The invention relates to the field of
visual inspection in the disc part assembling process, and provides a method for detecting in-place installation of double
interlocking pieces of disc parts based on a collaborative
robot. The method specifically comprises the steps that firstly, a
robot moves to the position over a
servo assembly base, a short-focus lens camera is adopted to integrally photograph a disc part, a hole position deviation
angle alpha is calculated according to 16 fixing hole positions distributed in the circumferential direction, and the
servo assembly base is controlled to automatically rotate by the deviation
angle alpha; as the angle positions of the circumferential fixing holes of the disc parts are in one-to-one correspondence with the angle positions of the double
interlocking pieces, the sampling positions of the double
interlocking pieces are fixed by rotating the deviation
angle alpha; a
robot is moved to a sampling position at the circumferential edge of a disc part, and a
telephoto lens camera is adopted to irradiate the position of a double-interlocking piece, so that a group of complete double-interlocking piece
image acquisition is realized; complete
image acquisition of eight groups of double-interlocking sheets in the circumferential direction is realized by controlling the
servo assembly seat to rotate in a circle in an eight-indexing manner; by labeling and training various lock plate sample conditions, whether the double interlocking plates of the disc parts are installed in place or not is judged.