Industrial robot for product appearance detection based on visual system

Abstract

The invention discloses a visual system-based industrial robot for product appearance detection, which comprises a sorting structure, a driving structure is fixedly arranged on the sorting structure, a pair of swinging structures is symmetrically arranged on the driving structure, picking structures are respectively arranged on the pair of swinging structures, and the picking structures can be oppositely attached and butted. The invention relates to the technical field of detection equipment, and has the advantages of simple structural design, high transmission efficiency, convenient maintenance, strong action linkage synchronism, no redundancy in process connection, efficient double-sided detection, realization of synchronous detection, controllable precision, assembly line continuous operation, adaptation to mass production requirements, detection and sorting integration, and high efficiency. The sorting is accurate, the main process is not interfered, the action adaptability is high, the application scene is wider, the operation automation degree is high, and manual intervention is reduced.

Description

An industrial robot for product appearance inspection based on a vision system Technical Field

[0001] This invention relates to the field of inspection equipment technology, specifically to an industrial robot for product appearance inspection based on a vision system. Background Technology

[0002] In the quality control system of modern industrial manufacturing, product appearance inspection is a key link to ensure the quality of products leaving the factory and prevent defective products from entering the market. It is widely used in many fields such as hardware processing, electronic components, plastic molding, and precision parts. The requirements for identifying defects such as scratches, dents, burrs, color differences, and missing materials on the surface of workpieces are constantly increasing, and comprehensive appearance inspection of workpieces has become a rigid standard for production in various industries. However, the various automated appearance inspection equipment currently on the market still suffer from the dual pain points of high technical difficulty and complex equipment structure and cumbersome procedures in the process of achieving comprehensive workpiece inspection, making it difficult to adapt to the efficient, streamlined, and integrated operation requirements of modern production lines. Summary of the Invention

[0003] The purpose of this invention is to solve the technical problems of complex structure and numerous procedures in existing inspection equipment, and to provide an industrial robot for product appearance inspection based on a vision system. This robot achieves an integrated process of inspection, picking, handling, docking, face-changing, and testing through a simple mechanical structure, enabling rapid response and streamlined double-sided inspection. To achieve the purpose of this invention, the following technical solution is adopted.

[0004] To address the aforementioned problems, this invention provides the following technical solution: an industrial robot for product appearance inspection based on a vision system, comprising a sorting structure, a drive structure fixedly mounted on the sorting structure, a pair of symmetrically arranged swing structures on the drive structure, and a picking structure mounted on each of the pair of swing structures, wherein the picking structures can be relatively fitted and docked; wherein, the sorting structure is used to distinguish and transport products, realizing the differentiation between qualified and unqualified products, and the drive structure is used to initiate the rotation of the swing structures to realize the movement of the picking structures, thereby realizing the integrated process of picking, docking, swapping and placing of the two picking structures, and in the process, the product is flipped and its appearance is inspected.

[0005] Preferably, the sorting structure includes a base, a pair of first hydraulic cylinder bodies, a conveyor belt body, and a sorting unit; the base is rectangular, the pair of first hydraulic cylinder bodies are symmetrically arranged on the upper right wall of the base, the conveyor belt body is fixedly arranged in the middle of the upper wall of the base and is located above the base, the conveyor belt body runs through the front and rear sides of the base, and the sorting unit is fixedly arranged in the middle of the upper left wall of the base and corresponds to the front end of the conveyor belt body.

[0006] Preferably, the material distribution unit includes a chassis, a first motor, a first swing arm, a receiving platform, a transfer rod, and a second hydraulic cylinder body. The chassis is fixedly installed in the middle of the upper left wall of the base. The first motor is fixedly embedded in the chassis, and the drive end of the first motor moves through the middle of the upper wall of the chassis. The first swing arm is L-shaped, with one end fixedly installed on the drive end of the first motor, and the other end of the first swing arm perpendicular to the conveyor belt body. One end of the receiving platform is movably connected to the other end of the first swing arm. The receiving platform can be located above the front end of the conveyor belt body and can rotate to the left side of the conveyor belt body. One end of the transfer rod is fixedly installed on the lower wall of the middle part of the first swing arm. One end of the second hydraulic cylinder body is movably connected to the other end of the transfer rod, and the telescopic end of the second hydraulic cylinder body is inclined to the upper right. The telescopic end of the second hydraulic cylinder body is movably connected to the lower wall of the receiving platform.

[0007] Preferably, the drive structure includes a drive seat, a pair of first shaft brackets, a second shaft bracket, an electric push rod, a gear frame, a limiting frame, and a drive gear; the drive seat is fixedly disposed between the telescopic ends of the first hydraulic cylinder body and is located above the conveyor belt body; both of the first shaft brackets are convex, one end of each pair of first shaft brackets is symmetrically disposed at the other end of the drive seat, and a first bearing is embedded near the middle of each first shaft bracket; the second shaft bracket is fixedly disposed between the other ends of the first shaft brackets, and a second bearing is symmetrically disposed in the middle of the second shaft bracket; a lifting port is opened near the middle of the second shaft bracket; one end of the electric push rod is fixedly disposed on the lower wall of the drive seat and corresponds to the lifting port; one end of the gear frame is fixedly disposed on the telescopic end of the electric push rod, and teeth are provided on the side wall of the other end of the gear frame; the other end of the gear frame corresponds to one of the second bearings; one end of the limiting frame is fixedly disposed on the rear side wall of the other end of the gear frame, and the other end of the limiting frame movably passes through the lifting port; the drive gear is movably disposed on the right side of the second shaft bracket and meshes with the gear frame.

[0008] Preferably, the swing structure includes a gear shaft, a driven gear, a second swing arm, a sliding frame, a sliding arm, and a connecting shaft; one end of the gear shaft is fixedly inserted through the middle of the second bearing, and the right end of the gear shaft is fixedly inserted through the middle of the drive gear for bearing and mounting the drive gear; the driven gear is fixedly mounted on the other end of the gear shaft; one end of the second swing arm is fixedly mounted on the other end of the gear shaft and is in contact with the driven gear; the sliding frame is movably mounted at the first bearing and can rotate through the first bearing; one end of the sliding arm movably inserts through the sliding frame and can slide on the sliding frame; the other end of the sliding arm corresponds to the other end of the second swing arm; one end of the connecting shaft is fixedly mounted on the other end of the sliding arm and the other end of the connecting shaft movably inserts through the other end of the second swing arm.

[0009] Preferably, the picking structure includes an adapter, a detection platform, a camera, a support platform, an electric slide rail body, and a pair of clamping arms. The adapter is detachably mounted on the other end of the connecting shaft and is located on the left side of the second swing arm. The detection platform is fixedly mounted on the adapter and corresponds to the upper wall of the conveyor belt body. The camera is fixedly mounted in the middle of the detection platform and corresponds to the conveyor belt body. The support platform is rectangular, and pads are provided at the four corners of the upper wall. The support platform is fixedly mounted below the detection platform, and the support platform and the detection platform are supported and connected by pads. A detection port is opened in the middle of the support platform. Relatively intersecting fixing slots are opened near the left end and the front end of the support platform. The electric slide rail body is fixedly mounted on the upper wall of the support platform and is located at the fixing slot. Relatively sliding movable seats are symmetrically arranged on the electric slide rail body, and the movable seats can pass through the fixing slots. One end of each pair of clamping arms is detachably mounted on the movable seat of the electric slide rail body, and the clamping arms are symmetrically arranged below the support platform.

[0010] Preferably, the receiving platform is kept horizontal by the extension of the main body of the second hydraulic cylinder, and the receiving platform is tilted downward by the retraction of the main body of the second hydraulic cylinder.

[0011] Preferably, the drive gears in the pair of swing structures are meshed relative to each other, and the second swing arm is initially parallel to the conveyor belt body.

[0012] Preferably, the sliding arm is initially perpendicular to the second swing arm.

[0013] Preferably, the initial states of the pair of pickup structures correspond to the two ends of the conveyor belt body, and the pickup structures can be relatively fitted and fastened after the swing structure is rotated 90 degrees by the drive structure.

[0014] Preferably, one of the picking structures can be fitted and aligned with the receiving platform.

[0015] This invention proposes an industrial robot for product appearance inspection based on a vision system. This solution utilizes a simple mechanical structure to achieve synchronous driving of two swinging structures by a drive structure, which in turn drives symmetrically arranged pickup structures to move in the same or opposite directions. The pickup structures, in their stationary horizontally symmetrical positions, pick up and inspect workpieces moving on the conveyor belt. Through rotation in the same direction, the pickup structures dock and switch, thus achieving relative face-changing of the workpieces. This allows for simultaneous double-sided inspection before the workpieces are re-placed on the conveyor belt for transport, forming a continuous production line. Furthermore, defective products can be separately discharged from the sorting unit for sorting. The advantages are: 1. It abandons the complex design of traditional equipment with multiple independent mechanisms and transmission links. A single drive structure synchronously drives two swinging structures, eliminating the need for additional independent rotation, transfer, and positioning mechanisms. The overall mechanical structure is simplified, with fewer parts, reducing hardware manufacturing costs and installation space occupancy, as well as minimizing error accumulation during transmission and increasing equipment stability. Simultaneously, the simplified structural design makes equipment debugging, daily maintenance, and fault diagnosis more convenient, reducing later maintenance costs and operational difficulty.

[0016] 2. The drive structure can precisely control the two swinging structures to achieve relative or reverse movement, driving the symmetrical picking structure to complete an integrated action: from static picking and detection at a horizontally symmetrical position, to docking and conversion after flipping in the same direction, and then to placement after face changing, all actions are achieved by the same drive source in linkage. The action is smooth and without waiting, completely eliminating the cumbersome process of flipping, transferring and detecting in separate steps in traditional equipment, greatly improving the detection efficiency of a single workpiece and adapting to the high-speed operation rhythm of modern production lines.

[0017] 3. The automated workpiece face-changing is achieved by using the docking and conversion of the picking structure, without the need for manual assistance or additional flipping procedures. The detection action runs through the entire process of picking, docking, and face-changing, realizing synchronous detection of both sides of the workpiece. This solves the limitations of single-sided detection in traditional equipment and the technical difficulties of multi-sided detection. At the same time, the picking structure completes the workpiece picking in a static, horizontally symmetrical position, avoiding the positioning offset of the workpiece during movement. Combined with the vision inspection camera, it effectively ensures the accuracy of appearance inspection and reduces the rate of missed and false detections.

[0018] 4. The picking, inspection, face-changing, double-sided re-inspection, and qualified placement of workpieces are all completed along the main body of the conveyor belt. After inspection, qualified workpieces can be directly put back onto the main body of the conveyor belt for continued transport, seamlessly connecting with the original process of the production line to form a continuous production line integrating inspection and transport. This avoids the problems of workpiece accumulation and jamming caused by the disconnect between inspection and transport in traditional equipment, ensuring the continuity of the entire production line and greatly improving overall production efficiency.

[0019] 5. While achieving comprehensive double-sided inspection, non-conforming products can be accurately placed on the sorting unit for separate discharge, while qualified products are returned to the main conveyor belt. The inspection and sorting actions are completed simultaneously, eliminating the need for additional transfer and sorting processes. This solves the problem of disconnect between inspection and sorting in traditional equipment, improves sorting accuracy, and avoids interference from non-conforming products on the main production line conveying process. It achieves efficient separation of qualified and non-conforming products, ensuring a closed loop of quality control.

[0020] 6. The drive structure can flexibly control the movement direction of the swing structure, and the action of the picking structure can be adapted and adjusted according to the workpiece specifications and inspection requirements without major modifications to the mechanical structure. As long as the workpiece thickness is greater than the clamping arm thickness, it can be inspected by this solution equipment, such as nuts and rubber rings. Compared with traditional fixed-action inspection equipment, it is more adaptable to the appearance inspection needs of workpieces of different sizes and specifications. The equipment has stronger versatility and adaptability and can be applied to the appearance inspection of products in multiple industries such as electronics, hardware, and plastics.

[0021] 7. From automatic workpiece pickup, double-sided automatic inspection, and automatic face changing, to automatic return of qualified products and automatic sorting and discharge of unqualified products, the entire process is completed automatically by the mechanical structure of the equipment without any human intervention. This completely solves the problems of manual assistance in flipping and sorting in traditional equipment, greatly reduces manpower input and labor costs, and avoids secondary bumps and damage to products caused by manual operation, further ensuring product quality. Attached Figure Description

[0022] Figure 1 is a schematic diagram of the overall assembly structure of the present invention; Figure 2 is a schematic diagram of the sorting structure assembly structure of the present invention; Figure 3 is a schematic diagram of the disassembled drive structure of the present invention; Figure 4 is a schematic diagram of the assembled drive structure of the present invention; Figure 5 is a schematic diagram of the disassembled swing structure of the present invention; Figure 6 is a schematic diagram of the assembled swing structure and drive structure of the present invention; Figure 7 is a schematic diagram of the disassembled pickup structure of the present invention; Figure 8 is a schematic diagram of the assembled pickup structure and swing structure of the present invention; Figure 9 is a partially enlarged schematic diagram of point A in Figure 3.

[0023] In the diagram: 1. Sorting structure; 11. Base; 12. First hydraulic cylinder body; 13. Conveyor belt body; 14. Material distribution unit; 141. Chassis; 142. First motor; 143. First swing arm; 144. Receiving platform; 145. Transfer rod; 146. Second hydraulic cylinder body; 2. Drive structure; 21. Drive base; 22. First shaft frame; 23. Second shaft frame; 24. Electric push rod; 25. Gear frame; 26. 27. Limiting frame, 3. Drive gear, 4. Swinging structure, 5. Gear shaft, 6. Driven gear, 7. Second swing arm, 8. Sliding frame, 9. Sliding arm, 10. Connecting shaft, 11. Pick-up structure, 12. Adapter seat, 13. Detection table, 14. Camera, 15. Bearing platform, 16. Electric slide rail body, 17. Clamping arm, 18. First bearing, 19. Second bearing, 10. Lifting port, 11. Pad tube, 12. Fixing groove. Detailed Implementation

[0024] The specific embodiments of the present invention will now be described in detail with reference to Figures 1-9.

[0025] This invention provides a technical solution: an industrial robot for product appearance inspection based on a vision system, including a sorting structure 1, a drive structure 2 fixedly mounted on the sorting structure 1, a pair of swing structures 3 symmetrically mounted on the drive structure 2, and a picking structure 4 respectively mounted on the pair of swing structures 3, and the picking structures 4 can be relatively fitted and docked; the sorting structure 1 is used to distinguish the conveyed products and realize the distinction between qualified and unqualified products, the drive structure 2 is used to start the swing structures 3 to flip, realize the movement of the picking structures 4, thereby realizing the integrated process of picking, docking, swapping and placing of the two picking structures 4, and in the process, the product is flipped and its appearance is inspected.

[0026] As a further embodiment of the present invention, the sorting structure 1 includes a base 11, a pair of first hydraulic cylinder bodies 12, a conveyor belt body 13, and a sorting unit 14. The base 11 is rectangular, and the pair of first hydraulic cylinder bodies 12 are symmetrically arranged on the upper right wall of the base 11. The conveyor belt body 13 is fixedly arranged in the middle of the upper wall of the base 11, and the conveyor belt body 13 is located above the base 11. The conveyor belt body 13 passes through the front and rear sides of the base 11. The sorting unit 14 is fixedly arranged in the middle of the upper left wall of the base 11, and the sorting unit 14 corresponds to the front end of the conveyor belt body 13.

[0027] More specifically, the sorting structure 1 uses a rectangular base 11 as the basic carrier. A pair of first hydraulic cylinder bodies 12 are symmetrically arranged on the upper right wall of the base 11. The conveyor belt body 13, which runs through the front and rear sides of the base 11, is fixedly installed on the upper middle wall. The material sorting unit 14, which corresponds to the front end of the conveyor belt body 13, is fixedly arranged in the middle of the upper left wall. All components work together to realize the conveying, inspection and sorting of workpieces and the sorting of qualified or unqualified products.

[0028] As a further embodiment of the present invention, the material distribution unit 14 includes a housing 141, a first motor 142, a first swing arm 143, a receiving platform 144, a connecting rod 145, and a second hydraulic cylinder body 146; the housing 141 is fixedly disposed in the middle of the upper left wall of the base 11, the first motor 142 is fixedly embedded in the housing 141, and the driving end of the first motor 142 moves through the middle of the upper wall of the housing 141; the first swing arm 143 is L-shaped, one end of the first swing arm 143 is fixedly disposed on the driving end of the first motor 142, and the other end of the first swing arm 143 is connected to... The conveyor belt body 13 is relatively vertical. One end of the receiving platform 144 is movably connected to the other end of the first swing arm 143. The receiving platform 144 can be located above the front end of the conveyor belt body 13 and can rotate to the left side of the conveyor belt body 13. One end of the adapter rod 145 is fixedly set on the lower wall of the middle part of the first swing arm 143. One end of the second hydraulic cylinder body 146 is movably connected to the other end of the adapter rod 145, and the telescopic end of the second hydraulic cylinder body 146 is tilted to the upper right. The telescopic end of the second hydraulic cylinder body 146 is movably connected to the lower wall of the receiving platform 144.

[0029] More specifically, the sorting unit 14 drives the first swing arm 143 to rotate horizontally via the first motor 142, enabling the receiving platform 144 to switch quickly and accurately between the main conveyor receiving station and the side unloading station. In conjunction with the second hydraulic cylinder body 146 driving the receiving platform 144 to rotate in a horizontal / tilted posture, it achieves automatic unloading of non-conforming products without power. It can efficiently separate non-conforming products from the main production line without the need for an additional independent transfer mechanism. This ensures seamless synchronization between the sorting action and the equipment detection and picking process, greatly improving the response speed and accuracy of non-conforming product sorting. It also completely avoids interference of the non-conforming product handling process with the normal conveying process of the conveyor belt body 13, ensuring the stability of continuous mass production operation of the production line. At the same time, the overall structure is compact, the transmission link is short, and the action is highly controllable. It can adapt to the sorting needs of different specifications of products and is convenient for daily debugging and maintenance.

[0030] As a further embodiment of the present invention, the drive structure 2 includes a drive seat 21, a pair of first shaft supports 22, a second shaft support 23, an electric push rod 24, a gear frame 25, a limiting frame 26, and a drive gear 27; the drive seat 21 is fixedly disposed between the telescopic ends of the first hydraulic cylinder body 12, and the drive seat 21 is located above the conveyor belt body 13; both of the first shaft supports 22 are convex, and one end of each pair of first shaft supports 22 is symmetrically disposed at the other end of the drive seat 21, and a first bearing 5 is embedded near the middle of each first shaft support 22; the second shaft support 23 is fixedly disposed between the other ends of the first shaft supports 22, and the second shaft support 23 is located in... The second bearing 6 is symmetrically arranged in the second shaft frame 23. The second shaft frame 23 has a lifting port 7 near the middle. One end of the electric push rod 24 is fixedly set on the lower wall of the drive seat 21 and corresponds to the lifting port 7. One end of the gear frame 25 is fixedly set on the telescopic end of the electric push rod 24 and the other end of the gear frame 25 is provided with teeth. The other end of the gear frame 25 corresponds to one of the second bearings 6. One end of the limiting frame 26 is fixedly set on the rear side wall of the other end of the gear frame 25 and the other end of the limiting frame 26 moves through the lifting port 7. The drive gear 27 is movably set on the right side of the second shaft frame 23 and meshes with the gear frame 25.

[0031] More specifically, in the standby and workpiece picking operation states, the telescopic end of the electric push rod 24 is in the extended state, pushing the gear frame 25 down along the guide of the limit frame 26 to the lower limit position of the lifting port 7. At this time, the drive gear 27 is in the initial rotation angle, and the second swing arm 33 of the swing structure 3 connected to the drive gear 27 remains in the initial state parallel to the conveyor belt body 13. The two symmetrically arranged picking structures 4 correspond to the front and rear ends of the conveyor belt body 13 respectively, preparing for workpiece picking and front detection.

[0032] When the workpiece is picked up and inspected from the front, and the flipping and docking action is required, the electric push rod 24 receives a control signal, and its telescopic end retracts at a constant speed, driving the gear frame 25 to move vertically upward. The limit frame 26 slides upward along the lifting port 7 synchronously with the gear frame 25, constraining the movement trajectory of the gear frame 25 throughout the process, ensuring the meshing accuracy between the gear frame 25 and the drive gear 27. During the upward movement of the gear frame 25, the meshing of the gear teeth drives the drive gear 27 to rotate clockwise. The drive gear 27 synchronously drives the gear shaft 31, which is fixedly connected to it, to rotate around the axis of the second bearing 6. The gear shaft 31 further drives the driven gear 32 at its left end to rotate synchronously. Since the driven gears 32 of the two sets of swing structures 3 mesh with each other, the driven gear 32 on the active side drives the driven gear 32 on the passive side to rotate counterclockwise synchronously, thereby realizing that the second swing arms 33 of the two sets of swing structures 3 synchronously flip inward relative to each other. After completing a 90-degree flip, the two picking structures 4 precisely face to face and dock, providing precise position support for workpiece handover and automatic flipping.

[0033] After the workpiece handover and reverse inspection are completed, the telescopic end of the electric push rod 24 extends again at a constant speed, pushing the gear frame 25 to reset vertically downwards. Through the meshing of the gear and rack, the drive gear 27 is driven to rotate in the opposite direction. Then, through the two sets of meshing driven gears 32, the two second swing arms 33 are driven to rotate outwards and in the opposite direction by 90 degrees, returning to the initial position parallel to the conveyor belt body 13, completing a complete drive operation cycle and preparing for the next workpiece inspection operation.

[0034] As a further embodiment of the present invention, the swing structure 3 includes a gear shaft 31, a driven gear 32, a second swing arm 33, a sliding frame 34, a sliding arm 35, and a connecting shaft 36; one end of the gear shaft 31 is fixedly inserted through the middle of the second bearing 6, and the right end of the gear shaft 31 is fixedly inserted through the middle of the drive gear 27 for bearing and mounting the drive gear 27; the driven gear 32 is fixedly mounted on the other end of the gear shaft 31; one end of the second swing arm 33 is fixedly mounted on the other end of the gear shaft 31, and the second swing arm 33 is in contact with the driven gear 32; the sliding frame 34 is movably mounted at the first bearing 5, and the sliding frame 34 can rotate through the first bearing 5; one end of the sliding arm 35 movably inserts through the sliding frame 34, and the sliding arm 35 can slide on the sliding frame 34; the other end of the sliding arm 35 corresponds to the other end of the second swing arm 33; one end of the connecting shaft 36 is fixedly mounted on the other end of the sliding arm 35, and the other end of the connecting shaft 36 movably inserts through the other end of the second swing arm 33.

[0035] More specifically, the swing structure 3 achieves 100% synchronous reverse rotation of the double swing arms through two sets of meshing driven gears 32, ensuring the docking accuracy of the two picking structures 4 from the mechanical structure root, eliminating the problem of multi-drive synchronization error. At the same time, through the composite linkage structure composed of the second swing arm 33, the sliding arm 35 and the sliding frame 34, it adaptively adapts to the motion trajectory during the rotation process, with no motion interference or jamming throughout the process. There is no need to add an additional independent guiding and positioning mechanism, which greatly simplifies the transmission structure and shortens the power transmission link. The rotation action is seamlessly linked with the drive structure 2 and the picking structure 4, perfectly adapting to the entire process of workpiece picking, docking and repositioning, and flipping inspection. This not only improves the stability, synchronization and positional accuracy of the rotation action, but also reduces the debugging difficulty and failure rate of the equipment, ensuring the smoothness and reliability of automatic workpiece flipping and double-sided visual inspection operations.

[0036] As a further embodiment of the present invention, the picking structure 4 includes an adapter 41, a detection platform 42, a camera 43, a support platform 44, an electric slide rail body 45, and a pair of clamping arms 46; the adapter 41 is detachably mounted on the other end of the connecting shaft 36 and is located on the left side of the second swing arm 33; the detection platform 42 is fixedly mounted on the adapter 41 and corresponds to the upper wall of the conveyor belt body 13; the camera 43 is fixedly mounted in the middle of the detection platform 42 and corresponds to the conveyor belt body 13; the support platform 44 is rectangular, and pads 8 are provided at the four corners of the upper wall; the support platform 44... The bearing platform 44 is fixedly installed below the testing platform 42, and is supported and connected to the testing platform 42 by the pad tube 8. The bearing platform 44 has a testing port in the middle, and the bearing platform 44 has relatively intersecting fixing grooves 9 near the left end and the front end. The electric slide rail body 45 is fixedly installed on the upper wall of the bearing platform 44 and is located at the fixing groove 9. The electric slide rail body 45 has relatively sliding movable seats symmetrically arranged on it, and the movable seats can pass through the fixing groove 9. One end of a pair of clamping arms 46 can be detachably installed on the movable seats of the electric slide rail body 45, and the clamping arms 46 are symmetrically arranged below the bearing platform 44.

[0037] More specifically, the picking structure 4 adopts an integrated design that combines clamping execution and visual inspection. Through the adapter 41, it achieves rigid synchronous linkage with the swing structure 3. It can complete the entire process of picking up, repositioning, flipping, and placing the workpiece synchronously with the flipping action. At the same time, using the detection spacing formed by the pad tube 8 and the coaxially arranged camera 43 and detection port, it can simultaneously complete the visual inspection of both sides during the entire process of workpiece clamping, docking, and repositioning. There is no need to add an additional independent inspection station and flipping mechanism, which greatly simplifies the inspection process and improves the inspection efficiency and the coverage of appearance defects. Through the cross-arranged fixing slots 9 and the detachable electric slide rail body 45 and clamping arms 46, it can flexibly adapt to the clamping and inspection needs of workpieces of different sizes, specifications, and materials. The equipment's versatility and scene adaptability are significantly improved. At the same time, the detachable modular design greatly reduces the cost of equipment debugging, maintenance, and replacement of vulnerable parts, and ensures the imaging accuracy of appearance inspection and the stability of equipment operation throughout the process.

[0038] As a further embodiment of the present invention, the receiving platform 144 is kept horizontal by extending the body 146 of the second hydraulic cylinder, and the receiving platform 144 is tilted downward by retracting the body 146 of the second hydraulic cylinder to discharge waste material; the drive gears 27 in the pair of swing structures 3 are meshed with each other, and the swing arm is initially parallel to the conveyor belt body 13 for synchronous movement; the sliding arm 35 is initially perpendicular to the swing arm, which is a design requirement for the initial state; the pair of picking structures 4 are initially corresponding to the two ends of the conveyor belt body 13 respectively, and the picking structure 4 can be relatively close and fastened after the swing structure 3 is rotated 90 degrees by the drive structure 2, which is used for the designed synchronous movement, so that one of them picks up the material and puts it to the other picking structure 4, thereby realizing the flipping and double-sided detection in the process; one of the picking structures 4 can be close to the receiving platform 144 for the design to realize the double-sided detection requirement.

[0039] Its detailed connection method is a well-known technology in this field. The following mainly introduces the working principle and process, and the specific work is as follows.

[0040] The equipment is placed stably on the base 11. After the equipment is powered on, the conveyor belt body 13 starts, the workpiece is input at the rear end and output at the front end. During the inspection, the workpiece enters from the rear end of the conveyor belt body 13 and moves forward. It passes through the pickup structure 4 located at the rear side. The camera 43 is used to image and detect the upper wall of the workpiece, and the drive of the conveyor belt body 13 is stopped (if the input workpiece is input through the equipment at a distance, there is no need to stop the conveyor belt body 13). Then, the first hydraulic cylinder body 12 is activated to retract, which drives the overall drive structure 2 and pickup structure 4 to descend, causing the corresponding pickup structure 4 to lock onto the workpiece. The corresponding electric slide rail body 45 is activated, which drives the symmetrical clamping arms 46 to move relative to each other to clamp the workpiece. Then, the first hydraulic cylinder body 12 is activated to lift and reset, and the drive structure 2 is activated simultaneously. The second hydraulic cylinder body 146 in the drive structure 2 retracts, causing the gear frame 25 to move within the lifting port 7 via the limit frame 26. This causes the gear frame 25 to mesh with the drive gear 27, driving the gear shaft 31 connected to the drive gear 27 to rotate on the second shaft frame 23 via the second bearing 6. This, in turn, drives the driven gear 32 at the other end of the gear shaft 31 to rotate. Since the driven gears 32 in the two sets of swing structures 3 mesh relative to each other, the two driven gears 32 rotate synchronously in opposite directions, causing the other end of the second swing arm 33 to flip relative to each other. When the other end of the second swing arm 33 flips relative to each other, it will cause the connecting... The connecting shaft 36 drives the sliding arm 35 to rotate, causing the sliding arm 35 to rotate at a certain angle and engage with the sliding frame 34 movably set at the first bearing 5. As the second swing arm 33 rotates, the sliding arm 35 also slides within the sliding frame 34. When the second swing arm 33 rotates 90 degrees from a position parallel to the conveyor belt body 13, the second swing arm 33 becomes perpendicular to the upper wall of the conveyor belt body 13. The sliding arm 35, originally perpendicular to the conveyor belt body 13, becomes horizontally positioned above and parallel to the conveyor belt body 13 as it rotates and slides. This rotation and movement of the sliding arm 35 then causes the pickup structure 4, fixedly set at the other end of the connecting shaft 36, to engage with it. Another pick-up structure 4 can be used to clamp the workpiece, while the initial clamping arm 46 is disengaged. The workpiece is transferred from one pick-up structure 4 to another pick-up structure 4, which also achieves a flipping effect. Then, it goes through the same process again, that is, after being clamped by the clamping arm 46 in the other pick-up structure 4, the other wall surface is detected by the camera 43 on the corresponding detection table 42. Since the detection table 42 is fixedly connected to the connecting shaft 36 through the adapter 41, the flipping of the sliding arm 35 will drive the connecting shaft 36 to flip through the second swing arm 33, and simultaneously drive the pick-up structure 4 to flip 90 degrees. In addition, the detection table 42 and the bearing table 44 are supported by a certain distance through the pad tube 8, which can improve the imaging observation range of the camera 43.The electric slide rail body 45 is set separately by the fixed grooves 9 opened on the upper edge of the bearing platform 44 in both width and length. The length of the electric slide rail body 45 can be set according to the actual workpiece size requirements, thereby changing the clamping range of the clamping arm 46 and improving practicality. After the second picking structure 4 clamps and detects, as the electric push rod 24 located on the drive seat 21 in the drive structure 2 extends, it drives the driven gear 32 to rotate and reset, so that the two picking structures 4 are aligned with the upper wall of the conveyor belt body 13 again. This allows the subsequent clamping arm 46 to be placed on the front end of the conveyor belt body 13, realizing double-sided detection and process conveying, that is, realizing clamping and picking, imaging front detection, docking and transposition, clamping and picking, imaging back detection, and placement. The conveying process is as follows: When a product fails inspection, the first motor 142 inside the housing 141 of the sorting unit 14 is activated. The first motor 142 drives the first swing arm 143 to rotate 90 degrees, positioning the receiving platform 144 above the conveyor belt body 13 and correspondingly below the subsequent pickup structure 4. The defective product after flipping inspection is placed onto the receiving platform 144. When the receiving platform 144 is rotated 90 degrees by the second swing arm 33 and reset to the left side of the conveyor belt body 13, the second hydraulic cylinder body 146 on the adapter rod 145 retracts, causing the receiving platform 144 to tilt downwards on the first swing arm 143. This tilting causes the workpiece to slide off the receiving platform 144, thus achieving differentiated feeding.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot for product appearance inspection based on a vision system, characterized in that, The system includes a sorting structure (1), on which a driving structure (2) is fixedly installed. A pair of swing structures (3) are symmetrically arranged on the driving structure (2). Pick-up structures (4) are respectively arranged on the pair of swing structures (3), and the pick-up structures (4) can be relatively fitted and docked. The sorting structure (1) is used to distinguish the conveyed products and realize the distinction between qualified and unqualified products. The driving structure (2) is used to start the swing structure (3) to flip and realize the movement of the pick-up structure (4), thereby realizing the integrated process of picking, docking, changing position and placing of the two pick-up structures (4). In the process, the products are flipped and inspected for appearance.

2. The industrial robot for product appearance inspection based on a vision system according to claim 1, characterized in that, The sorting structure (1) includes a base (11), a pair of first hydraulic cylinder bodies (12), a conveyor belt body (13), and a sorting unit (14). The base (11) is rectangular. The pair of first hydraulic cylinder bodies (12) are symmetrically arranged on the upper right wall of the base (11). The conveyor belt body (13) is fixedly arranged in the middle of the upper wall of the base (11) and is located above the base (11). The conveyor belt body (13) runs through the front and rear sides of the base (11). The sorting unit (14) is fixedly arranged in the middle of the upper left wall of the base (11) and is corresponding to the front end of the conveyor belt body (13).

3. The industrial robot for product appearance inspection based on a vision system according to claim 2, characterized in that, The material distribution unit (14) includes a housing (141), a first motor (142), a first swing arm (143), a receiving platform (144), a transfer rod (145), and a second hydraulic cylinder body (146). The housing (141) is fixedly installed in the middle of the upper left wall of the base (11). The first motor (142) is fixedly embedded in the housing (141), and the drive end of the first motor (142) moves through the middle of the upper wall of the housing (141). The first swing arm (143) is L-shaped. One end of the first swing arm (143) is fixedly installed on the drive end of the first motor (142), and the other end of the first swing arm (143) is connected to the main conveyor belt. The body (13) is relatively vertical. One end of the receiving platform (144) is movably connected to the other end of the first swing arm (143). The receiving platform (144) can be located above the front end of the conveyor belt body (13). The receiving platform (144) can be rotated to the left side of the conveyor belt body (13). One end of the adapter rod (145) is fixedly set on the lower wall of the middle part of the first swing arm (143). One end of the second hydraulic cylinder body (146) is movably connected to the other end of the adapter rod (145). The telescopic end of the second hydraulic cylinder body (146) is tilted to the upper right. The telescopic end of the second hydraulic cylinder body (146) is movably connected to the lower wall of the receiving platform (144).

4. An industrial robot for product appearance inspection based on a vision system according to claim 3, characterized in that, The drive structure (2) includes a drive seat (21), a pair of first shaft brackets (22), a second shaft bracket (23), an electric push rod (24), a gear frame (25), a limit frame (26), and a drive gear (27). The drive seat (21) is fixedly disposed between the telescopic ends of the first hydraulic cylinder body (12), and the drive seat (21) is located above the conveyor belt body (13). Both of the first shaft brackets (22) are convex, and one end of each pair of first shaft brackets (22) is symmetrically disposed at the other end of the drive seat (21), and a first bearing (5) is embedded near the middle of each first shaft bracket (22). The second shaft bracket (23) is fixedly disposed between the other ends of the first shaft brackets (22), and a first bearing (5) is symmetrically disposed in the middle of the second shaft bracket (23). Two bearings (6), the second shaft frame (23) has a lifting port (7) near the middle, one end of the electric push rod (24) is fixedly set on the lower wall of the drive seat (21), and the electric push rod (24) corresponds to the lifting port (7), one end of the gear frame (25) is fixedly set on the telescopic end of the electric push rod (24), and the other end of the gear frame (25) is provided with teeth, the other end of the gear frame (25) corresponds to one of the second bearings (6), one end of the limiting frame (26) is fixedly set on the rear side wall of the other end of the gear frame (25), and the other end of the limiting frame (26) moves through the lifting port (7), the drive gear (27) is moved on the right side of the second shaft frame (23), and the drive gear (27) meshes with the gear frame (25).

5. An industrial robot for product appearance inspection based on a vision system according to claim 4, characterized in that, The swing structure (3) includes a gear shaft (31), a driven gear (32), a second swing arm (33), a sliding frame (34), a sliding arm (35), and a connecting shaft (36); one end of the gear shaft (31) is fixedly inserted through the middle of the second bearing (6), and the right end of the gear shaft (31) is fixedly inserted through the middle of the drive gear (27) for bearing and mounting the drive gear (27); the driven gear (32) is fixedly mounted on the other end of the gear shaft (31); one end of the second swing arm (33) is fixedly mounted on the other end of the gear shaft (31), and the second swing arm... (33) is in contact with the driven gear (32). The sliding frame (34) is movably disposed at the first bearing (5) and the sliding frame (34) can rotate through the first bearing (5). One end of the sliding arm (35) movably passes through the sliding frame (34) and the sliding arm (35) can slide on the sliding frame (34). The other end of the sliding arm (35) corresponds to the other end of the second swing arm (33). One end of the connecting shaft (36) is fixedly disposed at the other end of the sliding arm (35) and the other end of the connecting shaft (36) movably passes through the other end of the second swing arm (33).

6. An industrial robot for product appearance inspection based on a vision system according to claim 5, characterized in that, The picking structure (4) includes an adapter (41), a detection platform (42), a camera (43), a support platform (44), an electric slide rail body (45), and a pair of clamping arms (46). The adapter (41) is detachably mounted on the other end of the connecting shaft (36) and is located on the left side of the second swing arm (33). The detection platform (42) is fixedly mounted on the adapter (41) and corresponds to the upper wall of the conveyor belt body (13). The camera (43) is fixedly mounted in the middle of the detection platform (42) and corresponds to the conveyor belt body (13). The support platform (44) is rectangular, and pads (8) are provided at the four corners of the upper wall. The bearing platform (44) is fixedly installed below the testing platform (42), and the bearing platform (44) and the testing platform (42) are supported and connected by a pad tube (8). The bearing platform (44) has a testing port in the middle. The bearing platform (44) has relatively intersecting fixing grooves (9) near the left end and the front end. The electric slide rail body (45) is fixedly installed on the upper wall of the bearing platform (44) and located at the fixing groove (9). The electric slide rail body (45) has relatively sliding moving seats symmetrically arranged on it, and the moving seats can pass through the fixing groove (9). One end of a pair of clamping arms (46) can be detachably placed on the moving seat of the electric slide rail body (45), and the clamping arms (46) are symmetrically arranged below the bearing platform (44).

7. An industrial robot for product appearance inspection based on a vision system according to claim 6, characterized in that, The receiving platform (144) is kept horizontal by extending through the body of the second hydraulic cylinder (146), and the receiving platform (144) is tilted downwards by contracting through the body of the second hydraulic cylinder (146).

8. An industrial robot for product appearance inspection based on a vision system according to claim 7, characterized in that, The drive gears (27) in the pair of swing structures (3) are meshed relative to each other, and the second swing arm (33) is initially parallel to the conveyor belt body (13).

9. An industrial robot for product appearance inspection based on a vision system according to claim 8, characterized in that, The sliding arm (35) is initially perpendicular to the second swing arm (33).

10. An industrial robot for product appearance inspection based on a vision system according to claim 9, characterized in that, The initial state of the pair of pickup structures (4) corresponds to both ends of the conveyor belt body (13), and the pickup structure (4) can be relatively fitted and fastened after the swing structure (3) is rotated 90 degrees by the drive structure (2).

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