WO2023005027A1

WO2023005027A1 - Spraying detection robot based on visual positioning, and detection method thereof

Info

Publication number: WO2023005027A1
Application number: PCT/CN2021/126959
Authority: WO
Inventors: 王银; 叶尧珍; 谢宏; 鲍怡香
Original assignee: 南京轩世琪源软件科技有限公司
Priority date: 2021-07-29
Filing date: 2021-10-28
Publication date: 2023-02-02
Also published as: CN113588674A

Abstract

Provided in the present invention are a spraying detection robot based on visual positioning, and a detection method thereof. A spraying condition of a surface of a flange is distinguished and determined by means of a detection apparatus, and classification is performed by means of a conveying chain, so as to facilitate a worker in detecting the quality of spraying condition any time, thereby effectively improving the working efficiency. The detection apparatus performs scanning to obtain the surface size of a flange and sends related data to a control system, thereby effectively adjusting a movement distance of a clamping assembly along a transition plate, and effectively preventing influence on the surface quality of the flange caused by an edge of the flange touching the conveying chain during a subsequent overturning process. A flange base is clamped by means of clamping arms, which are symmetrically arranged, and a clamping range is effectively expanded by means of the clamping arms, which can be relatively rotated; and a locking wheel operates according to the gravity of the flange, thereby further improving the effective clamping force of the clamping arms. The locking wheel is rotated by means of air compression, thereby ensuring a locking state; and full use is made of the weight of the flange and the air, so as to realize the locking state, thereby effectively utilizing resources, and saving on energy.

Description

A Spraying Inspection Robot Based on Visual Positioning and Its Inspection Method

technical field

The invention relates to the technical field of flange processing, in particular to a visual positioning-based spraying detection robot and a detection method thereof.

Background technique

The integrity of flanged connections is critical to piping systems that carry fluids. Whether it is a piping system for transporting chemical media or a water supply pipeline, flange connection leakage will cause serious environmental and economic impacts, and may even bring huge safety hazards. The surface of the flange is often sprayed for corrosion protection.

In the existing flange spraying process, the flange is sprayed with a spray gun. Due to the complex shape of the flange, there are often sprayed surface defects, different coating thicknesses, poor uniformity of flange spraying, and missing spraying at flange dead ends. In this situation, the efficiency of the processing workers is reduced, and the paint waste is serious. Due to the special and changeable shape of the flange, the traditional detection device cannot realize the detection of the multi-angle plane of the flange.

technical problem

A vision-based positioning-based spraying inspection robot and its inspection method are provided, which can simultaneously process workpieces of different heights through a retractable upper grinding disc, thereby solving the above-mentioned problems existing in the prior art.

technical solution

A spraying detection robot based on visual positioning, including two parts: a detection component and a detection auxiliary component.

Wherein, the detection assembly, the first transmission chain and the second transmission chain fixed on the frame at a predetermined angle to each other, and the detection device arranged on the transmission chain at a predetermined distance; the second transmission chain is fixedly arranged on the frame One side of the frame; the first transmission chain and the second transmission chain are arranged at any angle with each other, and the detection device can effectively distinguish the spraying situation of the flange, which is convenient for workers to detect the spraying quality at any time, thereby effectively improving work efficiency.

The detection auxiliary component includes at least one clamping component that is symmetrically arranged on both sides of the transmission chain and located on one side of the detection device.

In a further embodiment, the clamping assembly is vertically and fixedly connected to the first transmission chain through a transition plate, and includes a connecting seat extending longitudinally along the transition plate and fixedly connected, and being rotatably connected to the connecting seat and The clamping arms are arranged symmetrically, and the clamping arms move relatively around the first rotation axis. According to the flange size of the detection component, the clamping component automatically moves to a predetermined distance along the transition plate according to the flange size data under the condition of maintaining sufficient clamping force on the flange, and the clamping arm moves relative or opposite to each other around the first rotation axis , to realize the clamping and loosening of the flange.

In a further embodiment, the cross-section of the connecting seat in the horizontal direction is in the shape of a "Xi", and is rotatably connected with the clamping arm through a rotating shaft to form a clampable section. The clamping arm is connected to the connecting seat through the first rotating shaft. When the clamping arm is closed, it is generally in the shape of a round head and a flat key. The angle increases the clamping range.

In a further embodiment, the clamping arm is provided with a clamping space formed by extending in the circumferential direction of the first rotating shaft, and a locking assembly is fixedly connected between the clamping space and the clamping arm. There is a predetermined distance between the clamping parts of the clamping arm, which is used to place the locking component. The locking component can effectively prevent the clamping arm from loosening and cause the flange to shake or even fall off, which will affect the accuracy of the detection data, and the locking component Located in front of the clamping arm can effectively ensure easy maintenance.

In a further embodiment, the locking assembly includes a plurality of slots opened transversely along the upper part of the clamping arm, a locking wheel that intermittently touches the slots, and a locking wheel along the vertical direction of the clamping arm. The air pipe is horizontally connected after extending a predetermined distance, and the two ends of the air pipe are movably connected to the first push rod and the second push rod to form an air flow. The first push rod adopts an air push rod, and extends a predetermined distance along the inner wall of the clamping arm to close to the bottom of the flange, so that when the flange touches the air push rod, it can push the air push rod, and the locking wheel is guaranteed by compressing the air all the time. It is always in a locked state, and the card slot is set along the inner side of the upper part of the clamping arm, so that the clamping arm can always ensure that the locking component completes the locking work within any extension range of the clamping arm, improving the clamping effect of the clamping arm.

In a further embodiment, the cross-sectional size of the locking wheel is in the shape of an inverted comma, one side of the locking wheel is fixedly provided with a rotating block at a predetermined angle to the left of the rotating shaft, and the clamping arm is fixed by the second rotating shaft It is connected and rotates synchronously with the rotating block around the rotating shaft within a predetermined range. The locking wheel is snapped inside the clamping arm through the second rotating shaft, rotates along the second rotating shaft at a predetermined angle to form a rotating arc and is tangent to the inner side of the clamping arm, rotates clockwise along the radial direction of the arc and gradually The locking wheel is widened and extended by 90 degrees. The arc contact surface of the locking wheel forms a line contact with the card slot, and the plane contacts the card slot to form a surface contact, so as to ensure that the locking wheel rotates clockwise to achieve locking, and reverse rotation Achieving a state of relaxation.

In a further embodiment, the top of the second push rod penetrates radially to form a bonding surface with the same specifications as the rotating block, and the second push rod extends along a predetermined distance in the circumferential direction to form a telescopic shape with the clamping arm. hole, a push block is arranged at a predetermined distance along the coaxial direction of the second push rod, and the push block is in clearance fit with the inner wall of the telescopic hole and is fixedly connected with a telescopic piece. The second push rod fits closely with the rotating block to achieve efficient pushing, and the compressed air of the first push rod pushes the second push rod to push, making full use of the flange's own weight and air to keep the locking wheel in a locked state, effectively utilizing resources ,Energy saving. The telescopic hole is used to place the parts, so as to prevent the parts from moving along the inside of the clamping arm to increase the frictional resistance, thereby greatly reducing the transmission efficiency. The telescopic part uses a spring to connect with the second push rod. After the air is compressed to push the push block, the push block compresses the spring and pushes the second push rod to fit the rotating block, so as to realize the push. Provides a cushioning effect when pressed against the second putter.

In a further embodiment, the middle eye of the connecting seat extends laterally and is fixedly provided with a rotating shaft, and moves linearly along the transition plate. The connecting seat moves according to the data of the flange dimensions by the system, and effectively prevents the flange from hitting the first transmission chain during the second plane detection during the flipping process.

In addition, the present invention provides a detection method of a spray detection robot based on visual positioning, comprising the following steps:

S1. Place the flange workpiece to be detected on the first transmission chain and transfer it to the bottom of the detection device;

S2. The detection device scans the relevant data of the flange and sends it to the control system, and judges and marks it through the image system;

S3. At the same time, the connecting seat moves according to the data given by the system;

S4. The system judges whether the surface of the flange meets the inspection standard. If the judgment is no, the third push rod pushes the flange to move to the second transmission chain. If the judgment is yes, the flange continues to be transmitted through the first transmission chain.

In a further embodiment, the image system determination includes the following steps:

S1. The detection device scans and shoots the surface of the flange;

S2. The system judges according to the grayscale image formation of the image. The dark part indicates the sprayed surface, and the light part indicates the unsprayed surface;

S3. The system judges according to the image scanning edge curve, the height of the arc is the area where the paint is too thick, and the horizontal line is the area where the paint is normal;

S4. The system judges and classifies the flanges according to the data.

Beneficial effect

The invention provides a detection method of a spraying detection robot based on visual positioning. The detection device distinguishes and judges the spraying conditions on the flange surface, and classifies them through a transmission chain, which is convenient for workers to detect the spraying quality at any time, thereby effectively improving work efficiency. The detection device simultaneously scans the size of the flange surface and sends relevant data to the control system, so as to effectively adjust the moving distance of the clamping assembly along the transition plate, and effectively prevent the flange edge from touching the transmission chain during the subsequent flipping process, affecting the flange surface quality. The clamping of the flange base is realized through the symmetrically arranged clamping arms. The relatively rotatable clamping arm effectively expands the clamping range, and the locking wheel works according to the gravity of the flange itself, thereby further improving the clamping arm. effective gripping force. The locking wheel is rotated by air compression to ensure the locking state, and the weight of the flange and the air are fully utilized to realize the locking wheel being in the locked state, effectively utilizing resources and saving energy.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is the overall structure diagram of the clamping assembly in the present invention.

Fig. 3 is a schematic diagram of the working state of the clamping assembly in the present invention.

Fig. 4 is a schematic diagram of the working state of the locking assembly in the present invention.

Fig. 5 is a state position diagram of the second push rod in the present invention.

The reference signs in the figure are: detection device 1, clamping assembly 2, connecting seat 201, first rotating shaft 202, clamping arm 203, transition plate 3, first transmission chain 4, second transmission chain 5, third transmission chain Rotating shaft 6, flange 7, locking assembly 8, card slot 801, locking wheel 802, first push rod 803, second push rod 804, telescopic member 8041, air pipe 805, push block 8042, rotating block 9.

Embodiments of the present invention

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present invention.

The applicant believes that in the traditional spraying process of the flange 7, the linear moving spraying method is adopted. Since the flange 7 has different shapes and various types, the surface of the flange 7 after the spraying has been sprayed. Stability is the most difficult item to control in the current spraying technology, so there will be defects of different coating thicknesses on the sprayed surface, and the traditional detection device 1 cannot be adapted to the flange 7. In view of the above defects, the present invention provides a method based on The vision-positioned spraying detection robot and detection method thereof realize simultaneous processing of workpieces of different heights through a retractable upper grinding disc, thereby solving the above-mentioned problems existing in the prior art.

As shown in Figures 1 to 5, the present invention discloses that the present invention provides a visual positioning-based spraying detection robot and its detection method. The detection device 1 distinguishes and judges the spraying conditions on the surface of the flange 7, and carries out the process through the transmission chain. Classification is convenient for workers to detect the quality of spraying at any time, thereby effectively improving work efficiency. The detection device 1 simultaneously scans the size of the surface of the flange 7 and sends relevant data to the control system, thereby effectively adjusting the moving distance of the clamping assembly 2 along the transition plate 3 and effectively preventing the edge of the flange 7 from touching the transmission chain during the subsequent flipping process. , affecting the surface quality of flange 7. The clamping of the base of the flange 7 is realized by the clamping arm 203 arranged symmetrically. The clamping arm 203 that can be rotated relatively effectively expands the clamping range, and realizes the work of the locking wheel 802 according to the gravity of the flange 7 itself, thereby further The effective clamping force of the clamping arm 203 is increased. The locking wheel 802 is rotated by air compression to ensure the locked state, and the weight of the flange 7 and the air are fully utilized to realize the locking wheel 802 being in the locked state, effectively utilizing resources and saving energy.

The specific scheme is as follows: a spraying inspection robot based on visual positioning, including two parts: a detection component and a detection auxiliary component.

Wherein, the detection assembly, the first transmission chain 4 and the second transmission chain 5 fixed on the frame at a predetermined angle with each other, and the detection device 1 that is movable on the transmission chain at a predetermined distance; the second transmission chain 5 is fixedly arranged On one side of the frame; the first transmission chain 4 and the second transmission chain 5 are arranged at any angle with each other, and are used to distinguish the spraying situation of the flange 7 after the detection device 1 completes the detection, and determine whether there are any spraying defects. Lan 7 classifies, and the detection device 1 positions and marks the defective parts, which is convenient for workers to detect the spraying quality at any time, thereby effectively improving work efficiency. During the detection process, the workpiece of the flange 7 is stably kept under the detection device 1 and is rotating stably, which has an important influence on the detection result data.

The detection auxiliary component includes a clamping component that is symmetrically arranged on both sides of the transmission chain and located on one side of the detection device 1 . The shape of the flange 7 is changed based on the disk to form flanges 7 of various specifications. Since the surface shape of the flange 7 is fixed with a disk, the stable clamping of the flange 7 can be realized by clamping the disk.

The clamping assembly is vertically and fixedly connected to the first transmission chain 4 through the transition plate 3, and includes a connection seat 201 that extends longitudinally along the transition plate 3 and is fixedly connected, and is rotationally connected with the connection seat 201 and is symmetrical A clamping arm 203 is provided, and the clamping arm 203 relatively moves around the first rotation axis 202 . The connecting base 201 is in the shape of a "X" in cross-section along the horizontal direction, and is rotatably connected with the clamping arm 203 through a rotating shaft to form a clampable section.

According to the size of the flange 7 provided by the detection component, the clamping component automatically moves along the transition plate 3 to a predetermined distance according to the size data of the flange 7 under the condition of maintaining sufficient clamping force on the flange 7, and the connecting seat 201 moves along the transition plate 3 When moving, the clamping arm 203 is driven to realize synchronous movement, and the clamping arm 203 moves relatively or oppositely around the first rotation axis 202 to realize clamping and loosening of the flange 7 .

Since the flange 7 is transmitted to the bottom of the detection device 1 through the transmission chain, the bottom surface of the flange 7 is in close contact with the upper surface of the transmission chain, and the edge of the clamping arm 203 cannot directly contact the clamping surface of the flange 7, resulting in difficulty in clamping , the clamping arm 203 is connected to the connecting seat 201 through the first rotating shaft 202. When the clamping arm 203 is closed, it is generally in the shape of a round head and a flat key. The end edge of the clamping arm 203 is provided with a predetermined distance from the inner wall of the connecting seat 201. The extended angle of the clamping arm 203 is effectively expanded, and the clamping range is increased.

After the clamping arm 203 is rotated, the inner surface fits the workpiece surface of the flange 7 to achieve clamping, but only relying on the rotation of the clamping arm 203 has no interaction force on the surface of the flange 7, so that the clamping effect cannot be realized, so The clamping arm 203 is provided with a clamping space extending in the circumferential direction of the first rotating shaft 202 , and a locking assembly 8 is fixedly connected between the clamping space and the clamping arm 203 . The clamping space guarantees that the edge of the clamping arm 203 is linear at the same time, and the flange 7 that is closely fitted to the transmission chain is effectively clamped. The tightening assembly 8 effectively prevents the clamping arm 203 from loosening and causing the flange 7 to shake or even fall off, thereby affecting the accuracy of the detection data, and because the locking wheel 802 rotates frequently, it will hit the inner wall of the card slot 801 during the locking process Frequent, long-term use is easy to damage the locking wheel 802, and the locking assembly 8 is located in front of the clamping arm 203 to effectively ensure convenient maintenance.

According to the size of the flange 7 and the angle between the clamping arms 203, the locking wheel 802 needs to achieve locking of different locking positions, thereby improving the locking range. The locking assembly 8 includes A plurality of card slots 801 formed horizontally, a locking wheel 802 that intermittently touches the card slots 801, and an air tube 805 that extends vertically for a predetermined distance along the clamping arm 203 and connects horizontally. The air tube The first push rod 803 and the second push rod 804 are movably connected at both ends of 805 to form an air flow. The card slot 801 is set according to the rotation range of the support arm. When the angle between the support arms is at the minimum limit value, the locking wheel 802 is located at the first position of the card slot 801 and is close to the flange 7 workpiece, otherwise it is located at the end of the card slot 801, away from the flange 7. Lan 7 workpiece, realize the clamping of different angles like this without changing the size of the locking wheel 802, improve the adaptability of the locking wheel 802. The first push rod 803 adopts an air push rod, and extends a predetermined distance along the inner wall of the clamping arm 203 to move closer to the bottom surface of the flange 7, so that when the flange 7 touches the air push rod, it can push the air push rod. Ensure that the locking wheel 802 is always in the locked state, and the card slot 801 is arranged along the inner side of the upper half of the clamping arm 203, so that the clamping arm 203 can always ensure that the locking assembly 8 completes the locking work within any stretching range, improving the clamping force. The clamping effect of the holding arm 203.

The traditional ordinary cam arc sliding contact cannot achieve the buckle effect. In order to ensure that the locking wheel 802 rotates to achieve locking, the cross-sectional size of the locking wheel 802 is in the shape of an inverted comma, and one side of the locking wheel 802 is left along the rotation axis. A rotating block 9 is fixedly arranged at a predetermined angle on both sides, and the clamping arm 203 is fixedly connected through a second rotating shaft and rotates synchronously with the rotating block 9 around the rotating shaft within a predetermined range. The locking wheel 802 is snapped inside the clamping arm 203 through the second rotating shaft, rotates along the second rotating shaft at a predetermined angle to form a rotating arc and is tangent to the inner side of the clamping arm 203, clockwise along the radial direction of the circular arc Rotate and gradually widen and extend 90 degrees to form a locking wheel 802. The arc contact surface of the locking wheel 802 forms a line contact with the card slot 801, and the plane forms a surface contact with the card slot 801, thereby ensuring that the locking wheel 802 moves clockwise. Rotate to lock, counter-rotate to loosen.

The second push rod 804 pushes the rotating block 9 to move, and the contacted effective area effectively reflects the smoothness and efficiency of the movement. The top of the second push rod 804 penetrates radially to form a bonding surface with the same specifications as the rotating block 9, and the second push rod 804 extends a predetermined distance along the circumferential direction to form a telescopic hole with the clamping arm 203, A push block 8042 is provided at a predetermined distance along the coaxial direction of the second push rod 804 , and the push block 8042 is in clearance fit with the inner wall of the telescopic hole and is fixedly connected with a telescopic member 8041 . The second push rod 804 fits closely with the rotating block 9 to realize efficient pushing. The compressed air of the first push rod 803 pushes the second push rod 804 to realize pushing. Tight state, effective use of resources, energy saving. The telescopic holes are used to place parts, so as to prevent the parts from moving along the inside of the clamping arm 203 to increase frictional resistance, thereby greatly reducing the transmission efficiency. The telescopic part 8041 is connected to the second push rod 804 by a spring, and after the air is compressed to push the push block 8042, the push block 8042 compresses the spring until the push block 8042 touches the second push rod 804, and pushes the second push rod 804 to fit the rotating block 9. The second push rod 804 pushes the rotating block 9 to move and at the same time drives the locking wheel 802 to rotate, thereby realizing pushing. The telescopic member 8041 effectively limits the moving direction of the push block 8042 and realizes cushioning effect. The flange 7 always presses the first push rod 803 to maintain the gas compression state, so that when the second push rod 804 pushes the lock wheel 802 to a predetermined position, as long as the second push rod 804 is not reset, the lock wheel 802 is always in the locked state. tight state.

Since the surface of the flange 7 faces in different directions, the horizontal setting is easy to miss the detection, thus the accuracy of the detection data cannot be guaranteed. sports. The connecting seat 201 moves according to the data of the outer dimensions of the flange 7 by the system, and the third rotating shaft 6 drives the clamping assembly 2 to rotate to realize detection in different directions, and effectively prevent the flange 7 from turning over during the secondary plane detection. Hit the first conveyor chain 4 .

The third rotating shaft 6 drives the movement and rotation of the clamping assembly 2 at the same time. The clamping assembly 2 bears the weight of the flange 7 itself. 3 There are multiple clamping positions evenly arranged at a predetermined distance inside, and the clamping positions are telescopically set. The rotating shaft drives the clamping assembly 2 to move above the clamping positions, and the clamping positions automatically extend to limit the clamping component 2 to prevent it from sliding down.

In addition, the present invention provides a detection method of a spraying detection robot based on visual positioning, which includes the following steps: placing the flange 7 workpiece to be detected on the first transmission chain 4, and transferring it to the bottom of the detection device 1; the detection device 1 Scan the relevant data of the flange 7 and send it to the control system, and judge and mark it through the image system; the clamping arm 203 extends to a predetermined angle to clamp the flange 7 on the transmission chain, and the clamping arms on both sides 203 bears the weight of the flange 7 at the same time, and under the pressure of the flange 7, the first push rod 803 realizes air compression to the second push rod 804, and drives the locking wheel 802 to rotate into the locking groove 801 to realize locking, clamping The tightening assembly 2 moves to a predetermined position according to the size of the flange 7 given by the system, and the third rotating shaft 6 drives the connecting seat 201 to turn over, so as to realize the detection of different directions of the flange 7, and the detection device 1 performs another inspection on the surface of the flange 7 The image system judges and marks, the specific steps are: the detection device 1 scans and shoots the surface, the system judges according to the image grayscale, the dark part indicates the sprayed surface, and the light part indicates the unsprayed surface; the system scans the edge Curve judgment, the height of the arc is the area where the paint is too thick, and the horizontal line is the area where the paint is normal; the system judges whether the surface of the flange 7 meets the detection standard, if the judgment is not, the third push rod pushes the flange 7 to move to the second transmission chain 5. If the determination is yes, the flange 7 continues to be transmitted through the first transmission chain 4 .

In a further embodiment, there are at least two sets of clamping assemblies, and in a preferred embodiment, three sets, each of which has an axial degree of freedom of movement; degrees of freedom. Because some flanges have two flanges, which are distributed at both ends, and some flanges have flanges whose sides are perpendicular to the surface of the flange body, therefore, if you are taking a photo of the flange, you will not be able to take pictures of the other side. The side of the flange, or when the side of the flange cannot be photographed due to the flange facing the flange.

Therefore, by setting multiple sets of clamping components along the movement direction of the flange, or setting up a clamping component that can rotate along the movement plane, the flange moves horizontally (the axis of the flange is parallel to the movement plane), along the direction of movement, in the When shooting at different positions, at least two images can be formed that can capture the connection between the side of the flange and the body, so that it can be more accurately judged whether there is a defect. Under the clamping of different clamping components, along with the direction of movement, the flange is flipped at a predetermined angle along the axial direction, so as to realize oblique photography of the flange and photography of different sides, and realize three-dimensional photography of the flange. Realize the photographing in the circumferential direction and the oblique photographing in the axial direction.

In a further embodiment, if the flange is transported vertically, that is, the axis direction is perpendicular to the movement plane, then through the rotation during the movement, oblique photography and axial photography can also be formed, so as to obtain more detection area.

In a further embodiment, by insisting that the component is provided with a positioning area, a larger color difference is formed and the recognition degree of the area to be detected is improved. Through the rapid positioning of the clamping components, efficient detection of flanges is formed.

As stated above, while the invention has been shown and described with reference to certain preferred embodiments, this should not be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

A kind of spraying detection robot based on visual positioning, it is characterized in that, comprises:

The detection assembly, the first transmission chain and the second transmission chain fixed on the frame at a predetermined angle to each other, and the detection device arranged on the transmission chain at a predetermined distance; the second transmission chain is fixed on the frame side;

The detection auxiliary component includes at least one clamping component that is symmetrically arranged on both sides of the transmission chain and located on one side of the detection device.
A vision-based positioning-based spraying detection robot according to claim 1, characterized in that: the clamping assembly is vertically fixedly connected to the first transmission chain through a transition plate, including longitudinally extending along the transition plate and A connecting base fixedly connected, and a clamping arm rotationally connected with the connecting base and arranged symmetrically, and the clamping arm relatively moves around the first rotation axis.
A spraying detection robot based on visual positioning according to claim 2, characterized in that: the cross-section of the connecting seat in the horizontal direction is in the shape of a "冂", and is connected to the clamping arm through a rotating shaft to form a clampable holding interval.
According to claim 3, a spraying inspection robot based on vision positioning, characterized in that: the clamping arm is provided with a clamping space extending along the circumferential direction of the first rotation axis, and the clamping space is connected to the A locking assembly is fixedly connected between the clamping arms.
The spraying detection robot based on vision positioning according to claim 4, characterized in that: the locking assembly includes a plurality of slots opened transversely along the upper part of the clamping arm, and intermittently contacts with the slots The locking wheel that touches, and the air tube that extends vertically for a predetermined distance along the clamping arm and connects horizontally, and the first push rod and the second push rod that are movably connected at both ends of the air tube form an air flow.
A spraying inspection robot based on visual positioning according to claim 5, characterized in that: the cross-sectional size of the locking wheel is in the shape of an inverted comma, and one side of the locking wheel is fixedly arranged at a predetermined angle on the left side of the rotation axis There is a rotating block, and the clamping arm is fixedly connected through a second rotating shaft and rotates synchronously with the rotating block within a predetermined range around the rotating shaft.
The spraying detection robot based on vision positioning according to claim 5, characterized in that: the top of the second push rod penetrates radially to form a bonding surface with the same specifications as the rotating block, and the second push rod The rod extends along the predetermined distance in the circumferential direction to form a telescopic hole with the clamping arm, and a push block is arranged at a predetermined distance along the coaxial direction of the second push rod, and the push block is closely matched with the inner wall of the telescopic hole and fixedly connected with Telescoping parts.
A kind of spraying inspection robot based on visual positioning according to claim 2, characterized in that:

The eye of the middle part of the connecting seat extends laterally and is fixedly provided with a rotating shaft, and moves linearly along the transition plate;

There are at least three clamping assemblies, which are arranged at intervals along the movement direction of the flange to be detected.
A detection method for a spraying detection robot based on vision positioning according to any one of claims 1 to 8, characterized in that it comprises the following steps:

S1. Place the flange workpiece to be detected on the first transmission chain and transfer it to the bottom of the detection device;

S2. The detection device scans the relevant data of the flange and sends it to the control system, and judges through the image system;

S3. At the same time, the connecting seat moves according to the data given by the system;

S4. The system judges whether the surface of the flange meets the inspection standard. If the judgment is no, the third push rod pushes the flange to move to the second transmission chain. If the judgment is yes, the flange continues to be transmitted through the first transmission chain.
According to the detection method of a visual positioning-based spraying detection robot described in claim 9, it is characterized in that the image system judgment comprises the following steps:

S1. The detection device scans and shoots the surface of the flange;

S2. The system judges according to the grayscale image formation of the image. The dark part indicates the sprayed surface, and the light part indicates the unsprayed surface;

S3. The system judges according to the image scanning edge curve, the arc height is the area where the paint exceeds the predetermined value, and the horizontal line is the normal area of the paint;

S4. The system judges and classifies the flanges according to the data.