, the top of the electric control cabinet is provided with an operation platform, the cooperative robot is fixed on the operation platform and is electrically connected with the electric control cabinet, the movable end of the cooperative robot is adjustable in position in a three-dimensional space, and the visual module is fixed at the movable end of the cooperative robot and is electrically connected or in communication with the electric control cabinet; the positioning unit comprises a cabinet arranged beside the electric control cabinet, and a rotary tool module which is arranged on the cabinet and can rotate in a horizontal plane, wherein a clamp for fixing a product is detachably arranged on the rotary tool module.
Description
Technical Field
The utility model relates to the technical field of visual detection, in particular to a flexible visual detection device based on a cooperative robot.
Background
After the product is processed, the size and the appearance of the product are generally required to be detected, so that the size and the appearance of the product obtained from a factory meet the sales and use requirements. The efficiency of traditional manual visual inspection is lower, and receives the influence of operating personnel subjective consciousness, and the misjudgement rate of product is higher, easily appears the condition that defective products leaked. Aiming at the problem, at present, a machine vision technology is gradually adopted in a workshop to detect a product, an image of the detected product is acquired through an image acquisition device, the image is transmitted to a special image processing system, and the image processing system performs various operations according to information such as pixel distribution, brightness and color of the image to extract characteristics of a target, so that whether the quality of the product meets the requirements is determined according to the characteristics of the target, the visual detection technology is adopted to detect the appearance of the product, and the appearance detection efficiency and the accuracy and reliability of a detection result of the product are remarkably improved. However, most of the visual detection devices on the market use a fixed visual sensor and place the product to be detected in the detection range of the visual sensor, and because the product generally includes a plurality of surfaces to be detected, in the process of detecting the appearance of the product, the position and angle of the product need to be manually adjusted in an auxiliary manner. The appearance detection efficiency of the product is reduced under the influence of the manual operation efficiency, and the improvement of the labor cost increases the appearance detection cost of the product; in addition, when the position of the product is adjusted manually, the problem of local missed detection or repeated detection of the product caused by careless operation is easy to occur, so that the detection efficiency is insufficient, and the reliability of the detection result is poor.
Disclosure of Invention
In view of the above, it is necessary to provide a flexible visual inspection device using a cooperative robot, which has high inspection efficiency and reliability and low inspection cost.
A collaborative robot-based flexible vision inspection device, comprising:
the visual module is used for collecting the product image;
the driving control unit comprises an electric control cabinet and a cooperative robot, an operation platform is arranged at the top of the electric control cabinet, the cooperative robot is fixed on the operation platform and is electrically connected with the electric control cabinet, the movable end of the cooperative robot is adjustable in position in a three-dimensional space, and the visual module is fixed at the movable end of the cooperative robot and is electrically connected or in communication with the electric control cabinet;
the positioning unit comprises a cabinet arranged beside the electric control cabinet, and a rotary tool module which is arranged on the cabinet and can rotate in a horizontal plane, wherein a clamp for fixing a product is detachably arranged on the rotary tool module.
In one embodiment, the electric control cabinet comprises a square tube frame, a cabinet door covering the periphery of the square tube frame to separate the inner side and the outer side of the square tube frame, a manipulator mounting plate arranged at the top of the square tube frame, a manipulator control module and an electromagnetic valve module, wherein the manipulator control module is accommodated in an inner cavity control module of the square tube frame and is electrically connected with the control module, and the cooperative robot is fixed on the manipulator mounting plate and is electrically connected with the control module.
In one embodiment, the drive control unit further comprises a vision module mounting member disposed at the movable end of the cooperative robot, and the vision module is bolted to the vision module mounting member.
In one embodiment, the vision module comprises a housing, an upper mounting plate arranged at one end of the housing, a lower mounting plate arranged at the other end of the housing, a camera accommodated in the inner cavity of the housing and fixedly connected with the inner surface of the housing, and a lens accommodated in the inner cavity of the housing and fixedly connected with the shooting end of the camera, wherein a side surface of the housing forms a connecting plate fixedly connected with the vision module mounting part, a shooting opening corresponding to the lens is formed in the lower mounting plate, a light source is fixedly arranged on the lower mounting plate at the outer side of the housing, and the light source and the camera are respectively and electrically connected with the control module.
In one embodiment, the driving control unit further comprises a control board arranged at the top of the square frame and positioned beside the manipulator mounting plate, and the control board is provided with an electromagnetic valve switch, a reset switch, a first scram switch and a display which are electrically connected with the control module; the cabinet door is provided with a power connector, a network port connector and a power switch which are electrically connected with the control module.
In one embodiment, the cabinet is fixedly connected with the square through frame, a second emergency stop switch electrically connected with the control module is arranged on the side face of the cabinet, a tool mounting plate is arranged at the top of the cabinet, and a start-stop switch electrically connected with the control module and the rotating tool module are arranged on the tool mounting plate.
In one embodiment, the rotating tool module comprises a motor mounting frame fixed on the tool mounting plate, a motor fixed on the motor mounting frame and electrically connected with the control module, and a tool in driving connection with an output shaft of the motor, wherein the clamp is fixed at the top of the tool.
In one embodiment, the rotating tool module further comprises a coupler connected with an output shaft of the motor, two side mounting plates which are oppositely arranged on two sides of the coupler and fixedly connected with the top of the motor mounting frame, a nut fixed between the two side mounting plates, a bearing arranged on an inner ring of the nut, a rotating shaft penetrating through the bearing and corresponding to the coupler, a shaft clamping ring sleeved at one end of the rotating shaft and positioned between the nut and the coupler, and a sensing piece arranged at the other end of the rotating shaft, wherein a tool adapter plate is arranged at one end, adjacent to the sensing piece, of the rotating shaft, and the tool is fixed on the tool adapter plate.
In one embodiment, the rotating tool module further comprises an inductor arranged beside the nut and electrically connected with the control module to detect the motion signal of the induction piece.
In one embodiment, the driving control unit further comprises a vacuum generator electrically connected with the control module, and an air source connector arranged on the cabinet door and matched with the vacuum generator, the control board is provided with an air source switching module electrically connected with the control module, the square bracket is internally provided with an air source processing module electrically connected with the control module, and the movable end of the cooperative robot is provided with an air hole communicated with the output end of the vacuum generator.
According to the flexible visual detection device based on the cooperative robot, the cooperative robot drives the visual module to move, so that the position of the visual module in a three-dimensional space can be adjusted, the product is driven to rotate in a horizontal plane by the rotary tool module, and the position of a surface to be detected on the product can be adjusted, so that the visual module can comprehensively detect the product by only carrying out detection position adjustment on the rotary tool module and the cooperative robot, the mode of manually assisting in adjusting the position and the angle of the product is replaced, the operation efficiency is improved, the problem of local missed detection or repeated detection of the product due to carelessness of manual operation is avoided, the reliability and the detection efficiency of product appearance detection are improved, and the cost of product appearance detection is reduced.
Drawings
FIG. 1 is a schematic view of a flexible visual inspection device according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a flexible visual inspection device according to another embodiment of the present utility model;
FIG. 3 is a schematic diagram of a driving control unit according to an embodiment of the present utility model;
FIG. 4 is a schematic diagram showing another state of the driving control unit according to an embodiment of the present utility model;
FIG. 5 is a schematic diagram of a visual module according to an embodiment of the utility model;
FIG. 6 is a schematic diagram of an exploded view of a vision module according to an embodiment of the present utility model;
FIG. 7 is a schematic diagram of a positioning unit according to an embodiment of the present utility model;
FIG. 8 is a schematic diagram of a rotary tooling module according to one embodiment of the present utility model;
fig. 9 is a schematic diagram of an exploded view of a rotary tooling module in one embodiment of the present utility model.
Detailed Description
In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.
Referring to fig. 1 and 2, the utility model discloses a flexible visual inspection device 10 with high inspection efficiency, high reliability and low inspection cost based on a cooperative robot, the flexible visual inspection device comprises a visual module 100 for acquiring product images, a driving control unit 200 and a positioning unit 300, wherein the visual module 100 acquires appearance images of a product 20 to be inspected, and further transmits the product appearance images to the driving control unit 200 or external equipment for analysis processing so as to judge whether the product appearance meets the requirement; the driving control unit 200 is used for controlling the movement of the vision module 100 in the three-dimensional space so as to adjust the position of the vision module 100, and further enable the detection end of the vision module 100 to correspond to the corresponding position of the surface of the product 20 to be detected; the positioning unit 300 is used for receiving the product 20 to be detected and driving the product 20 to be detected to rotate in a horizontal plane so as to realize the position movement of the product 20 to be detected, so that the part, facing away from the cooperative robot, of the product 20 to be detected can rotate into the operation area of the cooperative robot, and the comprehensive detection of the surface of the product 20 is realized.
Referring to fig. 1-4, the driving control unit 200 includes an electric control cabinet 210 and a cooperative robot 220, an operation platform is disposed at the top of the electric control cabinet 210, the cooperative robot 220 is fixed on the operation platform and is electrically connected with the electric control cabinet 210, a movable end of the cooperative robot 220 is adjustable in position in a three-dimensional space, and the vision module 100 is fixed at the movable end of the cooperative robot 220 and is electrically connected or communicatively connected with the electric control cabinet 210. In this embodiment, the electric control cabinet 210 includes a square frame 211, a cabinet door 212 covering the periphery of the square frame 211 to separate the inner side and the outer side of the square frame 211, a manipulator mounting plate 213 disposed on the top of the square frame 211, a manipulator control module 215 and an electromagnetic valve module 216 accommodated in an inner cavity control module 214 of the square frame 211 and electrically connected to the control module 214, and a cooperative robot 220 fixed on the manipulator mounting plate 213 and electrically connected to the control module 214. In the present embodiment, the robot mounting plate 213 forms a part of the work platform; the control module 214 may be a computer with data processing capability, or may be composed of a controller and a communication module electrically connected to the controller, so that the controller transmits the received product image signal to an external device for further processing via the communication module; the manipulator control module 215 is a controller for controlling the movable end of the cooperative robot 220 to move in a three-dimensional space, and the controller is a PLC or a single chip microcomputer; the solenoid valve module 216 is used for controlling the circuit switching of the whole machine.
The cooperative robot 220 in this embodiment is a common cooperative robot in the market, and specifically, the cooperative robot 220 includes a robot base, a first rotary joint, a first rotary arm, a first rotary joint, a second rotary arm, a third rotary joint, and a third rotary arm that are sequentially connected; the base is internally provided with a first servo motor which is electrically connected with the manipulator control module 215 to drive the first rotary joint to rotate within the range of-180 DEG to 180 DEG, the first rotary joint is internally provided with a second servo motor which is electrically connected with the manipulator control module 215 to drive the first rotary arm to rotate within the range of-100 DEG to 100 DEG, the first rotary arm is internally provided with a third servo motor which is electrically connected with the manipulator control module 215 to drive the second rotary joint to rotate within the range of-180 DEG to 180 DEG, the second rotary joint is internally provided with a fourth servo motor which is electrically connected with the manipulator control module 215 to drive the second rotary arm to rotate within the range of-90 DEG to 120 DEG, the second rotary arm is internally provided with a fifth servo motor which is electrically connected with the manipulator control module 215 to drive the third rotary joint to rotate within the range of-180 DEG to 95 DEG. Thus, when the flexible visual inspection device works, the manipulator control module 215 receives the corresponding control instruction and controls the preset servo motor to work, so that each rotary joint and each rotary arm rotate by a preset angle, and finally the tail end of the third rotary arm moves to a specified position and angle to meet the inspection requirement of the product 20. In other embodiments, the collaborative robot 220 may also be a robot or a multi-axis manipulator of other types on the market, so as to satisfy the requirement that the position of the vision module moves in the three-dimensional space, which is not described herein.
In one embodiment, the driving control unit 200 further includes a control board 230 disposed on the top of the square frame 211 and beside the manipulator mounting board 213, and the control board 230 is provided with a solenoid switch 231, a reset switch 232, a first scram switch 233 and a display 234 electrically connected to the control module 214, where the solenoid switch 231 is used to control the start and stop of the solenoid module 216; the reset switch 232 is used for controlling the cooperative robot 220 to return to the original point (i.e. the initial position) and resetting the motor of the rotating tooling module 320; the first emergency stop switch 233 is used for controlling the complete machine of the flexible visual inspection device to stop in case of emergency, and the display 234 is used for displaying the inspection result and the working parameters of the flexible visual inspection device. The cabinet door 212 is provided with a power connector 2121, a network port connector 2122 and a power switch 2123 which are electrically connected with the control module 214, and the power connector 2121 and the network port connector 2122 are quickly plugged by adopting aviation plugs so as to prolong the service life.
Further, in this embodiment, the driving control unit 200 further includes a vacuum generator 240 electrically connected to the control module 214, an air source connector 2124 disposed on the cabinet door 212 and matched with the vacuum generator 240, an air source switching module 2301 electrically connected to the control module 214 is disposed on the control board 230, an air source processing module 235 electrically connected to the control module 214 is disposed in the square bracket 211, and an air hole communicating with an output end of the vacuum generator 240 is disposed at a movable end of the cooperation robot 220. The driving control unit 200 further includes a vision module mounting member 250 provided at the movable end of the cooperative robot 220, and the vision module 100 is screw-coupled to the vision module mounting member 250. In this way, in the installation process of the vision module 100, the air source switching module 2301 is operated, so that the vacuum generator 240 works, and negative pressure is formed at the air hole of the movable end of the cooperative robot 220, after the vision module 100 is fixed on the vision module mounting member 250 by bolts, the installation of the vision module 100 and the vision module mounting member 250 at the movable end of the cooperative robot 220 is realized by using the negative pressure, so as to reduce the disassembly difficulty of the vision module 100. In this embodiment, the electromagnetic valve module 216 is further used for controlling the flow direction of the gas to form negative pressure in cooperation with the vacuum generator 240, and of course, the air hole at the movable end of the cooperation robot 220 may be replaced by an air cylinder or a suction cup connected to the vacuum generator 240.
Referring to fig. 3 and fig. 5-6, the vision module 100 includes a housing 110, an upper mounting plate 120 disposed at one end of the housing 110, a lower mounting plate 130 disposed at the other end of the housing 110, a camera 140 accommodated in an inner cavity of the housing 110 and fixedly connected to an inner surface of the housing 110, and a lens 150 accommodated in an inner cavity of the housing 110 and fixedly connected to a photographing end of the camera 140, wherein a connecting plate fixedly connected to a vision module mounting member 250 is formed on one side of the housing 110, a photographing opening 131 corresponding to the lens 150 is formed on the lower mounting plate 130, a light source 160 is fixedly disposed on the lower mounting plate 130 at an outer side of the housing 110, and the light source 160 and the camera 140 are respectively electrically connected to the control module 214. When the vision module 100 moves to a specified detection position under the driving of the cooperative robot 220, the control module 214 controls the light source 160 to work, so that the surface of the product 20 to be detected is illuminated, and the influence of insufficient light on the surface of the product 20 on the product image is avoided; after the light source 160 is operated, the camera 140 is operated under the control of the control module 214 to collect an appearance image of the product 20 and transmit the appearance image back to the control module 214. Preferably, the camera 140 of the present embodiment is a CCD (charge coupled device) camera to convert the acquired image signals into electrical signals that can be recognized by the control module 214. In addition, in order to fix the vision module 100 and the vision module mounting member 250, in this embodiment, a threaded hole 111 is formed in one surface of the housing 110 for forming a connection plate.
Referring to fig. 1-3 and fig. 7-9, the positioning unit 300 includes a cabinet 310 disposed beside the electric control cabinet 210, a rotating tool module 320 disposed on the cabinet 310 and capable of rotating in a horizontal plane, and a fixture 3201 for fixing the product 20 is detachably mounted on the rotating tool module 320. The cabinet 310 is fixedly connected with the square through frame 211, a second emergency stop switch 330 electrically connected with the control module 214 is arranged on the side face of the cabinet 310, a tool mounting plate 340 is arranged at the top of the cabinet 310, and a start-stop switch 350 and a rotating tool module 320 electrically connected with the control module 214 are arranged on the tool mounting plate 340. It should be noted that, in the embodiment, the cabinet 310 and the square frame 211 may be the same cabinet body, or may be independently arranged, and the heights of the cabinet 310 and the square frame 211 may be the same or may not be the same, so that the product 20 is only required to be located in the detection area of the vision module 100 after the product 20 is placed on the fixture 3201. In addition, in this embodiment, the fixture 3201 may be fixed on the rotating tool module 320 through a screw, or may be fixed on the rotating tool module 320 through a snap connection or a plug connection, so, when appearance detection is performed on different products 20, a proper fixture 3201 may be selected according to the appearance of the products 20 to be installed on the rotating tool module 320, so as to ensure stability and reliability of positioning of the products 20.
In an embodiment, the rotating tool module 320 includes a motor mounting frame 321 fixed on the tool mounting plate 340, a motor 322 fixed on the motor mounting frame 321 and electrically connected with the control module 214, and a tool 323 connected with an output shaft of the motor 322 in a driving manner, wherein a fixture 3201 is fixed on the top of the tool 323, and according to different products 20 to be tested, the fixture 3201 is supported by the tool 323 corresponding to the shape of the products 20 to be tested. Further, the rotating tool module 320 further comprises a coupling 324 connected with an output shaft of the motor 322, two side mounting plates 325 which are oppositely arranged at two sides of the coupling 324 and fixedly connected with the top of the motor mounting frame 321, a nut 326 fixed between the two side mounting plates 325, a bearing 327 arranged on an inner ring of the nut 326, a rotating shaft 328 penetrating through the bearing 327 and corresponding to the coupling 324, a shaft clamping ring sleeved at one end of the rotating shaft 328 and positioned between the nut 326 and the coupling 324, and a sensing piece 329 arranged at the other end of the rotating shaft 328, wherein a tool adapter plate 350 is arranged at one end, adjacent to the sensing piece 329, of the rotating shaft 328, and the tool 323 is fixed on the tool adapter plate 350. Further preferably, the rotating tool module 320 further includes an inductor 360 disposed beside the nut 326 and electrically connected to the control module 214 to detect a motion signal of the sensing piece 329, and the sensing piece 329 is provided with a sensing portion that can be sensed and identified by the inductor 360. Thus, when the motor works under the drive of the control module 214, the output shaft of the motor rotates and drives the coupler 324 to rotate, the rotating shaft 328 is further driven to rotate through the coupler 324, when the sensing piece 329 on the rotating shaft 328 rotates to a detection range of the sensor 360, the potential of the detection end of the sensor 360 changes, and a detection signal is sent to the control module 214, and the control module 214 judges the rotation angle of the rotating shaft 328, namely the rotation angle of the product 20, through the detection signal, and then feeds back and adjusts the rotation angle and the steering direction of the motor so as to accurately control the rotation angle of the product 20 in the horizontal plane.
In the working process of the flexible visual inspection device, the product 20 to be inspected is firstly placed on the fixture 3201 at the top of the fixture 323 by a person, then the operator presses the start-stop switch 350, the cooperative robot 220 drives the visual module 100 to move to the inspection position, meanwhile, the control module 214 controls the light source 160 to shine and controls the camera 140 to photograph, and the image signals collected by the camera 140 are transmitted to the control module 214 for processing. Subsequently, the control module 214 controls the motor to rotate by a certain angle, the cooperative robot 220 drives the vision module 100 to move to the detection position again to continue photographing until all detection surfaces on the product 20 are detected, the cooperative robot 220 returns to the waiting position, and the operator takes the product 20 away, so that the detection of all the surfaces of the product 20 is completed.
According to the flexible visual inspection device 10 based on the cooperative robot 220, the cooperative robot 220 drives the visual module 100 to move, so that the position adjustment of the visual module 100 in a three-dimensional space can be realized, the product 20 is driven to rotate in a horizontal plane by the rotary tool module 320, and the position of a surface to be inspected on the product 20 can be adjusted, so that the comprehensive inspection of the product 20 by the visual module 100 can be realized by only adjusting the inspection positions of the rotary tool module 320 and the cooperative robot 220, the manual auxiliary adjustment of the position and the angle of the product 20 is replaced, the operation efficiency is improved, the problem of local missed inspection or repeated inspection of the product 20 caused by careless manual operation is avoided, the reliability and the inspection efficiency of the product appearance inspection are improved, and the cost of the product appearance inspection is reduced.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.
Claims (10)
1. A collaborative robot-based flexible vision inspection device, comprising:
the visual module is used for collecting the product image;
the driving control unit comprises an electric control cabinet and a cooperative robot, an operation platform is arranged at the top of the electric control cabinet, the cooperative robot is fixed on the operation platform and is electrically connected with the electric control cabinet, the movable end of the cooperative robot is adjustable in position in a three-dimensional space, and the visual module is fixed at the movable end of the cooperative robot and is electrically connected or in communication with the electric control cabinet;
the positioning unit comprises a cabinet arranged beside the electric control cabinet, and a rotary tool module which is arranged on the cabinet and can rotate in a horizontal plane, wherein a clamp for fixing a product is detachably arranged on the rotary tool module.
2. The flexible vision inspection device according to claim 1, wherein the electric control cabinet comprises a square frame, a cabinet door covered on the periphery of the square frame to separate the inner side and the outer side of the square frame, a manipulator mounting plate arranged on the top of the square frame, a manipulator control module and an electromagnetic valve module accommodated in an inner cavity control module of the square frame and electrically connected with the control module, and the cooperative robot is fixed on the manipulator mounting plate and electrically connected with the control module.
3. The flexible vision inspection device of claim 2, wherein the drive control unit further comprises a vision module mount disposed at the movable end of the collaborative robot, the vision module being bolted to the vision module mount.
4. The flexible visual inspection device according to claim 3, wherein the visual module comprises a housing, an upper mounting plate arranged at one end of the housing, a lower mounting plate arranged at the other end of the housing, a camera accommodated in an inner cavity of the housing and fixedly connected with an inner surface of the housing, and a lens accommodated in the inner cavity of the housing and fixedly connected with a shooting end of the camera, a connecting plate fixedly connected with a visual module mounting piece is formed on one side surface of the housing, a shooting port corresponding to the lens is formed on the lower mounting plate, a light source is fixedly arranged on the lower mounting plate at the outer side of the housing, and the light source and the camera are respectively electrically connected with the control module.
5. The flexible vision inspection device according to claim 4, wherein the driving control unit further comprises a control board arranged at the top of the square frame and beside the manipulator mounting board, and the control board is provided with a solenoid valve switch, a reset switch, a first scram switch and a display which are electrically connected with the control module; the cabinet door is provided with a power connector, a network port connector and a power switch which are electrically connected with the control module.
6. The flexible vision inspection device according to claim 5, wherein the cabinet is fixedly connected with the square frame, a second emergency stop switch electrically connected with the control module is arranged on the side surface of the cabinet, a tool mounting plate is arranged on the top of the cabinet, and a start-stop switch electrically connected with the control module and the rotating tool module are arranged on the tool mounting plate.
7. The flexible visual inspection device of claim 6, wherein the rotating tooling module comprises a motor mounting bracket fixed on the tooling mounting plate, a motor fixed on the motor mounting bracket and electrically connected with the control module, and a tooling drivingly connected with an output shaft of the motor, wherein the tooling is fixed on the top of the tooling.
8. The flexible visual inspection device according to claim 7, wherein the rotating tool module further comprises a coupling connected with an output shaft of the motor, two side mounting plates which are oppositely arranged on two sides of the coupling and fixedly connected with the top of the motor mounting frame, a nut fixed between the two side mounting plates, a bearing arranged on an inner ring of the nut, a rotating shaft penetrating through the bearing and corresponding to the coupling, a shaft clamping ring sleeved at one end of the rotating shaft and positioned between the nut and the coupling, and an induction plate arranged at the other end of the rotating shaft, wherein a tool adapter plate is arranged at one end, adjacent to the induction plate, of the rotating shaft, and the tool is fixed on the tool adapter plate.
9. The flexible visual inspection device of claim 8, wherein the rotating tooling module further comprises an inductor disposed beside the nut and electrically connected to the control module for detecting the motion signal of the sensing piece.
10. The flexible vision inspection device according to claim 9, wherein the driving control unit further comprises a vacuum generator electrically connected with the control module, and an air source connector arranged on the cabinet door and matched with the vacuum generator, the control board is provided with an air source switching module electrically connected with the control module, the square bracket is internally provided with an air source processing module electrically connected with the control module, and the movable end of the cooperative robot is provided with an air hole communicated with the output end of the vacuum generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322118493.6U CN220508810U (en) | 2023-08-07 | 2023-08-07 | Flexible visual detection device based on cooperative robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322118493.6U CN220508810U (en) | 2023-08-07 | 2023-08-07 | Flexible visual detection device based on cooperative robot |
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| Publication Number | Publication Date |
|---|---|
| CN220508810U true CN220508810U (en) | 2024-02-20 |
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| CN202322118493.6U Active CN220508810U (en) | 2023-08-07 | 2023-08-07 | Flexible visual detection device based on cooperative robot |
Country Status (1)
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2023
- 2023-08-07 CN CN202322118493.6U patent/CN220508810U/en active Active
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