WO2023005027A1 - Spraying detection robot based on visual positioning, and detection method thereof - Google Patents
Spraying detection robot based on visual positioning, and detection method thereof Download PDFInfo
- Publication number
- WO2023005027A1 WO2023005027A1 PCT/CN2021/126959 CN2021126959W WO2023005027A1 WO 2023005027 A1 WO2023005027 A1 WO 2023005027A1 CN 2021126959 W CN2021126959 W CN 2021126959W WO 2023005027 A1 WO2023005027 A1 WO 2023005027A1
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- Prior art keywords
- flange
- clamping
- spraying
- detection
- transmission chain
- Prior art date
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- 238000001514 detection method Methods 0.000 title claims abstract description 83
- 238000005507 spraying Methods 0.000 title claims abstract description 38
- 230000000007 visual effect Effects 0.000 title claims abstract description 14
- 230000007704 transition Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 45
- 238000007689 inspection Methods 0.000 claims description 9
- 239000003973 paint Substances 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 13
- 230000006835 compression Effects 0.000 abstract description 5
- 238000007906 compression Methods 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 108700028516 Lan-7 Proteins 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
Definitions
- 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.
- flanged connections 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.
- 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.
- 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.
- a spraying detection robot based on visual positioning including two parts: a detection component and a detection auxiliary component.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- 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.
- 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.
- 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.
- 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.
- the present invention provides a detection method of a spray detection robot based on visual positioning, comprising the following steps:
- 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;
- 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.
- the image system determination includes the following steps:
- the detection device scans and shoots the surface of the flange
- 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;
- the system judges and classifies the flanges according to the data.
- 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.
- 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.
- 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.
- 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.
- 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.
- a spraying inspection robot based on visual positioning, including two parts: a detection component and a detection auxiliary component.
- 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.
- 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.
- 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
- 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 .
- the clamping arm 203 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.
- the clamping arm 203 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.
- the clamping arm 203 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.
- 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.
- the locking wheel 802 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.
- 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.
- the traditional ordinary cam arc sliding contact cannot achieve the buckle effect.
- 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.
- 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.
- 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
- 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.
- 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.
- oblique photography and axial photography can also be formed, so as to obtain more detection area.
- 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.
- efficient detection of flanges is formed.
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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
本发明涉及法兰加工技术领域,具体涉及
一种基于视觉定位的喷涂检测机器人及其检测方法。
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.
法兰连接的完整性对于输送流体管道系统至关重要。无论是输送化学介质的管道系统,还是供水管线,法兰连接泄漏都会造成严重的环境及经济影响, 甚至可能带来巨大的安全隐患。法兰表面常采用喷涂方式进行防腐蚀。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.
现有的法兰喷涂加工,通过喷枪对法兰进行喷涂,由于法兰外形复杂,时常会出现喷涂表面缺陷,涂覆厚度不一,法兰喷涂的均匀性较差,法兰死角漏喷等情况,导致加工工效率降低,油漆浪费严重。由于法兰外形特殊并且多变,传统的检测装置无法实现对法兰多角度平面进行检测。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.
提供
一种基于视觉定位的喷涂检测机器人及其检测方法,通过可伸缩式的上研磨盘实现同时加工不同高度的工件,从而解决了现有技术存在的上述问题。
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.
一种基于视觉定位的喷涂检测机器人,包括检测组件以及检测辅助组件两部分。A spraying detection robot based on visual positioning, including two parts: a detection component and a detection auxiliary component.
其中,检测组件,相互以预定角度固定在机架上的第一传输链和第二传输链,以预定距离活动设置在传输链上的检测装置;所述第二传输链固定设置在所述机架的一侧;第一传输链与第二传输链相互设置有任意角度,通过检测装置有效区分法兰喷涂情况,便于工人随时检测喷涂质量情况,从而有效提高工作效率。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.
检测辅助组件,包括对称活动设置在所述传输链两侧并位于所述检测装置的一侧的至少一个夹持组件。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.
在进一步实施例中,所述夹持组件,通过过渡板与所述第一传输链垂直固定连接,包括沿所述过渡板纵向延伸且固定连接的连接座,以及与所述连接座转动连接并对称设置的夹持臂,所述夹持臂绕第一转动轴相对运动。夹持组件根据检测组件对法兰大小,在保持对法兰充分夹紧力的条件下,沿过渡板自动根据法兰尺寸数据移动至预定距离,夹持臂绕第一转动轴相对或相向运动,实现对法兰的夹持与放松。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.
在进一步实施例中,所述连接座沿水平方向截面呈“冂”字状,通过转动轴与所述夹持臂转动连接形成可夹持区间。夹持臂与连接座通过第一转动轴连接,夹持臂闭合时整体呈圆头普通平键状,夹持臂的末端边缘与连接座内壁设置有预定距离,从而有效扩大夹持臂所伸展的角度,增大夹持范围。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.
在进一步实施例中,所述夹持臂设置有沿第一转动轴周向延伸贯穿形成的夹持空间,所述夹持空间与所述夹持臂之间固定连接有锁紧组件。夹持臂夹持部分相互设置有预定距离,用于放置锁紧组件,锁紧组件有效防止夹持臂松动而导致法兰不稳晃动甚至脱落,从而影响检测数据的准确性,并且锁紧组件位于夹持臂之前能够有效保证维修方便。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.
在进一步实施例中,所述锁紧组件,包括沿所述夹持臂上部横向开设的多个卡槽,与所述卡槽间歇触碰的锁紧轮,以及沿所述夹持臂竖向延伸预定距离后水平接通的空气管,所述空气管的两端活动连接的第一推杆与第二推杆,形成空气流。第一推杆采用空气推杆,并沿夹持臂内壁延伸预定距离向法兰底面靠拢,从而使法兰接触到空气推杆时,能够推动空气推杆,通过始终压缩空气从而保证锁紧轮始终处于锁紧状态,卡槽沿上半部分夹持臂内侧设置,从而使夹持臂在任意伸展范围内始终能够保证锁紧组件完成锁紧工作,提高夹持臂的夹持效果。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.
在进一步实施例中,所述锁紧轮截面尺寸为倒逗号形状,所述锁紧轮的一侧沿转动轴左方预定角度固定设置有转动块,所述夹持臂通过第二转动轴固定连接并与所述转动块同步绕转动轴预定范围内转动。锁紧轮的通过第二转动轴卡扣在夹持臂内部,沿第二转动轴周向转动预定角度形成转动圆弧并与夹持臂内侧相切,沿圆弧径向顺时针旋转并逐渐增宽延伸90度形成锁紧轮,锁紧轮的圆弧接触面与卡槽形成线接触,平面与卡槽形成面接触,从而保证锁紧轮沿顺时针方向旋转实现锁紧,反向旋转实现放松状态。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.
在进一步实施例中,所述第二推杆顶部沿径向贯穿形成与所述转动块同等规格的贴合面,所述第二推杆沿周向预定距离延伸与所述夹持臂形成伸缩孔,沿所述第二推杆同轴方向预定距离设置有推块,所述推块与所述伸缩孔内壁间隙配合并固定连接有伸缩件。第二推杆与转动块紧密贴合,从而实现高效推送,第一推杆压缩空气推动第二推杆实现推送,充分利用法兰自身重量以及空气实现锁紧轮处于锁紧状态,有效利用资源,节约能源。伸缩孔用于放置零部件,避免零部件沿夹持臂内部移动增大摩擦阻力,从而使传送效率大大降低。伸缩件采用弹簧套接第二推杆,空气压缩推动推块后,推块压缩弹簧并推动第二推杆贴合转动块,从而实现推送,伸缩件有效限制推块的移动方向并在推块贴紧第二推杆时,实现缓冲效果。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.
在进一步实施例中,所述连接座中部眼横向延伸固定设置有转动轴,并沿所述过渡板直线运动。连接座根据系统对法兰外形尺寸的数据进行移动,并在进行二次平面检测时有效防止法兰翻转过程中撞击第一传输链。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.
此外,本发明提供了一种基于视觉定位的喷涂检测机器人的检测方法,包括如下步骤:In addition, the present invention provides a detection method of a spray detection robot based on visual positioning, comprising the following steps:
S1、将待检测法兰工件放置在第一传输链的上,并传送至检测装置下方;S1. Place the flange workpiece to be detected on the first transmission chain and transfer it to the bottom of the detection device;
S2、检测装置对法兰相关数据进行扫描并发送至控制系统,并通过图像系统判定并进行标记;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、同时连接座根据系统给出数据进行移动;S3. At the same time, the connecting seat moves according to the data given by the system;
S4、系统判定法兰表面是否符合检测标准,若判定为否,第三推杆推动法兰移动至第二传输链,若判定为是,法兰继续通过第一传输链实行传送。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.
在进一步实施例中,所述图像系统判定包括如下步骤:In a further embodiment, the image system determination includes the following steps:
S1、检测装置对法兰表面进行扫描拍摄;S1. The detection device scans and shoots the surface of the flange;
S2、系统根据图像灰度成影判定,深色部位表示已喷涂面,浅色部位表示未喷涂面;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、系统根据图像扫描边缘曲线判定,圆弧高度为涂料过厚区域,水平直线为涂料正常区域;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、系统根据数据判定对法兰实施分类。S4. The system judges and classifies the flanges according to the data.
本发明提供一种基于视觉定位的喷涂检测机器人的检测方法,通过检测装置对法兰表面喷涂情况进行区别判定,并通过传输链进行分类,便于工人随时检测喷涂质量情况,从而有效提高工作效率。检测装置同时对法兰表面尺寸进行扫描发送相关数据至控制系统,从而有效调节夹紧组件沿过渡板的移动距离,有效防止后续翻转过程中,法兰边缘触碰到传输链,影响法兰表面质量。通过对称设置的夹持臂实现对法兰底座的夹持,可相对转动的夹持臂有效扩大了可夹持范围,并根据法兰自身重力实现锁紧轮工作,从而进一步提高夹持臂的有效夹持力。通过空气压缩实现对锁紧轮的转动从而保证锁紧状态,充分利用法兰自身重量以及空气实现锁紧轮处于锁紧状态,有效利用资源,节约能源。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.
图1为本发明的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the present invention.
图2为本发明中夹紧组件的整体结构图。Fig. 2 is the overall structure diagram of the clamping assembly in the present invention.
图3为本发明中夹紧组件的工作状态示意图。Fig. 3 is a schematic diagram of the working state of the clamping assembly in the present invention.
图4为本发明中锁紧组件的工作状态示意图。Fig. 4 is a schematic diagram of the working state of the locking assembly in the present invention.
图5为本发明中第二推杆的状态位置图。Fig. 5 is a state position diagram of the second push rod in the present invention.
图中各附图标记为:检测装置1、夹紧组件2、连接座201、第一转动轴202、夹持臂203、过渡板3、第一传输链4、第二传输链5、第三转动轴6、法兰7、锁紧组件8、卡槽801、锁紧轮802、第一推杆803、第二推杆804、伸缩件8041、空气管805、推块8042、转动块9。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.
在下文的描述中,给出了大量具体的细节以便提供对本发明更为彻底的理解。然而,对于本领域技术人员而言显而易见的是,本发明可以无需一个或多个这些细节而得以实施。在其他的例子中,为了避免与本发明发生混淆,对于本领域公知的一些技术特征未进行描述。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.
申请人认为,传统喷涂法兰7过程中,采用直线移动式的喷涂方式进行,由于法兰7外形不一,并且种类多样,喷涂完毕后的法兰7表面存在有漏喷的情况,喷头的稳定性是目前喷涂技术中最难掌控的一项,所以喷涂表面会出现涂料厚度不一的缺陷,而传统的检测装置1无法适应于法兰7,针对上述缺陷,本发明提供了一种基于视觉定位的喷涂检测机器人及其检测方法,通过可伸缩式的上研磨盘实现同时加工不同高度的工件,从而解决了现有技术存在的上述问题。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.
如图1至图5所示,本发明公开了本发明提供一种基于视觉定位的喷涂检测机器人及其检测方法,通过检测装置1对法兰7表面喷涂情况进行区别判定,并通过传输链进行分类,便于工人随时检测喷涂质量情况,从而有效提高工作效率。检测装置1同时对法兰7表面尺寸进行扫描发送相关数据至控制系统,从而有效调节夹紧组件2沿过渡板3的移动距离,有效防止后续翻转过程中,法兰7边缘触碰到传输链,影响法兰7表面质量。通过对称设置的夹持臂203实现对法兰7底座的夹持,可相对转动的夹持臂203有效扩大了可夹持范围,并根据法兰7自身重力实现锁紧轮802工作,从而进一步提高夹持臂203的有效夹持力。通过空气压缩实现对锁紧轮802的转动从而保证锁紧状态,充分利用法兰7自身重量以及空气实现锁紧轮802处于锁紧状态,有效利用资源,节约能源。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.
具体方案如下:一种基于视觉定位的喷涂检测机器人,包括检测组件以及检测辅助组件两部分。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.
其中,检测组件,相互以预定角度固定在机架上的第一传输链4和第二传输链5,以预定距离活动设置在传输链上的检测装置1;所述第二传输链5固定设置在所述机架的一侧;第一传输链4与第二传输链5相互设置有任意角度,用于检测装置1进行检测完毕后,区分法兰7喷涂情况,将有无喷涂缺陷的法兰7进行分类,并且检测装置1对缺陷部位进行定位标记,便于工人随时检测喷涂质量情况,从而有效提高工作效率。检测过程中,法兰7工件稳定保持在检测装置1下方,并在实现稳定转动,对检测结果数据有着重要影响。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.
检测辅助组件,包括对称活动设置在所述传输链两侧并位于所述检测装置1的一侧的夹持组件。法兰7形状均以圆盘为基础进行形状改变,从而形成各种规格的法兰7,由于法兰7表面形状固定有圆盘,通过夹紧圆盘便可实现法兰7稳定夹持。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.
所述夹持组件,通过过渡板3与所述第一传输链4垂直固定连接,包括沿所述过渡板3纵向延伸且固定连接的连接座201,以及与所述连接座201转动连接并对称设置的夹持臂203,所述夹持臂203绕第一转动轴202相对运动。所述连接座201沿水平方向截面呈“冂”字状,通过转动轴与所述夹持臂203转动连接形成可夹持区间。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.
夹持组件根据检测组件提供的法兰7尺寸,在保持对法兰7充分夹紧力的条件下,沿过渡板3自动根据法兰7尺寸数据移动至预定距离,连接座201沿过渡板3移动时带动夹持臂203实现同步运动,夹持臂203绕第一转动轴202相对或相向运动,实现对法兰7的夹持与放松。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 .
由于法兰7通过传输链传送至检测装置1下方,法兰7底面与传输链上表面密切接触,夹持臂203的边缘对法兰7夹持面不能很好的直接接触,导致夹持困难,夹持臂203与连接座201通过第一转动轴202连接,夹持臂203闭合时整体呈圆头普通平键状,夹持臂203的末端边缘与连接座201内壁设置有预定距离,从而有效扩大夹持臂203所伸展的角度,增大夹持范围。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.
夹持臂203通过转动后,内表面与法兰7工件表面贴合实现夹持,但是仅仅依靠夹持臂203转动对法兰7表面并没有相互作用力,从而导致无法实现夹紧效果,所述夹持臂203设置有沿第一转动轴202周向延伸贯穿形成的夹持空间,所述夹持空间与所述夹持臂203之间固定连接有锁紧组件8。夹持空间同时保证夹持臂203边缘呈线性,对于传输链密切贴合的法兰7有效实现夹持,夹持臂203夹持部分相互设置有预定距离,用于放置锁紧组件8,锁紧组件8有效防止夹持臂203松动而导致法兰7不稳晃动甚至脱落,从而影响检测数据的准确性,并且由于锁紧轮802转动频繁,从而在锁紧过程中对卡槽801内壁撞击频繁,长期使用容易损坏锁紧轮802,锁紧组件8位于夹持臂203之前能够有效保证维修方便。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.
锁紧轮802根据法兰7尺寸以及夹持臂203之间的角度,需要实现不同卡位的锁紧,从而提高锁紧范围,所述锁紧组件8,包括沿所述夹持臂203上部横向开设的多个卡槽801,与所述卡槽801间歇触碰的锁紧轮802,以及沿所述夹持臂203竖向延伸预定距离后水平接通的空气管805,所述空气管805的两端活动连接的第一推杆803与第二推杆804,形成空气流。卡槽801根据支撑臂转动范围进行设置,当支撑臂之间夹角处于最小限位值时,锁紧轮802位于卡槽801首位靠近法兰7工件,反之则位于卡槽801末端,远离法兰7工件,如此在不用更换锁紧轮802大小的同时实现不同角度的夹持,提高锁紧轮802的适应性。第一推杆803采用空气推杆,并沿夹持臂203内壁延伸预定距离向法兰7底面靠拢,从而使法兰7接触到空气推杆时,能够推动空气推杆,通过始终压缩空气从而保证锁紧轮802始终处于锁紧状态,卡槽801沿上半部分夹持臂203内侧设置,从而使夹持臂203在任意伸展范围内始终能够保证锁紧组件8完成锁紧工作,提高夹持臂203的夹持效果。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.
传统普通凸轮圆弧滑动接触无法实现卡扣效果,为保证锁紧轮802转动实现锁紧,所述锁紧轮802截面尺寸为倒逗号形状,所述锁紧轮802的一侧沿转动轴左方预定角度固定设置有转动块9,所述夹持臂203通过第二转动轴固定连接并与所述转动块9同步绕转动轴预定范围内转动。锁紧轮802的通过第二转动轴卡扣在夹持臂203内部,沿第二转动轴周向转动预定角度形成转动圆弧并与夹持臂203内侧相切,沿圆弧径向顺时针旋转并逐渐增宽延伸90度形成锁紧轮802,锁紧轮802的圆弧接触面与卡槽801形成线接触,平面与卡槽801形成面接触,从而保证锁紧轮802沿顺时针方向旋转实现锁紧,反向旋转实现放松状态。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.
第二推杆804推动转动块9移动,所接触的有效面积有效反应了移动的平稳性以及移动效率。所述第二推杆804顶部沿径向贯穿形成与所述转动块9同等规格的贴合面,所述第二推杆804沿周向预定距离延伸与所述夹持臂203形成伸缩孔,沿所述第二推杆804同轴方向预定距离设置有推块8042,所述推块8042与所述伸缩孔内壁间隙配合并固定连接有伸缩件8041。第二推杆804与转动块9紧密贴合,从而实现高效推送,第一推杆803压缩空气推动第二推杆804实现推送,充分利用法兰7自身重量以及空气实现锁紧轮802处于锁紧状态,有效利用资源,节约能源。伸缩孔用于放置零部件,避免零部件沿夹持臂203内部移动增大摩擦阻力,从而使传送效率大大降低。伸缩件8041采用弹簧套接第二推杆804,空气压缩推动推块8042后,推块8042压缩弹簧直至推块8042触碰到第二推杆804,并推动第二推杆804贴合转动块9,第二推杆804推动转动块9移动同时带动锁紧轮802转动,从而实现推送,伸缩件8041有效限制推块8042的移动方向并在推块8042贴紧第二推杆804时,实现缓冲效果。法兰7始终压紧第一推杆803,保持气体压缩状态,从而当第二推杆804推动锁紧轮802至预定位置后,只要第二推杆804不复位,锁紧轮802始终处于锁紧状态。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.
由于法兰7表面朝向不同方向,水平设置容易检测遗漏,从而无法保证检测数据的准确性,所述连接座201中部眼横向延伸固定设置有第三转动轴6,并沿所述过渡板3直线运动。连接座201根据系统对法兰7外形尺寸的数据进行移动,第三转动轴6带动夹紧组件2转动,实现不同方向的检测,并在进行二次平面检测时有效防止法兰7翻转过程中撞击第一传输链4。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 .
第三转动轴6同时带动夹紧组件2的移动以及旋转,夹紧组件2承受法兰7自身重量,在移动至预定位置时,无法保证整体夹紧组件2受重力影响自动下移,过渡板3内部预定距离均匀设置有多个卡位,卡位伸缩设置,在转动轴带动夹紧组件2移动至卡位上方,卡位自动伸出,对夹紧组件2进行限位,防止下滑。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.
此外,本发明提供了一种基于视觉定位的喷涂检测机器人的检测方法,包括如下步骤:将待检测法兰7工件放置在第一传输链4的上,并传送至检测装置1下方;检测装置1对法兰7相关数据进行扫描并发送至控制系统,并通过图像系统判定并进行标记;夹持臂203伸展至预定角度将位于传输链上的法兰7实施夹持,两侧夹持臂203同时承受法兰7自身重量,在法兰7的压动下第一推杆803,从而实现空气压缩至第二推杆804,带动锁紧轮802转动至卡槽801内实现锁紧,夹紧组件2根据系统给出的法兰7尺寸,移动至预定位置,第三转动轴6带动连接座201翻转,从而实现法兰7不同方向面的检测,检测装置1对法兰7表面再次进行图像系统判定并标记,具体步骤为:检测装置1对表面进型扫描拍摄,系统根据图像灰度成影判定,深色部位表示已喷涂面,浅色部位表示未喷涂面;系统根据图像扫描边缘曲线判定,圆弧高度为涂料过厚区域,水平直线为涂料正常区域;通过系统判断法兰7表面是否符合检测标准,若判定为否,第三推杆推动法兰7移动至第二传输链5,若判定为是,法兰7继续通过第一传输链4实行传送。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 .
在进一步的实施例中,夹持组件为至少两组,在优选的实施例中,为三组,每组各自具有轴向运动自由度;或者夹持组件具有沿平行于法兰运动平面的转动自由度。由于部分法兰的凸缘为两个,分布于两端,也有部分法兰的凸缘的侧面垂直于法兰本体表面,因此,如果正对法兰拍照,则会存在无法拍摄另一侧的法兰侧面,或者由于正对法兰的凸缘,无法拍摄法兰的侧面的情况。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.
因此,通过沿法兰运动方向上设置多组夹持组件,或者设置可以沿运动平面转动的夹持组件,在法兰水平运动(法兰的轴线平行于运动平面),沿运动的方向,在不同位置拍摄时,能够形成至少两个可以拍摄到凸缘侧面与本体连接处的图像,从而能够更加准确的判断是否存在缺陷。在不同的夹持组件的夹持下,随着运动的方向,对法兰进行沿轴向的翻转预定角度,从而实现对法兰倾斜拍照和不同侧面的拍照,实现对法兰的立体拍照。实现在周向上的拍照和轴向上的倾斜拍照。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.
在进一步的实施例中,如果法兰是竖直运输的,即轴线方向垂直于运动平面,则通过在运动过程中的转动,也可形成倾斜拍照和沿轴向拍照,从而获得更多的检测区域。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.
在进一步的实施例中,通过坚持组件上设置有定位区域,形成更大的色差,提高待检测区域的识别度。通过对夹持组件的快速定位,形成对法兰的高效检测。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.
如上所述,尽管参照特定的优选实施例已经表示和表述了本发明,但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下,可对其在形式上和细节上做出各种变化。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 (10)
- 一种基于视觉定位的喷涂检测机器人,其特征在于,包括: A kind of spraying detection robot based on visual positioning, it is characterized in that, comprises:检测组件,相互以预定角度固定在机架上的第一传输链和第二传输链,以预定距离活动设置在传输链上的检测装置;所述第二传输链固定设置在所述机架的一侧;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;检测辅助组件,包括对称活动设置在所述传输链两侧并位于所述检测装置的一侧的至少一个夹持组件。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.
- 根据权利要求1所述的一种基于视觉定位的喷涂检测机器人,其特征在于:所述夹持组件,通过过渡板与所述第一传输链垂直固定连接,包括沿所述过渡板纵向延伸且固定连接的连接座,以及与所述连接座转动连接并对称设置的夹持臂,所述夹持臂绕第一转动轴相对运动。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.
- 根据权利要求2所述的一种基于视觉定位的喷涂检测机器人,其特征在于:所述连接座沿水平方向截面呈“冂”字状,通过转动轴与所述夹持臂转动连接形成可夹持区间。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.
- 根据权利要求3所述的一种基于视觉定位的喷涂检测机器人,其特征在于:所述夹持臂设置有沿第一转动轴周向延伸贯穿形成的夹持空间,所述夹持空间与所述夹持臂之间固定连接有锁紧组件。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.
- 根据权利要求4所述的一种基于视觉定位的喷涂检测机器人,其特征在于:所述锁紧组件,包括沿所述夹持臂上部横向开设的多个卡槽,与所述卡槽间歇触碰的锁紧轮,以及沿所述夹持臂竖向延伸预定距离后水平接通的空气管,所述空气管的两端活动连接的第一推杆与第二推杆,形成空气流。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.
- 根据权利要求5所述的一种基于视觉定位的喷涂检测机器人,其特征在于:所述锁紧轮截面尺寸为倒逗号形状,所述锁紧轮的一侧沿转动轴左方预定角度固定设置有转动块,所述夹持臂通过第二转动轴固定连接并与所述转动块同步绕转动轴预定范围内转动。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.
- 根据权利要求5所述的一种基于视觉定位的喷涂检测机器人,其特征在于:所述第二推杆顶部沿径向贯穿形成与所述转动块同等规格的贴合面,所述第二推杆沿周向预定距离延伸与所述夹持臂形成伸缩孔,沿所述第二推杆同轴方向预定距离设置有推块,所述推块与所述伸缩孔内壁间隙配合并固定连接有伸缩件。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.
- 根据权利要求2所述的一种基于视觉定位的喷涂检测机器人,其特征在于:A kind of spraying inspection robot based on visual positioning according to claim 2, characterized in that:所述连接座中部眼横向延伸固定设置有转动轴,并沿所述过渡板直线运动;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;所述夹持组件为至少3个,沿待检测法兰运动的方向间隔布设。There are at least three clamping assemblies, which are arranged at intervals along the movement direction of the flange to be detected.
- 根据权利要求1至8中任一项所述的一种基于视觉定位的喷涂检测机器人的检测方法,其特征在于包括如下步骤: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、将待检测法兰工件放置在第一传输链的上,并传送至检测装置下方;S1. Place the flange workpiece to be detected on the first transmission chain and transfer it to the bottom of the detection device;S2、检测装置对法兰相关数据进行扫描并发送至控制系统,并通过图像系统判定;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、同时连接座根据系统给出数据进行移动;S3. At the same time, the connecting seat moves according to the data given by the system;S4、系统判定法兰表面是否符合检测标准,若判定为否,第三推杆推动法兰移动至第二传输链,若判定为是,法兰继续通过第一传输链实行传送。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.
- 根据权利要求9中所述的一种基于视觉定位的喷涂检测机器人的检测方法,其特征在于,所述图像系统判定包括如下步骤: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、检测装置对法兰表面进行扫描拍摄;S1. The detection device scans and shoots the surface of the flange;S2、系统根据图像灰度成影判定,深色部位表示已喷涂面,浅色部位表示未喷涂面;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、系统根据图像扫描边缘曲线判定,圆弧高度为涂料超出预定值区域,水平直线为涂料正常区域;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、系统根据数据判定对法兰实施分类。S4. The system judges and classifies the flanges according to the data.
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